Automatic integrated multifunctional mechanical arm

Abstract

The invention relates to the technical field of mechanical arms, in particular to an automatic integrated multifunctional mechanical arm which comprises a mechanical arm clamp used for grabbing an object; the manipulator drill bit is used for drilling operation; the mechanical arm is used for supporting and moving the mechanical arm clamp and the mechanical arm drill bit; the rotating wheel is used for realizing the rotating motion of the mechanical arm; the rotating wheel is mounted on the bottom plate; a cylinder seat is installed on the bottom plate, a top plate is installed on the cylinder seat through a plurality of supporting rods, the bottom of the top plate is connected with a supporting mechanism through a first electric push rod, and a detection mechanism is arranged on the supporting mechanism. The mechanical arm integrates two functional parts, namely a mechanical arm clamp and a mechanical arm drill bit, so that the mechanical arm can conduct grabbing and drilling operation in the same working area in sequence, equipment does not need to be replaced, the working efficiency can be greatly improved, and meanwhile, due to the fact that the equipment replacement and adjustment time is shortened, the equipment cost and the operation complexity are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm, in particular to an automatic integrated multifunctional mechanical arm. BACKGROUND

[0002] Industrial robot is a mechanical and electronic device imitating human arm, wrist and hand function. It can move any object or tool according to the time-varying requirements of spatial pose (position and attitude), so as to complete the work requirements of certain industrial production.

[0003] At present, in the process of drilling part of the pipe wall thin tubular workpiece (such as aluminum pipe) by using the drill mechanical arm, the drill part of the drill mechanical arm produces extrusion force on the surface of the tubular workpiece, which is easy to cause the deformation of the adjacent area of the tubular workpiece drilled, even cause cracks or breakage problem, affect the normal use of the tubular workpiece later, and when drilling along the circumferential direction of the tubular workpiece, the drill mechanical arm needs to move around the tubular workpiece, and then adjust the drilling position, which causes a lot of action waste.

[0004] Therefore, we design an automatic integrated multifunctional mechanical arm. SUMMARY

[0005] The present application aims at solving the problems existing in the prior art and provides an automatic integrated multifunctional mechanical arm.

[0006] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0007] An automatic integrated multifunctional mechanical arm, comprising:

[0008] A mechanical hand clamp for grabbing objects; a mechanical hand drill for drilling operation; a mechanical arm for supporting and moving the mechanical hand clamp and the mechanical hand drill; a rotating wheel for realizing the rotating motion of the mechanical arm; a bottom plate, the rotating wheel is installed on the bottom plate; a cylindrical seat is installed on the bottom plate, a top plate is installed on the cylindrical seat through a plurality of supporting rods, a supporting mechanism for avoiding the deformation of the tubular workpiece during drilling is connected with the bottom of the top plate through an electric push rod, and a plurality of detection mechanisms for detecting the drilling quality of the tubular workpiece after drilling are arranged on the supporting mechanism.

[0009] Preferably, the supporting mechanism comprises a base fixedly connected with the electric push rod, a rotating shaft is rotatably connected with the bottom wall of the base, a threaded groove is formed in the side wall of the rotating shaft, a cylindrical nut is threadedly connected with the threaded groove, a plurality of first rods are rotatably connected with the side wall of the cylindrical nut in a distributed manner, an outer tube is slidably sleeved with the side wall of the rotating shaft, a plurality of groups of second rods are rotatably connected with the side wall of the outer tube in a distributed manner, the number of second rods in each group is two and they are arranged in parallel, each group of second rods is rotatably connected with a supporting piece, and the first rod and the adjacent supporting piece are rotatably connected.

[0010] Preferably, the support mechanism further comprises a micro motor fixedly installed on the inner wall of the bottom of the cylindrical seat, the output end of the micro motor is fixedly connected with a spline shaft, the bottom end of the rotating shaft is provided with a spline groove, and the bottom of the cylindrical seat is fixedly installed with a buffer pad.

[0011] Preferably, the top wall of the base is slidingly connected with a plurality of slide rods, the top side wall of each slide rod is fixedly connected with a permanent magnet, a plurality of annular electromagnets are installed on the base, a spring two is fixedly connected with the side wall of the slide rod in a sleeved mode, the spring two is fixedly connected with the base, a plurality of insertion holes are formed in the cylindrical nut, and the slide rods penetrate through adjacent insertion holes.

[0012] Preferably, the side wall of the support is provided with a plurality of through holes, the detection mechanism is arranged at positions around the through holes of the support, the detection mechanism comprises a groove formed in the side wall of the support, an electric push rod two is installed on the inner wall of the groove, a detection block is fixedly connected to the movable end of the electric push rod two, a first cavity and a second cavity are formed in the inner wall of the detection block, and a ball detection piece penetrates through and slidingly connects the inner wall of the first cavity in a sealed mode.

[0013] Preferably, the detection mechanism further comprises a piston conductive block which is slidingly connected in a sealed mode in the second cavity, a conductive sheet is fixedly connected to the inner wall of the second cavity, a buzzer is installed on the inner wall of the groove, and the buzzer, the conductive sheet and the piston conductive block are electrically connected.

[0014] Preferably, the ball detection piece is fixedly connected with a spring three, the spring three is fixedly connected with the inner wall of the first cavity, and the first cavity and the second cavity are communicated.

[0015] Preferably, the inner cavity of the first cavity has a larger cross-sectional area than the inner cavity of the second cavity, and the communication part of the first cavity and the second cavity is filled with hydraulic oil.

[0016] Preferably, the bottom end of the slide rod is provided in a beveled mode, the cylindrical nut is fixedly connected with a vertical rod in a symmetrical mode, the top end of the vertical rod is fixedly connected with a box body, the inner wall of the box body is provided with a through hole from top to bottom, an extrusion block is slidingly connected in the box body, the extrusion block is elastically connected with the inner wall of the box body through a spring one, a wedge-shaped hole is formed in the inner wall of the extrusion block, a friction block is fixedly connected to the side wall of the extrusion block, and the friction block slidingly penetrates through the side wall of the box body.

[0017] Preferably, the rotating wheel is sleeved on the outer side wall of the cylindrical seat, the mechanical arms are rotatably installed on the side wall of the rotating wheel, the mechanical hand drill is fixedly installed on one of the mechanical arms, the mechanical hand clamp is fixedly installed on the other mechanical arm, an electric box is installed on the bottom plate, the electric box is used to provide power for the mechanical arms and their accessory components, and the length of the mechanical arms is changed through the hydraulic adjusting mechanism.

[0018] Compared with the prior art, the present application has the advantages of:

[0019] 1. The mechanical arm of the present application integrates the functions of a mechanical hand clamp and a mechanical hand drill, which enables it to perform grabbing and drilling operations in the same working area without the need to change equipment, greatly improving work efficiency, and reducing equipment cost and operation complexity due to the reduction of equipment changing and adjusting time.

[0020] 2. In the process of picking up and drilling the tubular workpiece, the mechanical hand clamp places the tubular workpiece inside the cylindrical seat. By setting up the slide rod, rotating shaft and cylindrical nut, etc., when the spline groove and spline shaft are bonded, the micro motor is started, and the multiple support pieces are in contact with the inner side wall of the tubular workpiece, reducing the radial deformation of the tubular workpiece during drilling, avoiding cracks or breakage caused by local stress concentration, and ensuring processing accuracy and workpiece strength.

[0021] 3. By energizing the annular electromagnet, the slide rod no longer limits the cylindrical nut, allowing the output end of the micro motor to rotate by 90 degrees. Since each support piece is in contact with the inner side wall of the tubular workpiece to form a supporting force, the multiple support pieces will rotate the tubular workpiece by 90 degrees at this time, and the mechanical hand drill will drill another position along the circumference of the tubular workpiece. By repeating the above process, the mechanical hand drill can drill four holes along the circumference of the tubular workpiece, which is simple and convenient to operate.

[0022] 4. By controlling the annular electromagnet, micro motor and electric push rod two, the two ball detection pieces located above and below the drilling position slide around the inner side wall of the tubular workpiece. If the area near a certain drilling position along the circumference of the tubular workpiece still forms a more serious concave deformation at this time, the ball detection piece will cause the piston conductive block and the conductive sheet to come into contact when it passes through this area. At this time, the buzzer produces a buzzing alarm to prompt the user to recheck the tubular workpiece.

[0023] 5. Finally, when the movable end of the electric push rod one moves the base upwards, only the electric push rod two of the two detection mechanisms located on the left and right positions of the drilling hole drilled by the mechanical hand drill moves the corresponding detection block a distance outward until the corresponding ball detection piece comes into contact with the inner side wall of the drilling hole along the left and right directions of the tubular workpiece. During the upward movement of the base, the ball detection piece can detect the inner side wall of the drilling hole along the left and right directions of the tubular workpiece, thereby completing the detection of the drilling quality of the inner surface around each drilling hole. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 The present application provides an automatic integrated multifunctional mechanical arm.

[0025] Figure 2 The structural schematic view of the middle support mechanism of the automatic integrated multifunctional mechanical arm is provided in the application;

[0026] Figure 3 The structural schematic view of the middle A part is provided in the application; Figure 2 The structural schematic view of the middle A part is provided in the application;

[0027] Figure 4 The top view of the automatic integrated multifunctional mechanical arm is provided in the application;

[0028] Figure 5 The schematic view of the position relation of the spline groove in the automatic integrated multifunctional mechanical arm is provided in the application;

[0029] Figure 6 The structural schematic view of the inside of the groove in the automatic integrated multifunctional mechanical arm is provided in the application;

[0030] Figure 7 The structural schematic view of the middle B part is provided in the application Figure 6 The structural schematic view of the middle B part is provided in the application

[0031] In the figure: 1, mechanical hand clamp; 2, mechanical hand drill bit; 3, mechanical arm; 4, rotating wheel; 5, bottom plate;

[0032] 6, support mechanism; 61, base; 62, rotating shaft; 63, threaded groove; 64, cylindrical nut; 65, first rod; 66, outer tube; 67, second rod; 68, support piece; 69, micro motor; 610, spline shaft; 611, spline groove; 612, buffer pad;

[0033] 7, cylindrical seat;

[0034] 8, detection mechanism; 81, groove; 82, electric push rod two; 83, detection block; 84, first cavity; 85, second cavity; 86, ball detection piece; 87, piston conductive block; 88, conductive sheet; 89, buzzer; 810, spring three;

[0035] 9, electric push rod one; 10, top plate; 11, electric box; 12, vertical rod; 13, box body; 14, through hole; 15, spring one; 16, extrusion block; 17, wedge-shaped hole; 18, friction block; 19, jack; 20, sliding rod; 21, through hole; 23, permanent magnet; 24, spring two; 25, annular electromagnet; 28, support rod. DETAILED DESCRIPTION

[0036] Clearly, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present application.

[0037] Referring to Figures 1-7 An automatic integrated multifunctional mechanical arm comprises:

[0038] The mechanical hand clamp 1 is used for grabbing objects; the main structure of the mechanical hand clamp 1 is made of high-strength alloy material, which has good strength and rigidity and can withstand a large external force without deformation, and a hydraulic or electric adjusting system is used to adjust the clamping force.

[0039] The mechanical hand drill bit 2 is used for drilling operation; the mechanical hand drill bit 2 is used to realize the drilling function, the drill bit part of the mechanical hand drill bit 2 selects a hard alloy drill bit suitable for drilling different materials, a high-speed motor is used for the driving mechanism, and a corresponding speed reduction device is provided.

[0040] The mechanical arm 3 is used for supporting and moving the mechanical hand clamp 1 and the mechanical hand drill bit 2; the main part of the mechanical arm 3 is made of high-strength aluminum alloy material, the joint connecting mechanism of the mechanical arm 3 uses precise bearings and joint heads, and through the joint design in the angle adjusting mechanism and the control algorithm, the angle of the mechanical arm 3 can be flexibly adjusted within a certain range.

[0041] The rotating wheel 4 can be used to realize the rotating motion of the mechanical arm 3 after being electrified; the bottom plate 5 is installed on the bottom plate 5; the cylindrical seat 7 is installed on the bottom plate 5, the top plate 10 is installed on the cylindrical seat 7 through a plurality of supporting rods 28, the supporting mechanism 6 for avoiding the deformation of the tubular workpiece in the drilling process is connected to the top plate 10 through the electric push rod 1 9, and a plurality of detection mechanisms 8 for detecting the drilling quality of the tubular workpiece after drilling are arranged on the supporting mechanism 6.

[0042] The supporting mechanism 6 comprises a base 61 fixedly connected with the electric push rod 1 9, the electric push rod 1 9 is prior art, and will not be described here, the bottom wall of the base 61 is rotationally connected with a rotating shaft 62, a threaded groove 63 is formed in the side wall of the rotating shaft 62 (as shown in Figure 3 and Figure 5 ), a cylindrical nut 64 is threadedly connected on the threaded groove 63, a plurality of first rods 65 are uniformly rotationally connected on the side wall of the cylindrical nut 64, an outer tube 66 is slidingly sleeved on the side wall of the rotating shaft 62, the outer tube 66 will not displace, the rotating shaft 62 is freely rotatable inside the outer tube 66, and a plurality of second rods 67 are uniformly rotationally connected on the side wall of the outer tube 66 (as shown in Figure 5 and Figure 6As shown in the figure), the number of each group of second rods 67 is two and they are arranged in parallel, each group of second rods 67 is rotationally connected with a support 68, the first rod 65 and the adjacent support 68 are rotationally connected.

[0043] The support mechanism 6 further comprises a micro motor 69 fixedly installed on the inner wall of the bottom of the cylindrical seat 7 (as shown in the figure), the output end of the micro motor 69 is fixedly connected with a spline shaft 610, the bottom end of the rotating shaft 62 is provided with a spline groove 611 (as shown in the figure), the bottom of the cylindrical seat 7 is fixedly installed with a buffer pad 612, which is made of elastic material. Figure 4 Figure 5

[0044] The top wall of the base 61 is slidingly connected with a plurality of slide rods 20 (as shown in the figures of Figure 2 and Figure 3 The top wall of the base 61 is slidingly connected with a plurality of slide rods 20 (as shown in the figures of

[0045] The side wall of the support 68 is provided with a plurality of through holes 21 (as shown in the figures of Figure 5 and Figure 6 The detection mechanism 8 is arranged around the through holes 21 of the support 68, the detection mechanism 8 comprises a groove 81 provided in the side wall of the support 68 (as shown in the figures of Figure 6 and Figure 7 The inner wall of the groove 81 is embeddedly installed with an electric push rod 82, the electric push rod 82 is provided with a power supply, the movable end of the electric push rod 82 is fixedly connected with a detection block 83, the inner wall of the detection block 83 is provided with a first cavity 84 and a second cavity 85, the inner wall of the first cavity 84 is slidingly connected with a ball detection piece 86, one end of the ball detection piece 86 is embeddedly rolled with a ball, which facilitates the sliding of the ball detection piece 86 on the inner side wall of the tubular workpiece.

[0046] The detection mechanism 8 further comprises a piston conductive block 87 slidingly connected in the second cavity 85, the ball detection piece 86 and the piston conductive block 87 are provided with sliding strokes, the piston conductive block 87 is composed of a piston and a conductive block, the inner wall of the second cavity 85 is fixedly connected with a conductive sheet 88, the inner wall of the groove 81 is installed with a buzzer 89, the buzzer 89 is provided with a power supply, the buzzer 89 is electrically connected with the conductive sheet 88 and the piston conductive block 87.

[0047] The ball detection piece 86 is fixedly connected with a spring 810, the spring 810 is fixedly connected with the inner wall of the first cavity 84, the first cavity 84 and the second cavity 85 are communicated.

[0048] ​​The cross-sectional area of ​​the inner cavity of the first cavity 84 is larger than that of the inner cavity of the second cavity 85, and the connecting part of the first cavity 84 and the second cavity 85 is filled with hydraulic oil.

[0049] The bottom end of the slide bar 20 is set at an angle (e.g.) Figure 3 As shown), vertical rods 12 are symmetrically fixedly connected to the cylindrical nut 64. Each vertical rod 12 is fixedly connected to a box 13 at its top. The inner wall of the box 13 has a through hole 14 from top to bottom. A pressing block 16 is slidably connected inside the box 13. A spring 15 is fixedly connected to the side wall of the pressing block 16. The spring 15 is fixedly connected to the inner wall of the box 13. A wedge-shaped hole 17 is opened on the top inner wall of the pressing block 16. A friction block 18 is fixedly connected to the side wall of the pressing block 16. The sliding rod 20 passes through the adjacent through holes. 14 slides, and the inclined part at the bottom of the slide rod 20 enters the through hole 14 from top to bottom and slides against the wedge hole 17, thereby pushing the extrusion block 16 to drive the friction block 18 to move away from the rotating shaft 62. The friction block 18 slides through the side wall of the housing 13. When the slide rod 20 moves from bottom to top until the slide rod 20 and the cylindrical nut 64 are separated, under the elastic force of the spring 15, the extrusion block 16 drives the corresponding friction block 18 to tightly abut against the side wall of the rotating shaft 62 to form a limit.

[0050] The rotating wheel 4 is mounted on the outer wall of the cylindrical base 7. The robotic arm 3 is rotatably mounted on the side wall of the rotating wheel 4. The robotic drill bit 2 and one of the robotic arms 3 are fixedly mounted. The robotic gripper 1 and the other robotic arm 3 are fixedly mounted.

[0051] An electrical box 11 is installed on the base plate 5. The electrical box 11 is equipped with an overload protection circuit. The electrical box 11 is used to provide power to the robotic arm 3 and its auxiliary components. The robotic arm 3 changes its length through a hydraulic adjustment mechanism. The hydraulic adjustment mechanism uses the pressure of hydraulic oil to push the piston, thereby changing the length of the robotic arm 3. These are all existing technologies and will not be described in detail here.

[0052] In this invention, by adjusting the robotic arm 3 equipped with the robotic gripper 1, and under the action of the rotating wheel 4, the robotic gripper 1 rotates to complete the clamping and picking up of the tubular workpiece in the working area. Then, the robotic gripper 1 places the tubular workpiece inside the cylindrical base 7 for drilling.

[0053] The user drives the mechanical arm 3 installed with the mechanical arm drill bit 2 to move to a suitable drilling position of the tubular workpiece side wall, turns on the electric push rod one 9, and the movable end of the electric push rod one 9 drives the base 61 fixedly connected thereto to move downward by a distance, so that the base 61 drives the rotating shaft 62 and other structures to move downward synchronously until the spline groove 611 at the bottom end of the rotating shaft 62 and the spline shaft 610 installed at the output end of the micro motor 69 are keyed and connected, at which time the micro motor 69 is turned on through the controller, the output end of the micro motor 69 drives the spline shaft 610 to rotate by a certain angle, the spline shaft 610 drives the rotating shaft 62 to rotate by a certain angle through the spline groove 611 keyed and connected thereto, at which time since the slide rod 20 penetrates the inside of the corresponding insertion hole 19, the rotating shaft 62 rotates in the process, and under the action of the threaded groove 63, the cylindrical nut 64 will move downward by a distance along the side wall of the rotating shaft 62, so that the first rod 65 rotatingly connected to the side wall of the cylindrical nut 64 will push the support 68 rotatingly connected thereto to move by a distance away from the cylindrical nut 64, and the two second rods 67 rotatingly connected to each support 68 will also rotate synchronously, until the corresponding support 68 and the inner side wall of the tubular workpiece are in contact.

[0054] Since the side wall of the support 68 is provided with a plurality of through holes 21, the drill bit part of the mechanical arm drill bit 2 can correspond to any one of the through holes 21 on the support 68, so that the mechanical arm drill bit 2 can drill the tubular workpiece at different positions along the axial direction. When the mechanical arm drill bit 2 starts to drill the tubular workpiece, since the inner side wall of the tubular workpiece is supported by a plurality of supports 68, the radial deformation of the tubular workpiece during drilling is reduced, and the problem of cracks or fractures caused by excessive deformation and local stress concentration is avoided, thereby ensuring the processing precision and the strength of the workpiece.

[0055] At this time through the ring-shaped electromagnet 25 power, ring-shaped electromagnet 25 power and permanent magnet 23 polarity opposite each other repulsion, then under the action of magnetic repulsion, the permanent magnet 23 will drive the slide rod 20 to move up a distance to make the slide rod 20 disengaged from the cylindrical nut 64 and the box 13, at this time under the action of the spring one 15 elastic force, the extrusion block 16 will drive the corresponding friction block 18 to slide a distance, so that the friction block 18 and the side wall of the shaft 62 are closely abutted to form a limit, when the number of support 68 is four, at this time the output end of the micro motor 69 is rotated by ninety degrees, then the output end of the micro motor 69 will drive the shaft 62 to rotate through the spline shaft 610, because the slide rod 20 no longer limits the cylindrical nut 64 at this time, and the friction block 18 and the side wall of the shaft 62 are closely abutted to form a limit, then the cylindrical nut 64 will rotate with the shaft 62 synchronously, then the cylindrical nut 64 will drive the support 68 to rotate ninety degrees through the side wall of the first rod 65 and the second rod 67 connected to the plurality of groups of the second rod 67, because each support 68 is abutted to the inner side wall of the tubular workpiece to form a supporting force, then at this time the plurality of supports 68 will drive the tubular workpiece to rotate by ninety degrees, the mechanical hand drill bit 2 drills the tubular workpiece at another position along the circumferential direction by ninety degrees, and repeats the above process, then the mechanical hand drill bit 2 can open four drill holes on the side wall of the tubular workpiece along the circumferential direction, which is simple and convenient to operate.

[0056] Then the user disconnects the power of the ring-shaped electromagnet 25, then under the action of the spring two 24 elastic force, the slide rod 20 moves downward until it is inserted into the insertion hole 19 again, the friction block 18 moves away from the shaft 62, the slide rod 20 limits the cylindrical nut 64, then starts the micro motor 69, and the output end of the micro motor 69 is reversely rotated by a small angle, then at this time the cylindrical nut 64 will move upward along the thread groove 63 of the shaft 62 by a small distance, the support 68 and the inner side wall of the tubular workpiece are disengaged, the electric push rod two 82 of the two detection mechanisms 8 corresponding to the support 68 of the drill hole opened by the tubular workpiece moves outward a distance, the movable end of the electric push rod two 82 drives the detection block 83 fixedly connected thereto to move outward a distance, until the ball part of the ball detection piece 86 abuts against the inner side wall of the tubular workpiece, the tubular workpiece is clamped by the mechanical hand clamp 1 at this time, then the ring-shaped electromagnet 25 is powered on to release the limit of the slide rod 20 on the cylindrical nut 64, and the friction block 18 and the shaft 62 are closely abutted.

[0057] Then the micro motor 69 is started, and the output end of the micro motor 69 drives the two ball detection pieces 86 located at the upper and lower positions of the drill holes to slide around the inner side wall of the tubular workpiece through the spline shaft 610, the first rod 65, the support 68 and the like. At this time, if the area near a certain drill hole of the tubular workpiece along the circumference still forms a relatively serious concave deformation, when the ball detection piece 86 passes through the area, the ball detection piece 86 will slide a distance in the first cavity 84, and the hydraulic oil in the first cavity 84 will be extruded into the second cavity 85. Since the inner cavity cross-sectional area of the first cavity 84 is much larger than that of the second cavity 85, the piston conductive block 87 will slide a further distance in the second cavity 85, thereby amplifying the deformation degree. When the piston conductive block 87 moves a long distance and abuts against the conductive sheet 88, the buzzer 89 produces a buzzing alarm at this time, prompting the user to need to detect and confirm the tubular workpiece again. It should be noted that if the area near a certain drill hole of the tubular workpiece along the circumference forms a little concave deformation, the piston conductive block 87 will not abut against the conductive sheet 88 after sliding a distance, thereby not making the buzzer 89 produce a buzzing alarm.

[0058] Finally, when the movable end of the electric push rod one 9 drives the base 61 to move upward, at this time, the electric push rod two 82 in the two detection mechanisms 8 located at the upper and lower positions of the drill holes of the mechanical hand drill bit 2 drives the corresponding detection block 83 to move reversely by a distance, and the electric push rod two 82 in the two detection mechanisms 8 located at the left and right positions of the drill holes of the mechanical hand drill bit 2 drives the corresponding detection block 83 to move outward by a distance, until the corresponding ball detection piece 86 and the inner side wall of the drill hole of the tubular workpiece in the left and right directions abut against each other. Subsequently, during the upward movement of the base 61, the ball detection piece 86 can detect the inner side wall of the drill hole of the tubular workpiece in the left and right directions, thereby completing the detection of the quality of the drill hole around the inner surface of each drill hole.

[0059] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. An automatic integrated multifunctional robot, characterized by, Include: Mechanical hand clamp (1) for grabbing objects; Mechanical hand drill bit (2) for drilling operation; Mechanical arm (3) for supporting and moving the mechanical hand clamp (1) and mechanical hand drill bit (2); Rotary wheel (4) for realizing the rotary motion of the mechanical arm (3); The bottom plate (5) is installed on the bottom plate (5); The cylinder seat (7) is installed on the bottom plate (5), and the top plate (10) is installed on the cylinder seat (7) through a plurality of supporting rods (28). The bottom of the top plate (10) is connected with a supporting mechanism (6) for avoiding deformation of the tubular workpiece during drilling through an electric push rod (9); A plurality of detection mechanisms (8) for detecting the drilling quality of the tubular workpiece after drilling are arranged on the supporting mechanism (6).

2. The automatic integrated multifunctional robot of claim 1, wherein The supporting mechanism (6) comprises a base (61) fixedly connected with the electric push rod (9), a rotating shaft (62) rotatably connected with the bottom wall of the base (61), a threaded groove (63) formed in the side wall of the rotating shaft (62), a cylindrical nut (64) threadedly connected with the threaded groove (63), a plurality of first rods (65) rotatably connected with the side wall of the cylindrical nut (64), an outer tube (66) slidably sleeved on the side wall of the rotating shaft (62), a plurality of second rods (67) rotatably connected with the side wall of the outer tube (66), each group of second rods (67) being two in number and arranged in parallel, each group of second rods (67) being rotatably connected with a supporting piece (68), and the first rods (65) and the adjacent supporting pieces (68) being rotatably connected.

3. The automatic integrated multifunctional robot of claim 2, wherein The supporting mechanism (6) further comprises a micro motor (69) fixedly installed on the inner wall of the bottom of the cylinder seat (7), a spline shaft (610) fixedly connected with the output end of the micro motor (69), a spline groove (611) formed in the bottom end of the rotating shaft (62), and a buffer pad (612) fixedly installed on the inner wall of the bottom of the cylinder seat (7).

4. The automatic integrated multifunctional robot arm according to claim 2, wherein, A plurality of slide rods (20) are slidably connected through the top wall of the base (61), a permanent magnet (23) is fixedly connected with the top side wall of each slide rod (20), a plurality of annular electromagnets (25) are installed on the base (61), a spring (24) is fixedly connected with the side wall of the slide rod (20), the spring (24) and the base (61) are fixedly connected, a plurality of insertion holes (19) are formed in the cylindrical nut (64), and the slide rods (20) penetrate through the adjacent insertion holes (19).

5. The automatic integrated multifunctional robot arm according to claim 2, wherein, A plurality of through holes (21) are formed in the side wall of the supporting piece (68), the detection mechanisms (8) are arranged around the through holes (21) on the supporting piece (68), the detection mechanism (8) comprises a groove (81) formed in the side wall of the supporting piece (68), an electric push rod (82) is installed on the inner wall of the groove (81), a detection block (83) is fixedly connected with the movable end of the electric push rod (82), a first cavity (84) and a second cavity (85) are formed in the inner wall of the detection block (83), and a ball detection piece (86) is sealingly and slidably connected through the inner wall of the first cavity (84).

6. The automatic integrated multifunctional robot arm according to claim 5, wherein, The detection mechanism (8) further includes a piston conductive block (87) sealingly and slidably connected inside the second cavity (85), an electrically conductive sheet (88) fixedly connected to the inner wall of the second cavity (85), and a buzzer (89) installed on the inner wall of the groove (81), wherein the buzzer (89) is electrically connected to the electrically conductive sheet (88) and the piston conductive block (87).

7. The automatic integrated multifunctional robot arm according to claim 6, characterized in that, The ball detection piece (86) is fixedly connected with a spring three (810), and the spring three (810) is fixedly connected to the inner wall of the first cavity (84), and the first cavity (84) and the second cavity (85) are communicated.

8. The automatic integrated multifunctional robot of claim 7, wherein, The inner cavity cross-sectional area of the first cavity (84) is larger than that of the second cavity (85), and the communication part of the first cavity (84) and the second cavity (85) is filled with hydraulic oil.

9. The automatic integrated multifunctional robot arm according to claim 4, wherein, The bottom end of the slide rod (20) is inclined, the cylindrical nut (64) is symmetrically fixed with a vertical rod (12), the vertical rod (12) is fixed with a box (13) at the top end, the box (13) is provided with a through hole (14) from top to bottom, the box (13) is slidably connected with an extrusion block (16), the extrusion block (16) is elastically connected with the inner wall of the box (13) through a spring (15), the inner wall of the extrusion block (16) is provided with a wedge-shaped hole (17), the side wall of the extrusion block (16) is fixed with a friction block (18), and the friction block (18) and the side wall of the box (13) are slidably connected.

10. The automatic integrated multifunctional robot arm according to claim 1, wherein, The rotating wheel (4) is arranged on the outer wall of the cylindrical seat (7), the mechanical arm (3) is rotatably installed on the side wall of the rotating wheel (4), the mechanical hand drill (2) and one of the mechanical arms (3) are fixedly installed, the mechanical hand clamp (1) and the other mechanical arm (3) are fixedly installed, and the bottom plate (5) is provided with an electric box (11) for providing power for the mechanical arm (3) and its accessories.

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