Mechanical hand for machining of motor spindles

Abstract

The application relates to the technical field of mechanical hands, and discloses a mechanical hand for motor spindle machining, which comprises two rotating rods, driving mechanisms are arranged at the top ends of the two rotating rods, bearing plates are fixedly connected to the bottom ends of the two rotating rods, installation grooves are formed in one side of the bearing plates, torsional springs are arranged in the installation grooves and are rotationally connected with rotating columns, and the one ends of the rotating columns are provided with notches and are fixedly connected with the rotating columns, the outer walls of the rotating columns are wound with pulling ropes, the one ends of the pulling ropes are fixedly connected with the outer walls of the corresponding rotating rods, and the outer walls of the one ends of the bearing plates are fixedly connected with inclined shovel plates. The bearing plates and the inclined shovel plates are matched to realize automatic material distribution and lifting of the spindle, the gravity triggers the limit of the flap, and the air bag exhaust drives the limit mechanism to be released, so that the automatic reset is realized, manual intervention is not needed, the material taking efficiency is improved, and the operation stability is improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more particularly to a robotic arm for machining motor spindles. Background Technology

[0002] Chinese patent publication number CN112140097A discloses a workpiece loading robot, specifically relating to the field of robot technology. It includes a workpiece platform, a workpiece conveying assembly mounted on the workpiece platform, and a fixing assembly. The fixing assembly includes a support rod fixed to the workpiece platform, a lifting slide plate mounted on the support rod, and a lifting plate movably connected to the lifting slide plate. A connecting rod is fixedly mounted on the lifting plate, and a robot is mounted on the end of the connecting rod away from the lifting plate, positioned above the workpiece conveying assembly. A lifting mechanism for driving the robot's lifting and lowering is provided on the workpiece platform, and the lifting mechanism is powered by the workpiece conveying assembly. By utilizing the power from the workpiece conveying assembly to drive the robot's lifting and lowering, the control system of the robot is simplified, reducing the overall operational difficulty and structural cost of the robot. It has advantages such as simple and reasonable structure and low manufacturing cost.

[0003] During the machining of motor spindles, since the spindle raw materials are mostly cylindrical and stored in a stacked manner, the adjacent raw materials are closely attached, making it difficult to separate individual raw materials and making material handling difficult. When the robotic arm picks up the stacked raw materials, it usually requires manual manipulation or pre-sorting before it can grab them. This not only results in low automation but also easily leads to problems such as unstable gripping, jamming, or dropping, affecting production efficiency and work continuity.

[0004] In view of this, the present invention proposes a robotic arm for machining motor spindles to solve the problems existing in the prior art. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a robotic arm for machining motor spindles.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A robotic arm for machining motor spindles includes two rotating rods. A drive mechanism is mounted at the top of each rotating rod, and a support plate is fixedly connected to the bottom of each rotating rod. Each support plate has a mounting groove on one side, and a rotating column is rotatably connected to each mounting groove via a torsion spring. A rocker arm is also provided on one side of each mounting groove. One end of each rocker arm has a notch and is fixedly connected to the corresponding rotating column. A pull rope is wound around the outer wall of each rotating column, and one end of the pull rope is fixedly connected to the outer wall of the corresponding rotating rod. A slanted shovel is fixedly connected to the outer wall of one end of each support plate, and a mounting cavity is provided inside the other end of the support plate. A limit mechanism is provided inside the mounting cavity to restrict the rotation direction of the rotating column.

[0007] Furthermore, the driving mechanism includes a driving box, in which two driving shafts are symmetrically rotatably connected in the middle, and a driving motor is provided at the top of one of the driving shafts. Gears are fixedly connected to the outer walls of both driving shafts, and the two gears mesh with each other. A mounting plate is fixedly connected to the outer wall of the driving box.

[0008] Furthermore, each of the two drive shafts is fixedly connected to a second drive wheel, and a first drive wheel is provided on one side of each second drive wheel. The two rotating rods are symmetrically rotatably connected to the outer wall of the bottom of the drive box. Each first drive wheel is fixedly connected to the outer wall of the corresponding rotating rod, and a drive belt is fitted on both the first drive wheel and the corresponding second drive wheel.

[0009] Furthermore, the limiting mechanism includes a slider and a limiting ratchet. The limiting ratchet is fixedly connected to the outer wall of one end of the rotating column. The slider has a receiving cavity inside, and a limiting wedge is slidably connected to the side of the receiving cavity facing the limiting ratchet. The slider is slidably connected inside the mounting cavity.

[0010] Furthermore, one end of the limiting wedge is engaged in the tooth gap of the limiting ratchet, and a guide slope is machined on the top of the end. A reset spring is fixedly connected between the other end of the limiting wedge and the inner wall of the receiving cavity, and a compression spring is fixedly connected between the slider and the inner wall of the receiving cavity.

[0011] Furthermore, an airbag mounting plate is fixedly connected to the upper outer wall of the rotating rod, and an airbag is provided on the outer wall of the airbag mounting plate. An air supply pipe is provided inside the rotating rod and the bearing plate, and one end of the air supply pipe is connected to the airbag. Two airbag baffles are symmetrically fixedly connected to the bottom outer wall of the driving mechanism.

[0012] Furthermore, a pressing rod is slidably connected to one side of the mounting cavity, and an anti-detachment protrusion is provided on the outer wall of the pressing rod. A right-angled triangular wedge is fixedly connected to the outer wall of the slider facing the pressing rod, and one end of the pressing rod contacts the hypotenuse of the right-angled triangular wedge.

[0013] Furthermore, the pressing rod is covered with a protective cover, and a gas collecting cylinder is fixedly connected to one side of the protective cover. The other end of the gas supply pipe is connected to one side of the gas collecting cylinder, and a push rod is slidably connected to the other side of the gas collecting cylinder.

[0014] Furthermore, one end of the push rod is fixedly connected to a piston disc that is slidably and sealingly connected to the inner wall of the gas collecting cylinder, and the other end of the push rod is fixedly connected to a right-angled trapezoidal wedge. The other end of the pressing rod is in contact with the inclined surface of the right-angled trapezoidal wedge.

[0015] The beneficial effects of this invention are as follows: The main shaft automatically feeds and lifts raw materials by cooperating with the bearing plate and the inclined shovel plate. Gravity triggers the rocker plate to limit the movement, and the limit mechanism is released by the airbag exhaust, achieving automatic reset without manual intervention, thus improving material handling efficiency and operational stability. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a robotic arm used for machining motor spindles; Figure 2 This is a rear sectional view of the drive box structure of a robotic arm used for machining motor spindles. Figure 3 This is a schematic diagram of the rotating rod structure of a robotic arm used for machining motor spindles; Figure 4 This is a schematic cross-sectional view of the support plate of a robotic arm used for machining motor spindles. Figure 5 This is a schematic diagram of the slider structure of a robotic arm used for machining motor spindles; Figure 6 This is a schematic diagram of a protective cover structure for a robotic arm used for machining motor spindles.

[0017] In the diagram: 1. Rotating rod; 2. Drive box; 3. Mounting plate; 4. Drive motor; 5. Air supply pipe; 6. Airbag mounting plate; 7. Airbag; 8. Drive shaft; 9. Gear; 10. Airbag baffle; 11. Transmission wheel one; 12. Transmission belt; 13. Transmission wheel two; 14. Mounting groove; 15. Pull rope; 16. Slanted shovel plate; 17. Bearing plate; 18. Protective cover; 19. Rotating column; 20. Notch; 21. Rocker; 22. Compression spring; 23. Slider; 24. Pressing rod; 25. Right-angled triangular wedge; 26. Mounting cavity; 27. Limiting ratchet; 28. Return spring; 29. ​​Limiting wedge; 30. Receiving cavity; 31. Push rod; 32. Piston disc; 33. Air collection cylinder; 34. Right-angled trapezoidal wedge. Detailed Implementation

[0018] The technical solution of the present invention will be further described in detail below with reference to specific embodiments.

[0019] Reference Figure 1 , Figure 3 as well as Figure 4As shown, a robotic arm for machining motor spindles includes two rotating rods 1. A drive mechanism is provided at the top of each rotating rod 1. A bearing plate 17 is fixedly connected to the bottom of each rotating rod 1. Each bearing plate 17 has a mounting groove 14 on one side. A rotating column 19 is rotatably connected to each mounting groove 14 via a torsion spring. The torsion spring provides a restoring force to the rotating column 19, allowing it to maintain its initial position without external force. A rocker arm 21 is provided on one side of each mounting groove 14. One end of each rocker arm 21 has a notch 20 and is fixedly connected to the corresponding rotating column 19. A pull rope 15 is wound around the outer wall of each rotating column 19. One end of the pull rope 15 is fixedly connected to the outer wall of the corresponding rotating rod 1, and the pull rope 15 is in a taut state. A slanted shovel plate 16 is fixedly connected to the outer wall of one end of each bearing plate 17. An installation cavity 26 is provided inside the other end of the bearing plate 17. A limit mechanism is provided inside the installation cavity 26 to limit the rotation direction of the rotating column 19. During operation, the drive mechanism is installed at the end of the robotic arm, and in the initial state, the two support plates 17 are as follows: Figure 1 As shown, the robotic arm drives the rotating rod 1 to insert the bearing plate 17 through the side gap of the raw material stack on the main shaft and adjust it to an appropriate height; After the drive mechanism is started, it drives the two rotating rods 1 to rotate synchronously, causing the two bearing plates 17 to move towards each other. During this process, the inclined shovel plate 16 gradually inserts into the gap between the main shaft material and lifts the target main shaft material under continuous rotation, so that it moves smoothly onto the bearing plate 17. During the process of the main shaft material being lifted and falling onto the support plate 17, the weight of the main shaft material itself acts on the pull rope 15, causing the pull rope 15 to generate tension and apply a rotational torque to the rotating column 19 wound around it, thereby causing the rotating column 19 to rotate. During the rotation of the rotating column 19, the torsion spring undergoes torsional deformation and stores elastic potential energy, while simultaneously causing the rocker plate 21, which is fixedly connected to it, to flip upward, so that the rocker plate 21 forms a lateral limit on the main shaft material. In this process, no additional drive structure is required, and the automatic movement of the rocker plate 21 can be achieved by utilizing the weight of the main shaft material itself. During the upward movement of rocker 21, the limiting mechanism does not obstruct its forward rotation, but restricts it when it attempts to rotate in the reverse direction, thereby ensuring that rocker 21 can maintain its upward state and improving stability during the load-bearing process. Compared to traditional robotic arms that require manual manipulation of stacked spindle materials before gripping, this device, driven by the rotating rod 1, utilizes the support plate 17 and the inclined shovel 16 to directly insert into the gaps between the spindle materials. During rotation, it lifts and supports the materials, while the weight of the materials triggers the pulling rope 15, causing the pry bar 21 to automatically tilt upwards for a limit position. Through this coordinated action, material separation and limiting can be completed simultaneously during the material handling process, eliminating the need for manual assistance. This allows for the gripping and conveying of stacked spindle materials, improving efficiency, reducing instability caused by manual intervention, and enhancing the continuity and reliability of the overall operation.

[0020] Reference Figure 2 As shown, as a further embodiment of the present invention, the drive mechanism includes a drive housing 2. Two drive shafts 8 are symmetrically rotatably connected in the middle of the drive housing 2, and a drive motor 4 is provided at the top of one of the drive shafts 8. Gears 9 are fixedly connected to the outer walls of both drive shafts 8, and the two gears 9 mesh with each other. A mounting plate 3 is fixedly connected to the outer wall of the drive housing 2. The drive motor 4 will cause the drive shaft 8 connected to it to rotate. Through the meshing action of the gears 9, when one drive shaft 8 rotates, the other drive shaft 8 can rotate synchronously in the opposite direction, thereby ensuring that the drive on both sides is consistent.

[0021] Reference Figure 2 As shown, as a further embodiment of the present invention, the bottom ends of both drive shafts 8 are fixedly connected to transmission wheels 13, and transmission wheels 11 are provided on one side of each transmission wheel 13. The two rotating rods 1 are symmetrically rotatably connected to the bottom outer wall of the drive box 2. The transmission wheels 11 are fixedly connected to the outer wall of the corresponding rotating rods 1, and transmission belts 12 are sleeved on both the transmission wheels 11 and the corresponding transmission wheels 13. Through the cooperation between the transmission wheels 11, the transmission belts 12 and the transmission wheels 13, the power transmission from the drive shafts 8 to the rotating rods 1 is realized, so that the two rotating rods 1 keep rotating synchronously, thereby improving the consistency and stability of the movement of the bearing plate 17.

[0022] Reference Figure 4 as well as Figure 5 As shown, as a further embodiment of the present invention, the limiting mechanism includes a slider 23 and a limiting ratchet 27. The limiting ratchet 27 is fixedly connected to the outer wall of one end of the rotating column 19. The slider 23 is provided with a receiving cavity 30, and a limiting wedge 29 is slidably connected to the side of the receiving cavity 30 facing the limiting ratchet 27. The slider 23 is slidably connected to the inside of the mounting cavity 26.

[0023] Reference Figure 4 as well as Figure 5As shown, as a further embodiment of the present invention, one end of the limiting wedge 29 is inserted into the tooth gap of the limiting ratchet 27, and a guide slope is machined on the top of the end. The other end of the limiting wedge 29 is fixedly connected to the inner wall of the receiving cavity 30 with a return spring 28, and the slider 23 is fixedly connected to the inner wall of the receiving cavity 30 with a pressing spring 22. When the rotating column 19 drives the limiting ratchet 27 to rotate in the direction that makes the rocker 21 tilt upward, the ratchet teeth push the guide slope at the end of the limiting wedge 29, causing the limiting wedge 29 to overcome the elastic force of the return spring 28 within the receiving cavity 30 and thus smoothly pass over the ratchet teeth without affecting the forward rotation of the rotating column 19. When the rotating column 19 attempts to rotate in the reverse direction, the limiting wedge 29 gets stuck in the tooth gap of the limiting ratchet 27 and is pressed down by the return spring 28, making it unable to retract. This forms a block on the limiting ratchet 27, restricting the reverse rotation of the rotating column 19. At the same time, the elastic force provided by the pressing spring 22 is greater than the force required for the slider 23 to move, keeping the slider 23 basically stationary. This prevents the limiting wedge 29 from retracting, forming a reliable block on the limiting ratchet 27 and restricting the reverse rotation of the rotating column 19.

[0024] Working principle: The drive box 2 is mounted on the end of the robotic arm via the mounting plate 3. In the initial state, the two support plates 17 are as follows: Figure 1 As shown, during operation, the robotic arm drives the rotating rod 1 to insert the bearing plate 17 through the side gap of the raw material stack on the main shaft and adjust it to an appropriate height; Next, the drive motor 4 will rotate the drive shaft 8 connected to it. Through the meshing action of the gear 9, when one drive shaft 8 rotates, the other drive shaft 8 can rotate synchronously in the opposite direction, thereby ensuring that the drive on both sides is consistent. Through the cooperation between the transmission wheel 11, the transmission belt 12 and the transmission wheel 13, the power transmission from the drive shaft 8 to the rotating rod 1 is realized, improving the consistency and stability of the movement of the bearing plate 17, and making the two bearing plates 17 rotate synchronously. During this process, the inclined shovel plate 16 gradually inserts into the gap between the main shaft material and lifts the target main shaft material under the action of continuous rotation, so that it moves smoothly onto the bearing plate 17. During the process of the main shaft material being lifted and falling onto the support plate 17, the weight of the main shaft material itself acts on the pull rope 15, causing the pull rope 15 to generate tension and apply a rotational torque to the rotating column 19 wound around it, thereby causing the rotating column 19 to rotate. During the rotation of the rotating column 19, the torsion spring undergoes torsional deformation and stores elastic potential energy, while simultaneously causing the rocker plate 21, which is fixedly connected to it, to flip upward, so that the rocker plate 21 forms a lateral limit on the main shaft material. In this process, no additional drive structure is required, and the automatic movement of the rocker plate 21 can be achieved by utilizing the weight of the main shaft material itself. When the rotating column 19 drives the limiting ratchet 27 to rotate in the direction that makes the rocker 21 tilt upward, the ratchet teeth of the limiting ratchet 27 push the guide slope at the end of the limiting wedge 29, so that the limiting wedge 29 can overcome the elastic force of the return spring 28 and retract within the receiving cavity 30, thus smoothly passing over the ratchet teeth without affecting the forward rotation of the rotating column 19. When the rotating column 19 attempts to rotate in the reverse direction, the limiting wedge 29 gets stuck in the tooth gap of the limiting ratchet 27 and is pressed down by the return spring 28, making it unable to retract. This forms a block on the limiting ratchet 27, restricting the reverse rotation of the rotating column 19. At the same time, the elastic force provided by the pressing spring 22 is greater than the force required for the slider 23 to move, keeping the slider 23 basically still, thus preventing the limiting wedge 29 from retracting and forming a reliable block on the limiting ratchet 27, restricting the reverse rotation of the rotating column 19. Compared to traditional robotic arms that require manual manipulation of stacked spindle materials before gripping, this device, driven by the rotating rod 1, utilizes the support plate 17 and the inclined shovel 16 to directly insert into the gaps between the spindle materials. During rotation, it lifts and supports the materials, while the weight of the materials triggers the pulling rope 15, causing the pry bar 21 to automatically tilt upwards for a limit position. Through this coordinated action, material separation and limiting can be completed simultaneously during the material handling process, eliminating the need for manual assistance. This allows for the gripping and conveying of stacked spindle materials, improving efficiency, reducing instability caused by manual intervention, and enhancing the continuity and reliability of the overall operation.

[0025] Reference Figure 2 as well as Figure 3 As shown, as a further embodiment of the present invention, an airbag mounting plate 6 is fixedly connected to the outer wall above the rotating rod 1, and an airbag 7 is provided on the outer wall of the airbag mounting plate 6. An air supply pipe 5 is provided inside the rotating rod 1 and the bearing plate 17, and one end of the air supply pipe 5 is connected to the airbag 7. Two airbag baffles 10 are symmetrically fixedly connected to the outer wall at the bottom of the drive mechanism. After the main shaft finishes grabbing and conveying the raw material, the bearing plate 17 returns to its initial state. During this process, the airbag mounting plate 6 gradually approaches the airbag baffle 10 and squeezes the airbag 7, causing the gas inside the airbag 7 to be discharged through the air supply pipe 5.

[0026] Reference Figure 4 As shown, as a further embodiment of the present invention, a pressing rod 24 is slidably connected to one side of the mounting cavity 26, and the outer wall of the pressing rod 24 is provided with an anti-detachment protrusion. A right-angled triangular wedge 25 is fixedly connected to the outer wall of the slider 23 facing the pressing rod 24, and one end of the pressing rod 24 contacts the hypotenuse surface of the right-angled triangular wedge 25.

[0027] Reference Figure 3 as well as Figure 4As shown, as a further embodiment of the present invention, the pressing rod 24 is covered with a protective cover 18, and a gas collecting cylinder 33 is fixedly connected to one side of the protective cover 18. The other end of the gas supply pipe 5 is connected to one side of the gas collecting cylinder 33, and a push rod 31 is slidably connected to the other side of the gas collecting cylinder 33. The discharged gas will enter the gas collecting cylinder 33 through the gas supply pipe 5.

[0028] Reference Figure 6 As shown, as a further embodiment of the present invention, one end of the push rod 31 is fixedly connected to a piston disc 32 that is slidably and sealingly connected to the inner wall of the gas collecting cylinder 33, and the other end of the push rod 31 is fixedly connected to a right-angled trapezoidal wedge 34. The other end of the pressing rod 24 contacts the inclined surface of the right-angled trapezoidal wedge 34, causing the piston disc 32 inside to move, thereby causing the right-angled trapezoidal wedge 34 to move through the push rod 31. Since one end of the pressing rod 24 contacts the inclined surface of the right-angled triangular wedge 25 on the outer wall of the slider 23, and the other end contacts the inclined surface of the right-angled trapezoidal wedge 34, when the right-angled trapezoidal wedge 34 moves, the right-angled trapezoidal wedge 34 applies a pushing force to the pressing rod 24 along its inclined surface direction, causing the pressing rod 24 to move into the mounting cavity 26. During the movement of the pressing rod 24, the inclined surface of the right-angled triangular wedge 25 applies a pushing force to the slider 23, causing the slider 23 to move against the elastic force of the pressure spring 22. As the slider 23 moves, the limiting wedge 29 gradually exits the tooth gap of the limiting ratchet 27, causing the limiting mechanism to release the reverse limiting effect on the rotating column 19. At this time, under the action of the torsion spring releasing the elastic potential energy, the rotating column 19 rotates in the opposite direction, driving the rocker plate 21 to reset, thereby restoring the device to the initial state, which is convenient for the next material picking operation.

[0029] Working principle: After the main shaft finishes grabbing and conveying the raw material, the bearing plate 17 returns to its initial state. During this process, the airbag mounting plate 6 gradually approaches the airbag baffle 10 and squeezes the airbag 7, causing the gas inside the airbag 7 to be discharged through the air supply pipe 5. The discharged gas will enter the air collection cylinder 33 through the air supply pipe 5, causing the piston disc 32 inside to move, thereby causing the right-angled trapezoidal wedge block 34 to move through the push rod 31. Because one end of the pressing rod 24 is in contact with the hypotenuse of the right-angled triangular wedge 25 on the outer wall of the slider 23, and the other end is in contact with the hypotenuse of the right-angled trapezoidal wedge 34, when the right-angled trapezoidal wedge 34 moves, the right-angled trapezoidal wedge 34 applies a pushing force to the pressing rod 24 along its inclined surface, causing the pressing rod 24 to move into the mounting cavity 26. During the movement of the pressing rod 24, the inclined surface of the right-angled triangular wedge 25 applies a pushing force to the slider 23, causing the slider 23 to move against the elastic force of the compression spring 22. As the slider 23 moves, the limiting wedge 29 gradually exits the tooth gap of the limiting ratchet 27, causing the limiting mechanism to release the reverse limiting effect on the rotating column 19. At this time, under the action of the torsion spring releasing the elastic potential energy, the rotating column 19 rotates in the opposite direction, driving the rocker plate 21 to reset, thereby restoring the device to the initial state, which is convenient for the next material picking operation.

[0030] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robotic arm for machining motor spindles, comprising two rotating rods (1), wherein a drive mechanism is provided at the top end of the two rotating rods (1), characterized in that, Both rotating rods (1) are fixedly connected to a bearing plate (17) at their bottom ends, and a mounting groove (14) is provided on one side of the bearing plate (17). A rotating column (19) is rotatably connected inside the mounting groove (14) via a torsion spring. A rocker plate (21) is provided on one side of the mounting groove (14). A notch (20) is provided at one end of the rocker plate (21) and is fixedly connected to the corresponding rotating column (19). A pull rope (15) is wrapped around the outer wall of the rotating column (19). One end of the pull rope (15) is fixedly connected to the outer wall of the corresponding rotating rod (1). A slanted shovel plate (16) is fixedly connected to the outer wall of one end of the bearing plate (17). An installation cavity (26) is provided inside the other end of the bearing plate (17). A limit mechanism is provided inside the installation cavity (26) to limit the rotation direction of the rotating column (19).

2. The robotic arm for machining motor spindles according to claim 1, characterized in that, The driving mechanism includes a drive box (2), in which two drive shafts (8) are symmetrically rotatably connected in the middle, and a drive motor (4) is provided at the top of one of the drive shafts (8). Gears (9) are fixedly connected to the outer walls of both drive shafts (8), and the two gears (9) mesh with each other. A mounting plate (3) is fixedly connected to the outer wall of the drive box (2).

3. A robotic arm for machining motor spindles according to claim 2, characterized in that, The bottom ends of the two drive shafts (8) are fixedly connected to the second transmission wheel (13), and the first transmission wheel (11) is provided on one side of the second transmission wheel (13). The two rotating rods (1) are symmetrically rotated and connected to the bottom outer wall of the drive box (2). The first transmission wheel (11) is fixedly connected to the outer wall of the corresponding rotating rod (1), and the first transmission wheel (11) and the corresponding second transmission wheel (13) are both fitted with transmission belts (12).

4. A robotic arm for machining motor spindles according to claim 1, characterized in that, The limiting mechanism includes a slider (23) and a limiting ratchet (27). The limiting ratchet (27) is fixedly connected to the outer wall of one end of the rotating column (19). The slider (23) has a receiving cavity (30) inside, and a limiting wedge (29) is slidably connected to the side of the receiving cavity (30) facing the limiting ratchet (27). The slider (23) is slidably connected to the inside of the mounting cavity (26).

5. A robotic arm for machining motor spindles according to claim 4, characterized in that, One end of the limiting wedge (29) is inserted into the tooth gap of the limiting ratchet (27), and a guide slope is machined on the top of the end. The other end of the limiting wedge (29) is fixedly connected to the inner wall of the receiving cavity (30) with a reset spring (28), and the slider (23) is fixedly connected to the inner wall of the receiving cavity (30) with a pressure spring (22).

6. A robotic arm for machining motor spindles according to claim 5, characterized in that, The upper outer wall of the rotating rod (1) is fixedly connected to an airbag mounting plate (6), and an airbag (7) is provided on the outer wall of the airbag mounting plate (6). An air supply pipe (5) is provided inside the rotating rod (1) and the bearing plate (17), and one end of the air supply pipe (5) is connected to the airbag (7). Two airbag baffles (10) are symmetrically fixedly connected to the bottom outer wall of the driving mechanism.

7. A robotic arm for machining motor spindles according to claim 6, characterized in that, A pressing rod (24) is slidably connected to one side of the mounting cavity (26), and the outer wall of the pressing rod (24) is provided with an anti-detachment protrusion. A right-angled triangular wedge (25) is fixedly connected to the outer wall of the slider (23) facing the pressing rod (24), and one end of the pressing rod (24) contacts the hypotenuse of the right-angled triangular wedge (25).

8. A robotic arm for machining motor spindles according to claim 7, characterized in that, The pressing rod (24) is covered with a protective cover (18), and a gas collecting cylinder (33) is fixedly connected to one side of the protective cover (18). The other end of the gas supply pipe (5) is connected to one side of the gas collecting cylinder (33), and a push rod (31) is slidably connected to the other side of the gas collecting cylinder (33).

9. A robotic arm for machining motor spindles according to claim 8, characterized in that, One end of the push rod (31) is fixedly connected to a piston disc (32) that is slidably and sealingly connected to the inner wall of the gas collecting cylinder (33), and the other end of the push rod (31) is fixedly connected to a right-angled trapezoidal wedge (34). The other end of the pressing rod (24) is in contact with the inclined surface of the right-angled trapezoidal wedge (34).

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