A smart robotic arm and method for loading and unloading materials in hydraulic pump processing

Abstract

This invention relates to the field of robotic arm technology, specifically to an intelligent robotic arm and method for loading and unloading hydraulic pump processing. It includes a connecting seat and multiple first cranks, and a second crank rotatably connected to one end of the first cranks, with an internal adjustment component for changing its position; a clamping plate for holding workpieces, with a slidably connected positioning frame on its outer surface, the positioning frame being located at one end of the second crank; a retraction component for driving its own movement on the top of the clamping plate; and a connecting cylinder located below the clamping plate, with one end connected to a negative pressure port for adsorbing workpieces. The connecting cylinder has a negative pressure component connected to the clamping plate inside, and top-loading cylinders on both sides of the connecting cylinder, with a pushing component on one side of the top-loading cylinder that moves the workpiece according to changes in the gas inside the connecting cylinder.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to an intelligent robotic arm and method for loading and unloading materials in hydraulic pump processing. Background Technology

[0002] With the rapid development of Industry 4.0 and intelligent manufacturing, hydraulic pumps, as core power components of industrial equipment, have become crucial for the upgrading of the manufacturing industry in terms of processing accuracy, production efficiency, and quality stability. In traditional hydraulic pump processing, the loading and unloading processes rely on manual labor or semi-automated equipment. However, intelligent robotic arms, by integrating technologies such as machine vision, force control sensing, and autonomous decision-making, can replace manual labor to complete high-precision and highly flexible loading and unloading tasks, becoming the core equipment for the intelligent upgrading of the hydraulic pump industry.

[0003] For example, patent document CN211565891U provides a loading / unloading robot, including an X-axis motion mechanism, a Z-axis motion mechanism connected to the X-axis motion mechanism, a Y-axis motion mechanism connected to the Z-axis motion mechanism, and a rotary clamping mechanism disposed on the Y-axis motion mechanism. The rotary clamping mechanism includes a rotary drive motor, a rotary table connected to the rotary drive motor, and clamping components disposed on the rotary table. This loading / unloading robot in the patent document features strong versatility, good stability, ease of operation, and convenient maintenance. It can perform loading and unloading smoothly, quickly, and accurately, and is applicable to loading and unloading different products. It effectively replaces manual labor, has high reliability, improves production efficiency, and reduces enterprise costs.

[0004] Currently, industrial robots commonly use external surface contact gripping components (such as parallel pneumatic grippers and V-shaped positioning blocks) to grasp workpieces. However, in the interference fit process of core components of hydraulic pumps (such as piston pump cylinders and gear pump housings), this approach creates an irreconcilable geometric conflict due to the radial dimension constraint of the robotic gripper (the outer diameter of the gripping component must be larger than the outer contour of the workpiece to ensure gripping stability) and the inner diameter shrinkage characteristic of the assembly hole (the interference fit results in the hole diameter being smaller than the nominal size of the workpiece). This causes the robotic gripper to be unable to penetrate the interference fit mounting cavity inlet during loading and unloading, forcing manual assistance in disassembling the tooling or the use of a transfer pallet for indirect handling. This defect directly leads to the hydraulic pump processing production line operating inefficiently in a redundant cycle of robotic gripping - manual intervention - equipment reset. This not only interrupts the automated process due to frequent tooling changes but also significantly reduces the overall utilization rate of the equipment due to the mismatch between manual operation and machine cycle time (e.g., the time spent on manual disassembly and assembly far exceeds the idle waiting time of the robotic gripper). To address this, this application proposes an intelligent robotic gripper and method for loading and unloading hydraulic pumps. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent robotic arm and method for loading and unloading materials in hydraulic pump processing, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent robotic arm for loading and unloading hydraulic pump processing, comprising a connecting seat and a plurality of first cranks, and further comprising:

[0007] The second crank is rotatably connected to one end of multiple first cranks, and has an internal adjustment component for changing its own position.

[0008] A clamping plate is used to clamp a workpiece, and its outer surface is provided with a positioning frame for sliding connection, and the positioning frame is located at one end of a second crank. The top of the clamping plate is provided with a retraction assembly that drives its own movement.

[0009] A connecting cylinder is located below the clamping plate, and one end of the connecting cylinder is connected to a negative pressure port for adsorbing workpieces. The inside of the connecting cylinder is equipped with a negative pressure component connected to the clamping plate. Both sides of the connecting cylinder are equipped with top material cylinders, and one side of the top material cylinder is equipped with a pusher component that moves the workpiece according to the gas changes inside the connecting cylinder.

[0010] Preferably, the adjustment assembly includes a drive motor fixedly connected to one side of the second crank, and the output end of the drive motor is fixedly connected to a transmission wheel for driving one end of the second crank to rotate. A driven wheel is rotatably connected to the end of the second crank away from the transmission wheel. A driving wheel is rotatably connected inside the second crank. A synchronous belt is sleeved on the outer surfaces of the driving wheel and the driven wheel. The outer surface of the transmission wheel abuts against the surface of the synchronous belt. Both ends of the driven wheel pass through the second crank and are fixedly connected to the positioning frame.

[0011] Preferably, the retraction assembly includes a servo motor fixedly connected to one side of the positioning frame, a connecting rod fixedly connected to the output end of the servo motor, a rack fixedly connected to the top of the clamping plate, a rotating gear meshing with the rack on the outer surface of the connecting rod, a movable pawl rotatably connected to the outer surface of the connecting rod, and multiple internal ratchet wheels adapted to the movable pawl fixedly connected inside the rotating gear.

[0012] Preferably, the negative pressure assembly includes a rotating screw rotatably connected to the bottom of the clamping plate, and the rotating screw is threadedly connected to the inside of the connecting cylinder and rotatably connected to a piston adapted to the connecting cylinder. The rotating screw is threadedly connected to the positioning frame, and an encoder for detecting the number of rotations of the rotating screw is fixedly connected to one side of the clamping plate.

[0013] Preferably, the pushing assembly includes a piston rod slidably connected to one end of the top material cylinder, and a top plate is fixedly connected to the end of the piston rod away from its piston end. A spring is sleeved on the outer surface of the piston rod for self-reset. The top material cylinder is connected to the connecting cylinder through a connecting pipe. A pressure gauge for detecting the internal air pressure is fixedly connected to one side of the top material cylinder. A one-way valve for allowing external gas to enter the top material cylinder is fixedly connected to one side of the top material cylinder.

[0014] Preferably, a plurality of venting grooves are formed on the outer surface of one end of the rotating screw, a pressure relief pipe is connected to one end of the connecting cylinder, a hollow plate is fixedly connected inside the pressure relief pipe, a tension spring is fixedly connected to one side of the hollow plate, and a pressure relief plug adapted to the pressure relief pipe is fixedly connected to the end of the tension spring away from the hollow plate.

[0015] Preferably, the bottom of the clamping plate is fixedly connected to a spring that is fixedly connected to the positioning frame.

[0016] Preferably, the connecting seat has multiple screws rotatably connected inside, and multiple shaft seats for the first crank to rotate are fixedly connected to one side of the connecting seat. A transmission plate is fixedly connected to one end of the first crank. A guide groove is opened inside the transmission plate, and a screw block is slidably connected to the guide groove through a ball bearing. The screw and the screw block are threadedly connected.

[0017] Preferably, a geared motor is fixedly connected to one side of the connecting seat, and a disc tooth rotatably connected to the output end of the geared motor is fixedly connected to the output end of the geared motor. A transmission gear meshing with the disc tooth is fixedly connected to the outer surface of the screw, and a mounting plate is fixedly connected to one end of the geared motor.

[0018] The present invention also provides a method for loading and unloading materials for hydraulic pump processing, comprising the following steps:

[0019] S1. By installing the connecting seat on the robotic arm, the position of the clamping plate can be adjusted by changing the angle of multiple first cranks;

[0020] S2. The tilt angle of the clamping plate is changed by driving the adjustment component to keep it at a horizontal angle to clamp the workpiece;

[0021] S3. Then, the workpiece is fed to perform interference fit. At this time, the clamping plate will abut against the inner wall of the installation cavity, causing the shrinking component to operate and shrink multiple clamping plates. Then, the negative pressure component operates to adsorb the workpiece and pushes the workpiece into the installation cavity with the cooperation of the pushing component.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1. A geared motor drives a disc gear, which synchronously drives multiple transmission gears to rotate, thereby causing multiple screws to rotate synchronously. This design ensures the consistency and coordination of the actions of multiple first cranks, enabling more precise control of the overall movement trajectory of the clamping plate and improving the stability and accuracy of the robot operation. The rotation of the screws causes the screw block to slide in the guide groove of the transmission plate, pulling the transmission plate to move and change the rotation angle of the first crank. This structure makes the angle adjustment range of the first crank large and flexible, which can adapt to the loading and unloading needs of different workpieces in different positions. The second crank cooperates with the first crank, further increasing the flexibility of clamping the workpiece. The drive motor rotates the transmission wheel, which in turn rotates the driven wheel via a synchronous belt drive. This adjusts the position of one end of the second crank, allowing the clamping plate to accommodate workpieces of more complex shapes and positions. The synchronous belt drive system features smooth transmission and high precision, accurately controlling the position of the driven wheel and ensuring precise axial adjustment of the clamping plate. This meets the stringent requirements for clamping position during the processing of different workpieces. The clamping plate holds the workpiece and can slide when it contacts the mounting cavity. Simultaneously, the rack and pinion mesh with the rotating gear. Under certain conditions, the inner ratchet cannot engage with the movable pawl, allowing it to idle. This design ensures both clamping stability and... During the process, the robot adaptively adjusts according to the shape and position of the workpiece, and can also position the clamping plate to improve clamping stability and prevent the workpiece from slipping or shifting during clamping. The active drive connecting rod can rotate to change the position of the clamping plate, enabling the robot to adapt to the clamping requirements of workpieces of different thicknesses. This greatly improves the versatility and flexibility of the robot and reduces the trouble of changing clamps due to changes in workpiece size. The cooperation between the driven wheel and the positioning frame ensures that the clamping plate can maintain a horizontal position during movement, further improving the clamping effect and ensuring that the workpiece is always in a stable state during loading and unloading, which is conducive to the smooth progress of subsequent processing steps.

[0024] 2. The connecting cylinder is positioned below the clamping plate, and the negative pressure port is connected to the negative pressure assembly via the connecting cylinder to achieve negative pressure fixation of the workpiece. This design ensures that the negative pressure fixation method does not affect the interference fit of the workpiece. In situations requiring initial workpiece positioning or special installation scenarios, negative pressure fixation provides stable adsorption force, ensuring accurate positioning of the workpiece during movement and installation, preventing displacement or detachment. The clamping and fixing of the clamping plate and the adsorption and fixing of the connecting cylinder can operate synchronously. When the clamping plate holds the workpiece, a servo motor drives the clamping plate to move a small distance, causing the piston to move and generate negative pressure, achieving simultaneous clamping and adsorption. The negative pressure port can reach into narrow spaces for material retrieval and loading. By controlling the movement of the clamping plate, the negative pressure port is brought into contact with the workpiece for fixation. This capability allows the robot to adapt to complex working environments. The rotating screw is rotatably connected to the bottom of the clamping plate, threadedly connected to the piston, and rotatably connected inside the connecting cylinder. When the clamping plate moves, it drives the rotating screw to move and rotate, driving the piston to move inside the connecting cylinder, thereby drawing air into the negative pressure port to achieve negative pressure fixation. This mechanical linkage design is simple and reliable, requiring no additional power source. An encoder, fixedly connected to one side of the clamping plate, detects the number of rotations of the rotating screw. Combined with the threaded transmission relationship between the rotating screw and the piston, the position of the piston and the movement distance of the clamping plate can be accurately calculated. This precise position detection function provides crucial information for the accurate control of the robot, facilitating more complex loading, unloading, and installation actions, and improving production accuracy. The pushing assembly is connected to the connecting cylinder via a top cylinder. When the piston moves within the connecting cylinder, it delivers gas from the connecting cylinder to the top cylinder, pushing the piston rod and subsequently the top plate to contact the workpiece, causing it to penetrate deeper into the installation cavity. A pressure gauge, fixedly connected to one side of the top cylinder, detects its internal air pressure. By monitoring changes in air pressure, the working status of the pushing assembly can be understood in real time, allowing for adjustments to the piston's movement speed and amplitude as needed, ensuring a smooth and precise pushing process. A one-way valve ensures that external gas can only enter the top cylinder in one direction, preventing gas backflow and maintaining the normal operating air pressure of the pushing assembly. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0026] Figure 2 This is a cross-sectional structural diagram of the connecting seat in this invention;

[0027] Figure 3 This is a schematic diagram of the structure in this invention where the connector is removed;

[0028] Figure 4 This is a schematic diagram of the structure of the first crank in this invention;

[0029] Figure 5 For the present invention Figure 4 Enlarged structural diagram at point A;

[0030] Figure 6 This is a schematic cross-sectional view of the second crank in this invention;

[0031] Figure 7 This is a schematic cross-sectional view of the clamping plate in this invention;

[0032] Figure 8 For the present invention Figure 7 Enlarged structural diagram at point B;

[0033] Figure 9 This is a schematic diagram of the connecting tube structure in this invention;

[0034] Figure 10 This is a schematic cross-sectional view of the connecting cylinder in this invention;

[0035] Figure 11 This is a schematic cross-sectional view of the rotating screw in this invention;

[0036] Figure 12 This is a schematic cross-sectional view of the top feed cylinder in this invention;

[0037] Figure 13 This is a partial cross-sectional structural diagram of the connecting cylinder in this invention;

[0038] Figure 14 For the present invention Figure 13 A magnified schematic diagram of the structure at point C.

[0039] In the diagram: 100, connecting seat; 101, geared motor; 102, mounting plate; 103, disc teeth; 104, transmission gear; 105, first crank; 106, shaft seat; 107, screw; 108, transmission plate; 109, guide groove; 110, screw block; 200, second crank; 201, drive motor; 202, transmission wheel; 203, driving wheel; 204, driven wheel; 205, synchronous belt; 300, clamping plate; 301, positioning frame; 302, rack; 303, servo motor; 3 04. Rotary gear; 305. Connecting rod; 306. Inner ratchet; 307. Movable pawl; 308. Rotary screw; 309. Encoder; 310. Spring; 400. Connecting cylinder; 401. Negative pressure port; 402. Venting groove; 403. Piston; 404. Pressure relief pipe; 405. Hollow plate; 406. Pressure relief plug; 407. Tension spring; 408. Top material cylinder; 409. Connecting pipe; 410. Piston rod; 411. Top plate; 412. Spring sleeve; 413. Pressure gauge; 414. Check valve. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Example 1: Please refer to Figure 1 , Figure 2 as well as Figure 3 The present invention provides a technical solution: an intelligent manipulator for loading and unloading hydraulic pump processing, including a connecting seat 100 and a plurality of first cranks 105. A plurality of screws 107 are rotatably connected inside the connecting seat 100, and a plurality of bearing seats 106 for rotatably connecting the first cranks 105 are fixedly connected to one side of the connecting seat 100.

[0042] Please refer to Figure 3 , Figure 4 as well as Figure 5 A transmission plate 108 is fixedly connected to one end of the first crank 105. A guide groove 109 is provided inside the transmission plate 108, and a screw block 110 is slidably connected to the guide groove 109 through a ball bearing. The screw 107 is threadedly connected to the screw block 110. A geared motor 101 is fixedly connected to one side of the connecting seat 100. A disc gear 103 rotatably connected to the output end of the geared motor 101 is fixedly connected to the output end of the connecting seat 100. A transmission gear 104 meshing with the disc gear 103 is fixedly connected to the outer surface of the screw 107. A mounting plate 102 is fixedly connected to one end of the geared motor 101. By setting the disc gear 103, multiple transmission gears 104 can be driven to rotate synchronously, so that multiple screws 107 rotate synchronously, thereby driving the screw block 110 to move, so that it pulls the transmission plate 108 to move, thereby changing the rotation of the first crank 105 and adjusting its angle.

[0043] Please see Figure 6 , Figure 7 as well as Figure 8It also includes a second crank 200, which is rotatably connected to one end of a plurality of first cranks 105, and has an adjustment component inside for changing its own position. The adjustment component includes a drive motor 201 fixedly connected to one side of the second crank 200, and a transmission wheel 202 for driving one end of the second crank 200 to rotate is fixedly connected to the output end of the drive motor 201. A driven wheel 204 is rotatably connected to the end of the second crank 200 away from the transmission wheel 202. A driving wheel 203 is rotatably connected inside the second crank 200, and the driving wheel 203 and the driven wheel 204 are also rotatably connected to the second crank 200. The outer surface of the wheel 204 is fitted with a timing belt 205, and the outer surface of the drive wheel 202 is in contact with the surface of the timing belt 205 for transmission. The two ends of the driven wheel 204 are fixedly connected to the positioning frame 301 through the second crank 200. By setting the second crank 200, it can cooperate with the first crank 105 to further adjust the flexibility of clamping the workpiece. The adjustment component can follow the rotation of the second crank 200 to adjust the position of the driven wheel 204. At the same time, the rotation of the drive wheel 202 will change the position of the timing belt 205, thereby changing the position of the clamping plate 300.

[0044] It also includes a clamping plate 300 for clamping workpieces, and a positioning frame 301 for sliding connection on its outer surface. The positioning frame 301 is located at one end of the second crank 200. A retraction assembly for driving its own movement is provided on the top of the clamping plate 300. The retraction assembly includes a servo motor 303 fixedly connected to one side of the positioning frame 301. A connecting rod 305 is fixedly connected to the output end of the servo motor 303. A rack 302 is fixedly connected to the top of the clamping plate 300. A rotating gear 304 that meshes with the rack 302 is sleeved on the outer surface of the connecting rod 305. A movable pawl 307 is rotatably connected to the outer surface of the connecting rod 305. The rotating gear 304 is internally connected to... Multiple internal ratchet wheels 306, which are adapted to the movable pawl 307, are fixedly connected. The workpiece can be clamped and fixed by the clamping plate 300. When it comes into contact with the mounting cavity, it can slide. At the same time, the meshing of the rack 302 and the rotating gear 304 will cause the internal ratchet wheels 306 to be unable to engage with the movable pawl 307, allowing them to rotate freely. This also allows for positioning and improves clamping stability. The active drive connecting rod 305 can rotate to change the position of the clamping plate 300, making it easier to clamp workpieces of different thicknesses and improving flexibility. The cooperation between the driven wheel 204 and the positioning frame 301 ensures that the clamping plate 300 remains in a horizontal position, thereby improving the clamping effect.

[0045] Specifically, by mounting the mounting plate 102 on the robotic arm, the drive reduction motor 101 drives the disc teeth 103 to rotate, which in turn drives multiple transmission gears 104 to rotate, thereby driving multiple screws 107 to rotate. At this time, the screws 107 and the transmission screw block 110 move and slide in the guide groove 109, thereby driving the transmission plate 108 to rotate and changing the angle of the first crank 105, thus realizing the position adjustment of the clamping plate 300. By driving the drive motor 201, the transmission wheel 202 drives the synchronous belt 205 to be transported, thereby synchronously driving the driven wheel 204 to rotate, thereby changing the tilt angle of the clamping plate 300 to maintain it at a horizontal angle, and adjusting its axial position to clamp the workpiece. The drive of the servo motor 303 can actively change the extension length of the clamping plate 300, thus facilitating the clamping and fixing of workpieces of different thicknesses.

[0046] In summary, the geared motor 101 drives the disc gear 103, which in turn drives multiple transmission gears 104 to rotate, thereby causing multiple screws 107 to rotate synchronously. This design ensures the consistency and coordination of the actions of multiple first cranks 105, enabling more precise control of the overall motion trajectory of the clamping plate 300 and improving the stability and accuracy of the robot operation. The rotation of the screws 107 causes the screw block 110 to slide in the guide groove 109 of the transmission plate 108, pulling the transmission plate 108 to move and change the rotation angle of the first cranks 105. This structure makes the angle adjustment range of the first cranks 105 large and flexible, which can adapt to the loading and unloading requirements of different workpieces at different positions. The second crank 200 cooperates with the first crank 105 to further increase the flexibility of clamping the workpiece. The drive motor 201 drives the transmission wheel 202 to rotate, and the synchronous belt 205 drives the driven wheel 204 to rotate, thereby adjusting the position of one end of the second crank 200. This allows the clamping plate 300 to accommodate workpieces with more complex shapes and positions. The synchronous belt 205 transmission method features smooth transmission and high precision, and can accurately control the position of the driven wheel 204, thus ensuring the precise adjustment of the axial position of the clamping plate 300. This meets the strict requirements for clamping position during the processing of different workpieces. The clamping plate 300 is used to clamp the workpiece. When it comes into contact with the mounting cavity, it can slide. At the same time, the rack 302 meshes with the rotating gear 304. Under certain circumstances, the inner ratchet 306 cannot engage with the movable pawl 307. The idling design allows for adaptive adjustment based on the workpiece shape and position during clamping, while also positioning the clamping plate 300 to improve clamping stability and prevent workpiece slippage or displacement. The active drive connecting rod 305 can rotate to change the position of the clamping plate 300, enabling the robot to adapt to the clamping requirements of workpieces of different thicknesses. This greatly improves the robot's versatility and flexibility, reducing the hassle of changing clamps due to changes in workpiece size. The cooperation between the driven wheel 204 and the positioning frame 301 ensures that the clamping plate 300 maintains a horizontal position during movement, further improving the clamping effect and ensuring that the workpiece remains stable during loading and unloading, which is beneficial for the smooth progress of subsequent processing steps.

[0047] Example 2: Please refer to Figure 9 , Figure 10 as well as Figure 11The present invention also provides a technical solution, which differs from the technical solution of embodiment one as follows: an intelligent manipulator for loading and unloading hydraulic pump processing, further comprising a connecting cylinder 400, which is disposed below the clamping plate 300, and one end of which is connected to a negative pressure port 401 for adsorbing workpieces. The connecting cylinder 400 is provided with a negative pressure component connected to the clamping plate 300. Both sides of the connecting cylinder 400 are provided with a top material cylinder 408, and one side of the top material cylinder 408 is provided with a pusher component that pushes the workpiece to move according to the gas change inside the connecting cylinder 400. By setting the connecting cylinder 400 and the negative pressure port 401 to cooperate, the workpiece can be fixed by negative pressure. At the same time, it is used to fix one side of the workpiece, so as not to affect the interference fit of the workpiece. The negative pressure component and the clamping plate 300 are moved synchronously to drive the negative pressure port 401 to generate negative pressure while performing interference fit, thereby realizing the loading and unloading of workpieces.

[0048] Furthermore, the negative pressure assembly includes a rotating screw 308 rotatably connected to the bottom of the clamping plate 300, and the rotating screw 308 is threadedly connected to the inside of the connecting cylinder 400 and rotatably connected to a piston 403 adapted to the connecting cylinder 400. The rotating screw 308 is threadedly connected to the positioning frame 301, and an encoder 309 for detecting the number of rotations of the rotating screw 308 is fixedly connected to one side of the clamping plate 300. A spring 310 fixedly connected to the positioning frame 301 is fixedly connected to the bottom of the clamping plate 300. By setting the cooperation between the rotating screw 308 and the piston 403, the piston 403 can be driven to move when the clamping plate 300 moves, thereby drawing air into the negative pressure port 401 to achieve negative pressure fixing. When the rotating screw 308 moves, it will rotate, thereby cooperating with the encoder 309 to calculate the position of the piston 403 and the moving distance of the clamping plate 300.

[0049] Please see Figure 12 , Figure 13 as well as Figure 14 Furthermore, the feeding assembly includes a piston rod 410 slidably connected to one end of the top material cylinder 408, and a top plate 411 is fixedly connected to the end of the piston rod 410 away from its piston end. A spring 412 for self-reset is sleeved on the outer surface of the piston rod 410. The top material cylinder 408 is connected to the connecting cylinder 400 through a connecting pipe 409. A pressure gauge 413 for detecting the internal air pressure is fixedly connected to one side of the top material cylinder 408. A one-way valve 414 for allowing external gas to enter the top material cylinder 408 is fixedly connected to one side of the top material cylinder 408. By setting the feeding assembly, after the workpiece is initially positioned and installed by adsorbing it at the negative pressure port 401, the top plate 411 is driven to move to further install the workpiece, realizing automated feeding. The movement of the piston 403 transports the gas in the connecting cylinder 400 to the top material cylinder 408, which pushes the piston rod 410 to move, thereby pushing the top plate 411 to contact the workpiece and make it penetrate deeper into the installation cavity.

[0050] The rotating screw 308 has multiple venting grooves 402 on its outer surface at one end. One end of the connecting cylinder 400 is connected to a pressure relief pipe 404. A hollow plate 405 is fixedly connected inside the pressure relief pipe 404. A tension spring 407 is fixedly connected to one side of the hollow plate 405. A pressure relief plug 406 adapted to the pressure relief pipe 404 is fixedly connected to the end of the tension spring 407 away from the hollow plate 405. By setting the pressure relief plug 406, gas can be introduced as the piston 403 continues to move after the workpiece is adsorbed at the negative pressure port 401. As the piston 403 continues to move, the negative pressure port 401 comes into contact with the workpiece. At this time, the pressure relief plug 406 will be moved by force to release the blockage of the pressure relief pipe 404, allowing some gas to enter the interior of the connecting cylinder 400 to achieve gas balance. This ensures that the piston 403 can provide suction to the negative pressure port 401 to achieve negative pressure fixation no matter what position it is in.

[0051] It is worth mentioning that the clamping and fixing of the clamping plate 300 and the adsorption and fixing of the connecting cylinder 400 can operate synchronously. When the clamping plate 300 clamps the workpiece, it can be placed on one side of the negative pressure port 401. Activating the servo motor 303 and driving the clamping plate 300 to move a small distance will cause the piston 403 to move and generate negative pressure, thereby realizing the synchronous operation of clamping and adsorption. At the same time, the clamping plate 300 can be continuously driven to move so that the negative pressure port 401 can contact the workpiece to fix it, which facilitates the picking and loading of materials in narrow spaces and realizes efficient and flexible loading and unloading operations.

[0052] Specifically, the workpiece is then fed into the machine for interference fit. At this time, the clamping plate 300 abuts against the inner wall of the mounting cavity, driving it to slide within the positioning frame 301. This drives the rotating screw 308 to rotate within the positioning frame 301, causing the piston 403 to move within the connecting cylinder 400, generating negative pressure. Multiple negative pressure ports 401 then generate suction, fixing the workpiece and causing the clamping plate 300 to detach from the workpiece. This continuously pushes the positioning frame 301, causing the workpiece to continuously enter the mounting cavity, achieving material feeding. As the clamping plate 300 moves further, the piston 403 continues to move, pushing the gas within the connecting cylinder 400 through the connecting pipe 409 to the top material cylinder 408. The increased gas volume in the top material cylinder 408 pushes the piston rod 410, causing the workpiece to detach from the negative pressure port 401 and further enter the mounting cavity for installation, thus completing the feeding process. The venting groove 402 passes through one end of the connecting cylinder 400, thus connecting its interior to the outside. Multiple piston rods 410 quickly reset and move away from the workpiece. Then, the servo motor 303 is driven to run, causing the connecting rod 305 to rotate, which makes multiple movable pawls 307 rotate and unable to engage with the inner ratchet 306. At this time, the clamping plate 300, under the action of the spring 310, quickly rotates back to reset following the rotation of the movable pawls 307, thus completing a single loading operation. When the workpiece needs to be unloaded, the servo motor 303 can be driven to rotate, causing the connecting rod 305 to rotate, which in turn causes the movable pawls 307 to engage with the inner ratchet 306, actively driving the clamping plate 300 to move, thus exposing the negative pressure port 401 so that it enters the cavity and contacts the workpiece. The continuous movement of the clamping plate 300 will cause the negative pressure port 401 to continuously draw in air until it contacts the workpiece and adheres to it. Then, the negative pressure port 401 is pulled to move, thus realizing unloading.

[0053] In summary, the connecting cylinder 400 is positioned below the clamping plate 300, and the negative pressure port 401 is connected to the negative pressure assembly through the connecting cylinder 400 to achieve negative pressure fixation of the workpiece. This design ensures that the negative pressure fixation method does not affect the interference fit of the workpiece. In situations where the workpiece requires initial positioning or special installation scenarios, negative pressure fixation can provide stable adsorption force, ensuring that the workpiece is accurately positioned during movement and installation, without shifting or falling off. The clamping fixation of the clamping plate 300 and the adsorption fixation of the connecting cylinder 400 can operate synchronously. When the clamping plate 300 clamps the workpiece, the servo motor 303 drives the clamping plate 300 to move a small distance, which in turn drives the piston 403 to move and generate negative pressure, achieving simultaneous clamping and adsorption. The negative pressure port 401 can reach into narrow spaces to pick up and load materials. By controlling the movement of the clamping plate 300, the negative pressure port 401 is made to contact the workpiece for fixation. This capability allows the robot to adapt to complex working environments. The rotating screw 308 is rotatably connected to the bottom of the clamping plate 300, threadedly connected to the piston 403, and rotatably connected inside the connecting cylinder 400. When the clamping plate 300 moves, it drives the rotating screw 308 to move and rotate, which in turn drives the piston 403 to move within the connecting cylinder 400, thereby drawing air into the negative pressure port 401 to achieve negative pressure fixation. This mechanical linkage design is simple and reliable, requiring no additional power source. The encoder 309 is fixedly connected to one side of the clamping plate 300 to detect the number of rotations of the rotating screw 308. Combined with the threaded transmission relationship between the rotating screw 308 and the piston 403, the position of the piston 403 and the moving distance of the clamping plate 300 can be accurately calculated. This precise position detection function provides crucial information for the accurate control of the robotic arm, facilitating more complex loading, unloading, and installation actions, and improving production accuracy. The pushing assembly is connected to the connecting cylinder 400 via the top cylinder 408. When the piston 403 moves within the connecting cylinder 400, it delivers gas from the connecting cylinder 400 to the top cylinder 408, pushing the piston rod 410 to move. This, in turn, pushes the top plate 411 to contact the workpiece, causing it to penetrate deeper into the installation cavity. A pressure gauge 413 is fixedly connected to one side of the top cylinder 408 to detect its internal air pressure. By monitoring changes in air pressure, the working status of the pushing assembly can be understood in real time, and the movement speed and amplitude of the piston 403 can be adjusted as needed to ensure a smooth and precise pushing process. The one-way valve 414 ensures that external gas can only enter the top cylinder 408 in one direction, preventing gas backflow and maintaining the normal operating air pressure of the pushing assembly.

[0054] Example 2: Please refer to Figures 1 to 14 The present invention also provides a technical solution, which differs from the technical solution of Embodiment 1 as follows: a method for loading and unloading materials for hydraulic pump processing, comprising the following steps:

[0055] S1. By mounting the mounting plate 102 on the robotic arm, the drive reduction motor 101 is used to drive the disc teeth 103 to rotate, which in turn drives multiple transmission gears 104 to rotate, thereby driving multiple screws 107 to rotate. At this time, the screws 107 and the transmission screw block 110 move to slide in the guide groove 109, thereby driving the transmission plate 108 to rotate and changing the angle of the first crank 105, thereby realizing the position adjustment of the clamping plate 300.

[0056] S2. By driving the drive motor 201, the transmission wheel 202 is driven to drive the synchronous belt 205 to be conveyed, thereby synchronously driving the driven wheel 204 to rotate, thereby changing the tilt angle of the clamping plate 300 to keep it at the horizontal angle, and adjusting its axial position to clamp the workpiece. At this time, the workpiece is clamped by multiple clamping plates 300 and placed on one side of multiple negative pressure ports 401.

[0057] S3. Subsequently, the workpiece is fed to achieve interference fit. At this time, the clamping plate 300 will abut against the inner wall of the mounting cavity, thereby driving it to slide within the positioning frame 301. This drives the rotating screw 308 to rotate within the positioning frame 301, thereby driving the piston 403 to move within the connecting cylinder 400 and generating negative pressure. At this time, multiple negative pressure ports 401 will generate suction to fix the workpiece, causing the clamping plate 300 to detach from the workpiece. This continuously pushes the positioning frame 301 to move, causing the workpiece to continuously enter the interior of the mounting cavity, thus achieving material pushing. As the moving path of the clamping plate 300 increases, the piston 403 continues to move, pushing the gas in the connecting cylinder 400 to be transported to the top material cylinder through the connecting pipe 409. Inside 408, the gas inside the top material cylinder 408 increases, which pushes the piston rod 410 to move, thereby pushing the workpiece away from the negative pressure port 401 and further into the installation cavity for installation, realizing the loading operation. Then, the venting groove 402 will pass through one end of the connecting cylinder 400, thus connecting its interior with the outside. Multiple piston rods 410 will quickly reset and move away from the workpiece. Then, the servo motor 303 will run, driving the connecting rod 305 to rotate, causing multiple movable pawls 307 to rotate and unable to engage with the inner ratchet 306. At this time, the clamping plate 300, under the action of the spring 310, will quickly rotate back to reset following the rotation of the movable pawls 307, thus completing a single loading operation.

[0058] S4. When it is necessary to unload the workpiece, the servo motor 303 can be driven to rotate, causing the connecting rod 305 to rotate, which in turn drives the movable pawl 307 to engage with the inner ratchet 306, thereby actively driving the clamping plate 300 to move, thus exposing the negative pressure port 401 to enter the cavity and contact the workpiece. The continuous movement of the clamping plate 300 will drive the negative pressure port 401 to continuously draw in air until it contacts the workpiece and adheres to it. Then, the negative pressure port 401 is pulled to move, thereby realizing unloading.

[0059] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0060] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A smart robotic arm for loading and unloading hydraulic pump processing, comprising a connecting seat (100) and a plurality of first cranks (105), characterized in that, Also includes: The second crank (200) is rotatably connected to one end of a plurality of first cranks (105), and has an adjustment component inside for changing its own position; A clamping plate (300) is used to clamp a workpiece, and its outer surface is provided with a positioning frame (301) for sliding connection, and the positioning frame (301) is located at one end of the second crank (200). The top of the clamping plate (300) is provided with a retraction component that drives its own movement. A connecting cylinder (400) is located below the clamping plate (300), and one end of the connecting cylinder (400) is connected to a negative pressure port (401) for adsorbing workpieces. The connecting cylinder (400) is equipped with a negative pressure component connected to the clamping plate (300). Both sides of the connecting cylinder (400) are provided with top material cylinders (408), and one side of the top material cylinder (408) is provided with a pusher component that pushes the workpiece to move according to the gas change inside the connecting cylinder (400). The adjustment assembly includes a drive motor (201) fixedly connected to one side of the second crank (200), and the output end of the drive motor (201) is fixedly connected to a transmission wheel (202) for driving one end of the second crank (200) to rotate. The end of the second crank (200) away from the transmission wheel (202) is rotatably connected to a driven wheel (204). The inside of the second crank (200) is rotatably connected to a driving wheel (203), and the outer surfaces of the driving wheel (203) and the driven wheel (204) are fitted with a synchronous belt (205). The outer surface of the transmission wheel (202) and the surface of the synchronous belt (205) are in contact and driven. The two ends of the driven wheel (204) pass through the second crank (200) and are fixedly connected to the positioning frame (301). The retraction assembly includes a servo motor (303) fixedly connected to one side of the positioning frame (301). The output end of the servo motor (303) is fixedly connected to a connecting rod (305). A rack (302) is fixedly connected to the top of the clamping plate (300). A rotating gear (304) meshing with the rack (302) is sleeved on the outer surface of the connecting rod (305). A movable pawl (307) is rotatably connected to the outer surface of the connecting rod (305). A plurality of internal ratchet wheels (306) adapted to the movable pawl (307) are fixedly connected inside the rotating gear (304). The connecting seat (100) is rotatably connected to a plurality of screws (107). A plurality of shaft seats (106) for the first crank (105) to rotate are fixedly connected to one side of the connecting seat (100). A transmission plate (108) is fixedly connected to one end of the first crank (105). A guide groove (109) is provided inside the transmission plate (108), and a screw block (110) is slidably connected to the guide groove (109) by ball bearings. The screws (107) are threadedly connected to the screw block (110). A geared motor (101) is fixedly connected to one side of the connecting seat (100). A disc tooth (103) rotatably connected inside the connecting seat (100) is fixedly connected to the output end of the geared motor (101). A transmission gear (104) meshing with the disc tooth (103) is fixedly connected to the outer surface of the screw (107). A mounting plate (102) is fixedly connected to one end of the geared motor (101).

2. The intelligent robotic arm for loading and unloading hydraulic pumps according to claim 1, characterized in that: The negative pressure assembly includes a rotating screw (308) rotatably connected to the bottom of the clamping plate (300), and the rotating screw (308) is threadedly connected to the inside of the connecting cylinder (400) and rotatably connected to a piston (403) adapted to the connecting cylinder (400). The rotating screw (308) is threadedly connected to the positioning frame (301), and an encoder (309) for detecting the number of rotations of the rotating screw (308) is fixedly connected to one side of the clamping plate (300).

3. The intelligent robotic arm for loading and unloading hydraulic pumps according to claim 2, characterized in that: The feeding assembly includes a piston rod (410) slidably connected to one end of the top material cylinder (408), and a top plate (411) is fixedly connected to the end of the piston rod (410) away from its piston end. A sleeve spring (412) for self-reset is sleeved on the outer surface of the piston rod (410). The top material cylinder (408) is connected to the connecting cylinder (400) through a connecting pipe (409). A pressure gauge (413) for detecting the internal air pressure is fixedly connected to one side of the top material cylinder (408). A one-way valve (414) for allowing external gas to enter the top material cylinder (408) in one direction is fixedly connected to one side of the top material cylinder (408).

4. The intelligent robotic arm for loading and unloading hydraulic pump processing according to claim 2, characterized in that: The outer surface of one end of the rotating screw (308) is provided with a plurality of venting grooves (402). One end of the connecting cylinder (400) is connected to a pressure relief pipe (404). A hollow plate (405) is fixedly connected inside the pressure relief pipe (404). A tension spring (407) is fixedly connected to one side of the hollow plate (405), and a pressure relief plug (406) adapted to the pressure relief pipe (404) is fixedly connected to the end of the tension spring (407) away from the hollow plate (405).

5. The intelligent robotic arm for loading and unloading materials in hydraulic pump processing according to claim 1, characterized in that: The bottom of the clamp (300) is fixedly connected to a spring (310) that is fixedly connected to the positioning frame (301).

6. A loading and unloading method for hydraulic pump processing, employing the intelligent robotic arm for loading and unloading hydraulic pump processing as described in any one of claims 1 to 5, characterized in that, Includes the following steps: S1. By installing the connecting seat (100) on the robotic arm, the position of the clamp (300) can be adjusted by changing the angle of multiple first cranks (105); S2. The tilt angle of the clamping plate (300) is changed by driving the adjustment component so that it maintains a horizontal angle to clamp the workpiece; S3. Then, the workpiece is fed to perform interference fit. At this time, the clamping plate (300) will abut against the inner wall of the installation cavity, causing the shrinking component to operate and shrink multiple clamping plates (300). Then, the negative pressure component operates to adsorb the workpiece and pushes the workpiece into the installation cavity with the cooperation of the pushing component.

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