Double-constraint mechanical hand for permanent magnet synchronous deep-well pump impeller machining and use method

Abstract

The application belongs to the technical field of mechanical hands and discloses a double-restraint mechanical hand for permanent magnet synchronous deep-well pump impeller machining and a use method, wherein the mechanical hand comprises a mechanical hand body, an X-shaped end table is fixedly installed on the end flange of the mechanical hand body, two arc-shaped half cage racks are fixedly installed at the lower end of the X-shaped end table, a hollow ring table is fixedly installed between the bottom walls of the two arc-shaped half cage racks, an inner cavity type multi-point negative pressure structure is fixedly installed on the hollow ring table, the inner cavity type multi-point negative pressure structure is in communication with an externally-arranged vacuumizing equipment, a middle ring table is arranged above the inner cavity type multi-point negative pressure structure, a plurality of connecting rod clamping jaw structures are annularly and intervally arranged below the middle ring table and at the outer side of the hollow ring table, a lifting actuating mechanism is fixedly installed on one of the arc-shaped half cage racks, and the driving end of the lifting actuating mechanism is in transmission connection with each connecting rod clamping jaw structure.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically, it relates to a dual-constraint robotic arm for machining permanent magnet synchronous deep well pump impellers and its usage method. Background Technology

[0002] In the precision assembly process of the pump shaft and impeller of the permanent magnet synchronous deep well pump, the impeller needs to be coaxially fitted onto the assembly end of the pump shaft. After the coaxial fitting process of the impeller and the pump shaft is completed, the subsequent locking and welding assembly process is carried out to fix the impeller onto the assembly end of the pump shaft.

[0003] In the existing technology, in the assembly process of impeller and pump shaft, the robot arm is the core execution device. Its role is throughout the entire process from the initial gripping of the impeller to the final welding, cooling and release, which can realize high-precision coaxial docking and active control of the assembly process.

[0004] Specifically, the assembly of the pump shaft and impeller of a permanent magnet synchronous deep well pump requires that the geometric axis of the impeller's inner bore perfectly coincide with the outer circle of the pump shaft assembly end. A permanent connection is formed through axial positioning, key connection, and subsequent pre-tightening with locking nuts and end-face welding. However, the slender and flexible nature of the deep well pump shaft makes it highly susceptible to bending deformation during assembly. The presence of a robotic arm overcomes this challenge, ensuring that the entire assembly process does not compromise the predetermined coaxiality tolerance due to shaft sagging or external interference. Such robotic arms typically employ six-axis articulated industrial robots, with each joint equipped with… Low backlash reducers ensure the transmission accuracy of the kinematic chain, while the end effector is a specially designed fixture. A six-dimensional torque sensor is connected in series between the mechanical wrist and the fixture to sense changes in axial thrust and radial bending moment in real time. Some configurations also integrate laser displacement sensors to accurately track the position of the impeller end face relative to the pump shaft shoulder in a non-contact manner. Through a series of composite actions such as attitude pre-calibration, compliant introduction, constant force pressing, anti-torsional support, and thermal deformation constraint, the static assembly error between the impeller and the pump shaft is controlled within the stringent range allowed by the equipment.

[0005] Currently, robotic arms are mainly equipped with vacuum suction cup gripper structures to pick up impeller workpieces to be processed and transferred. They use negative pressure to adsorb the top surface area of ​​the impeller to complete the workpiece handling and initial positioning. However, the top of the impeller is actually an arc-shaped surface structure, that is, an arc-shaped transition surface with a certain curvature. At the same time, subsequent assembly requires secondary clamping of the outer circumference of the impeller to withstand the reaction force during tightening and welding. The arc-shaped transition surface of the impeller top and the lip of the suction cup cannot form an effective sealing cavity. The curvature mismatch leads to gas leakage and insufficient negative pressure suction. Even if a contoured lip is used, it is difficult to cover the curvature changes of impellers of different specifications. When the robotic arm moves at high speed or rotates, it is easy to cause the gripper to slip or even fall off. In the subsequent locking nut tightening process, the suction cup cannot output any effective reverse torque to balance the tightening torque. Forcibly stopping the rotation will only cause the suction cup to slip and detach on the arc surface. Summary of the Invention

[0006] The purpose of this invention is to provide a double-constraint manipulator and its method for machining impellers of permanent magnet synchronous deep well pumps. The manipulator body drives the hollow ring platform at its end to move coaxially to directly above the impeller to be machined, and then moves downward so that the top of the impeller enters the inner cavity multi-point negative pressure structure inside the hollow ring platform. The inner cavity multi-point negative pressure structure has a built-in contoured surface adapted to the arc surface. After close contact, vacuum adsorption is initiated to achieve top pre-fixation. Then, the lifting actuator moves, driving multiple linkage gripper structures on the outer wall of the hollow ring platform to synchronously retract radially, uniformly clamping the impeller from the circumferential direction. After the double clamping is secure, the manipulator body transfers the impeller as a whole to the pump shaft position to perform coaxial fitting and subsequent assembly operations, thereby solving the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A dual-constraint manipulator for machining the impeller of a permanent magnet synchronous deep well pump includes a manipulator body. An X-shaped end platform is fixedly installed on the end flange of the manipulator body. Arc-shaped semi-cages are fixedly installed on the left and right sides of the lower end of the X-shaped end platform, and the two arc-shaped semi-cages form a guide cage. A hollow ring platform is fixedly installed between the bottom walls of the two arc-shaped semi-cages. The hollow ring platform is an annular hollow component. An internal cavity multi-point negative pressure structure is fixedly installed in the middle of the hollow ring platform. The internal cavity multi-point negative pressure structure is connected to an external vacuum pumping device. A contoured surface matching the arc-shaped surface at the top of the impeller is provided at the middle of the lower end of the internal cavity multi-point negative pressure structure. Vacuum adsorption is performed after the contoured surface fits the arc-shaped surface at the top of the impeller. The upper part of the internal cavity multi-point negative pressure structure is provided with a middle ring platform. Below the middle ring platform and located outside the hollow ring platform, multiple linkage gripper structures are arranged in a ring shape and spaced apart. A lifting actuator is fixedly installed on one of the arc-shaped semi-cages. The drive end of the lifting actuator is connected to each linkage gripper structure for transmission, which is used to drive the multiple linkage gripper structures to synchronously retract radially to clamp the outer circumference of the impeller, or synchronously open to release the impeller workpiece.

[0008] The following are further optimizations of the above technical solution by the present invention: The internal cavity multi-point negative pressure structure includes an annular air passage integrally formed on a hollow ring platform. The lower middle part of the annular air passage is provided with an arc-shaped transition surface that matches the curvature of the arc-shaped surface at the top of the impeller. Multiple vacuum suction cups are installed at equal intervals in an annular shape at the bottom of the annular air passage. An exhaust annular cavity connected to each vacuum suction cup is provided inside the annular air passage.

[0009] Further optimization: Quick-connect connector one and quick-connect connector two are respectively installed on the left and right sides of the top of the annular air passage, and the inner ends of quick-connect connector one and quick-connect connector two are respectively connected to the exhaust ring cavity.

[0010] Further optimization: The center of the X-shaped end platform is provided with a mounting hole that matches the end flange of the robot body, and multiple weight reduction holes are provided on the X-shaped end platform.

[0011] Further optimization: A gap is provided between the top of the hollow ring platform and the inner top wall of the arc-shaped semi-cage, and multiple sets of notches are equally spaced on the outer peripheral walls of the hollow ring platform and the annular air passage.

[0012] Further optimization: The outer circumference of the central ring platform is integrally formed with a protruding plate at the position corresponding to each notch. The bottom end of the protruding plate is fixedly installed with an inner U-shaped vertical beam, and the lower end of the inner U-shaped vertical beam is bolted to the outer wall of the annular air passage.

[0013] Further optimization: The connecting rod gripper structure includes an outer U-shaped vertical beam fixedly installed on the outer side below each convex plate. The lower end of the outer U-shaped vertical beam is hinged with an L-shaped gripper. A guide rod is vertically arranged on the side of the outer U-shaped vertical beam near the annular air passage. The upper end of the guide rod slides through the upper end surface of the convex plate. The lower end of the guide rod is hinged with a short connecting rod. The other end of the short connecting rod is hinged to one end of the corresponding L-shaped gripper.

[0014] Further optimization: An elastic pad is installed on the working surface of the L-shaped gripper facing the vertical axis of the annular airway.

[0015] Further optimization: The lifting actuator includes an automatic telescopic rod fixedly installed on one of the arc-shaped semi-cage frames. An upper ring platform is provided above the middle ring platform. The upper ring platform and the hollow ring platform are arranged concentrically, and the telescopic end of the automatic telescopic rod is fixedly connected to the upper ring platform. The upper end of the guide rod is fixedly connected to the lower end face of the upper ring platform.

[0016] This invention also provides a method for using a dual-constraint manipulator for machining permanent magnet synchronous deep well pump impellers. Based on the above-mentioned dual-constraint manipulator for machining permanent magnet synchronous deep well pump impellers, the method includes the following steps: S1: The robot body starts to drive its end effector to move to the position of the impeller. When the hollow ring platform descends and the tip of the impeller is completely entered into its inner cavity, the external vacuum equipment works to generate negative pressure suction at multiple adsorption points on the inner wall of the inner cavity multi-point negative pressure structure at the same time. This creates a stable negative pressure field between the arc surface of the impeller tip and the contour surface, thereby uniformly adsorbing the tip of the impeller into the hollow ring platform. S2: After the top of the impeller workpiece is vacuum-adsorbed and fixed, the lifting actuator starts to work. The lifting actuator performs linear motion to drive each link and gripper structure to perform radial synchronous contraction motion. At this time, the outer clamping surfaces of each gripper simultaneously adhere to and press against the outer circumference of the impeller. The radial clamping force is amplified by the driving force of the lifting actuator through the link and applied evenly to ensure that the outer circumference of the impeller is subjected to balanced force. S3: After the impeller workpiece is securely clamped, the robot body drives the entire end assembly to lift the impeller vertically and transfer it to the next processing station under the spatial path planning, and then perform assembly processing operations on the impeller. S4: After the impeller is in place, the connecting rod gripper structure continues to rigidly clamp and constrain the outer wall of the impeller. At this time, the impeller will not rotate on its own. The robot arm works to drive the impeller to adjust its position and rotate circumferentially. S5: When the impeller needs to be released, the linkage gripper structure opens synchronously under the reverse drive of the lifting actuator, and the internal cavity multi-point negative pressure structure is completely released. The robot body drives the hollow ring platform and the arc-shaped semi-cage assembly to rise upward, completely detaching from the impeller, and then moves to the cycle starting point position.

[0017] The present invention, by adopting the above technical solution, has at least the following beneficial effects: 1. In this invention, the internal cavity multi-point negative pressure structure uses a contoured surface that matches the arc surface of the impeller tip for docking. Then, it achieves surface-fitting adsorption through multiple distributed negative pressure points, rather than relying on the elastic seal of a single suction cup lip. This significantly reduces the risk of air leakage and insufficient negative pressure suction due to surface mismatch. Furthermore, the multi-point distributed negative pressure points ensure that the adsorption force is evenly applied to the arc surface of the impeller tip, avoiding the problem of air leakage and insufficient negative pressure suction caused by local deformation of a single suction cup. This ensures the stable gripping of the impeller by the robot arm during high-speed movement and posture rotation.

[0018] 2. In this invention, the internal cavity multi-point negative pressure structure is integrated inside the hollow ring platform, and the connecting rod and claw structure is distributed on the outside of the hollow ring platform. The two are completely isolated in their working spaces. First, the internal cavity negative pressure completes the pre-adsorption of the top of the impeller. Then, the lifting actuator drives each connecting rod and claw structure to synchronously contract radially. The clamping force acts uniformly along the circumference of the impeller, and its force direction matches the top adsorption force. It will not cause squeezing or stretching interference to the vacuum sealing interface, so that the adsorption system and the mechanical clamping system can work stably at the same time, forming a composite constraint of axial anti-drop and circumferential anti-torque.

[0019] 3. In this invention, the impeller workpiece is firmly locked by the hollow ring table after one clamping, maintaining absolute control over the workpiece throughout the process. It completes all actions from material picking, transfer, shaft fitting, auxiliary tightening to anti-torsion and welding fixation without the need for release or transfer to a special turntable for secondary positioning. This eliminates the cumulative error of the reference caused by multiple clamping and ensures the machining requirements of the coaxiality of the slender shaft system of the deep well pump and the impeller. Attached Figure Description

[0020] Figure 1 The three-dimensional representation of the overall structure in the embodiments of the present invention Figure 1 ; Figure 2 The three-dimensional representation of the overall structure in the embodiments of the present invention Figure 2 ; Figure 3 This is a schematic diagram of the structure of the robotic arm body in the detached state in an embodiment of the present invention; Figure 4 This is a three-dimensional sectional view of the robotic arm body in a detached state in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the central ring platform, the connecting rod gripper structure, the lifting actuator and the arc-shaped semi-cage in the separated state in an embodiment of the present invention; Figure 6 This is an assembly diagram of the arc-shaped semi-cage frame, hollow ring platform, and internal cavity multi-point negative pressure structure in an embodiment of the present invention; Figure 7 This is a three-dimensional sectional view of the location of the internal cavity multi-point negative pressure structure in an embodiment of the present invention; Figure 8 This is an assembly drawing of the linkage gripper structure and lifting actuator in an embodiment of the present invention; Figure 9 for Figure 4 A magnified view of a portion of point A in the middle.

[0021] In the diagram: 1-Manipulator body; 2-X-type end platform; 3-Arc-shaped semi-cage frame; 4-Hollow ring platform; 401-Gap section; 402-Notch section; 5-Internal cavity multi-point negative pressure structure; 501-Annular air passage; 502-Quick connector one; 503-Arc-shaped transition surface; 504-Quick connector two; 505-Exhaust ring cavity; 506-Vacuum suction cup; 6-Linkage gripper structure; 601-Outer U-shaped vertical beam; 602-Guide rod; 603-L-shaped gripper; 604-Short connecting rod; 7-Lifting actuator; 701-Automatic telescopic rod; 702-Upper ring platform; 8-Middle ring platform; 801-Protruding plate; 802-Inner U-shaped vertical beam. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0023] Depend on Figures 1 to 4 As shown, a dual-constraint manipulator for machining the impeller of a permanent magnet synchronous deep well pump includes a manipulator body 1. An X-shaped end plate 2 is fixedly installed on the end flange of the manipulator body 1. Arc-shaped semi-cages 3 are fixedly installed on the left and right sides of the lower end of the X-shaped end plate 2, and the two arc-shaped semi-cages 3 form a guide cage. A hollow ring platform 4 is fixedly installed between the bottom walls of the two arc-shaped semi-cages 3. The hollow ring platform 4 is an annular hollow component. An internal cavity multi-point negative pressure structure 5 is fixedly installed in the middle of the hollow ring platform 4. The internal cavity multi-point negative pressure structure 5 is connected to an external vacuum pumping device. The lower middle part of the internal cavity multi-point negative pressure structure 5 is provided with a contoured surface that matches the arc-shaped surface at the top of the impeller. After the contoured surface fits the arc-shaped surface at the top of the impeller, vacuum adsorption is performed.

[0024] In this embodiment, the X-shaped end plate 2 has a mounting hole at its center that matches the end flange of the robot body 1. The X-shaped end plate 2 is fixedly mounted on the end flange of the robot body 1 by bolts and fasteners. The outer periphery of the X-shaped end plate 2 has lugs that are fixedly connected to the arc-shaped semi-cage 3. The X-shaped end plate 2 has multiple weight-reducing holes. After the two arc-shaped semi-cages 3 are both semi-circular arcs and fixedly mounted on the X-shaped end plate 2, the two arc-shaped semi-cages 3 form a cage-like structure. The arc-shaped semi-cage 3 is made of lightweight aluminum alloy.

[0025] The inner cavity multi-point negative pressure structure 5 is provided with a middle ring platform 8 at intervals above it. Below the middle ring platform 8 and located outside the hollow ring platform 4, multiple connecting claw structures 6 are arranged in a ring shape at intervals. A lifting actuator 7 is fixedly installed on one of the arc-shaped semi-cage frames 3. The driving end of the lifting actuator 7 is connected to each connecting claw structure 6 for transmission, and is used to drive the multiple connecting claw structures 6 to synchronously retract radially to clamp the outer circumference of the impeller, or synchronously open to release the impeller workpiece.

[0026] Depend on Figure 5 , Figure 6 and Figure 7 As shown, the internal cavity multi-point negative pressure structure 5 includes an annular air passage 501 integrally formed on the hollow ring platform 4. The lower middle part of the annular air passage 501 is provided with an arc transition surface 503 that matches the curvature of the arc surface at the top of the impeller. Multiple vacuum suction cups 506 are installed at equal intervals in an annular shape at the bottom end of the annular air passage 501. An exhaust ring cavity 505 is provided inside the annular air passage 501. The inner end of each vacuum suction cup 506 is connected to the exhaust ring cavity 505.

[0027] Quick-connector 1 502 and quick-connector 2 504 are respectively installed on the left and right sides of the top of the annular air passage 501. The inner ends of quick-connector 1 502 and quick-connector 2 504 are respectively connected to the exhaust ring cavity 505.

[0028] In this embodiment, quick-connect connector 502 is connected to electromagnetic switch valve 1 and external pipeline. The other end of the external pipeline is connected to external vacuum equipment. The external vacuum equipment can be a vacuum generator or a negative pressure suction pump to perform vacuum operation as needed. Quick-connect connector 504 is connected to electromagnetic switch valve 2. After electromagnetic switch valve 2 is opened, it is used to break the vacuum in exhaust ring cavity 505.

[0029] When using the internal cavity multi-point negative pressure structure 5, firstly, the arc-shaped surface at the top of the impeller is fully inserted into the hollow ring platform 4 and completely fitted with the contoured arc-shaped transition surface 503. Then, the external vacuum equipment is activated, the electromagnetic switch valve one on the quick-connect connector 502 is opened, and the electromagnetic switch valve two on the quick-connect connector 504 is closed. At this time, the external vacuum equipment extracts the air from the exhaust ring cavity 505 through the quick-connect connector 502, forming a uniform negative pressure field. At this time, the vacuum suction cups 506 are distributed in multiple points in the circumferential direction. Even if there are slight curvature fluctuations on the arc surface, each point can independently establish a local negative pressure. The total suction force is equal to the sum of the negative pressure suction forces at each point, which overcomes the defect that a single-point suction cup cannot effectively seal a curved surface. Through multi-point parallel suction, a large-area fit with the arc-shaped surface at the top of the impeller is achieved, making the suction force uniform and stable, and preventing overall failure due to local leakage.

[0030] When it is necessary to stop the negative pressure adsorption, first turn off the external vacuum equipment, then close the electromagnetic switch valve one on quick connector one 502, and open the electromagnetic switch valve two on quick connector two 504. At this time, the electromagnetic switch valve two is opened to break the vacuum in the exhaust ring cavity 505, thereby causing the vacuum suction cup 506 to lose the negative pressure suction force, which is used to release the impeller workpiece.

[0031] Depend on Figure 8 and Figure 9 As shown, a gap 401 is provided between the upper part of the hollow ring platform 4 and the inner top wall of the arc-shaped semi-cage 3. The hollow ring platform 4 is a ring-shaped hollow component, and the gap 401 is used to install the lifting actuator 7 and can reserve the movement space of the lifting actuator 7. The hollow ring platform 4 integrates the adsorption cavity and the gripper into one unit, integrating the originally separate adsorption and clamping functions into the same rigid body. This ensures the sealing of the adsorption cavity and provides stable support for the various connecting rod gripper structures 6 on the outer wall, avoiding the problem of mutual interference between the two in the split design.

[0032] Multiple sets of notches 402 are equally spaced on the outer peripheral walls of the hollow ring platform 4 and the annular air passage 501. The number of notches 402 matches the number of connecting rod gripper structures 6, and the connecting rod gripper structures 6 are respectively set at the positions of the notches 402.

[0033] The middle ring platform 8 is spaced above the annular air passage 501. On the outer circumference of the middle ring platform 8, at the position corresponding to each notch 402, a protruding plate 801 is integrally formed. The protruding plate 801 extends outward for a certain distance. An inner U-shaped vertical beam 802 is fixedly installed at the bottom end of the protruding plate 801. The lower end of the inner U-shaped vertical beam 802 is bolted to the outer wall of the annular air passage 501.

[0034] With this design, the middle ring platform 8 can be fixedly installed on the annular air passage 501 by bolting the lower end of the inner U-shaped upright beam 802 to the outer wall of the annular air passage 501, which facilitates assembly and disassembly. After installation, the middle ring platforms 8 are arranged at intervals above the annular air passage 501.

[0035] The linkage gripper structure 6 includes an outer U-shaped vertical beam 601 fixedly installed on the outer side below each convex plate 801. The outer U-shaped vertical beam 601 and the inner U-shaped vertical beam 802 are parallel and spaced apart. The lower end of each outer U-shaped vertical beam 601 is hinged with an L-shaped gripper 603. A guide rod 602 is vertically arranged on the side of the outer U-shaped vertical beam 601 near the annular air passage 501. The upper end of the guide rod 602 slides through the upper end surface of the convex plate 801. The lower end of each guide rod 602 is hinged with a short connecting rod 604. The other end of the short connecting rod 604 is hinged to one end of the corresponding L-shaped gripper 603.

[0036] An elastic pad is installed on the working surface of the L-shaped gripper 603 facing the vertical axis of the annular air passage 501; the elastic pad can reduce the clamping damage to the impeller and protect the impeller workpiece.

[0037] The lifting actuator 7 includes an automatic telescopic rod 701 fixedly installed on one of the arc-shaped semi-cage frames 3. An upper ring platform 702 is provided above the middle ring platform 8. The upper ring platform 702 is arranged in the gap 401. The upper ring platform 702 is concentrically arranged with the hollow ring platform 4, and the telescopic end of the automatic telescopic rod 701 is fixedly connected to the upper ring platform 702.

[0038] In this embodiment, the automatic telescopic rod 701 is mounted on one of the arc-shaped semi-cage frames 3 via a support base, avoiding the central axis of the hollow ring platform 4 and the inner cavity multi-point negative pressure structure 5. After receiving the clamping or releasing signal from the control system, the automatic telescopic rod 701 outputs linear reciprocating motion, driving the upper ring platform 702 to move up and down along the axial direction of the hollow ring platform 4. The displacement of the upper ring platform 702 is fed back in real time by the built-in magnetic ring or potentiometer of the automatic telescopic rod 701, realizing closed-loop control.

[0039] In this embodiment, the upper end of the guide rod 602 slides through the upper end face of the protrusion plate 801 and is fixedly connected to the lower end face of the upper ring platform 702. During the up-and-down movement of the upper ring platform 702, the guide rod 602 is driven to move up and down.

[0040] When the automatic telescopic rod 701 pushes the upper ring platform 702 to move up and down along the axis of the hollow ring platform 4, the upper ring platform 702 drives the short connecting rod 604 to swing around the fixed hinge point through the guide rod 602, thereby pulling the L-shaped gripper 603 to retract radially inward or open radially. Multiple guide rods 602 are driven by the same upper ring platform 702 to achieve completely synchronous movement. The L-shaped gripper 603 and the short connecting rod 604 have a force amplification effect after being hinged. A small axial driving force can generate a large radial clamping force. The synchronous movement of each short connecting rod 604 ensures that the geometric center of the impeller automatically coincides with the central axis of the hollow ring platform 4 after it is clamped, achieving automatic centering and avoiding assembly tilt caused by eccentric clamping.

[0041] In this embodiment, the automatic telescopic rod 701 can be one of a hydraulic cylinder, a telescopic cylinder, or an electric telescopic rod. When the automatic telescopic rod 701 is activated, its telescopic end extends or retracts to drive the upper ring platform 702 to move up and down.

[0042] In this embodiment, the robotic arm body 1 adopts existing technology, and its specific structure can be directly purchased from the market. For example, an existing six-axis articulated industrial robot is used, with each joint equipped with a low backlash reducer to ensure the transmission accuracy of the kinematic chain. The six-axis articulated industrial robot works to drive the end gripper for posture adjustment. A six-dimensional torque sensor is installed in series between the robotic arm and the gripper to sense changes in axial thrust and radial bending moment in real time.

[0043] This invention also provides a method for using a dual-constraint manipulator for machining permanent magnet synchronous deep well pump impellers. Based on the above-mentioned dual-constraint manipulator for machining permanent magnet synchronous deep well pump impellers, the method includes the following steps: S1: The robot body 1 is activated to drive its end effector to move to the position of the impeller. When the hollow ring platform 4 descends and the top of the impeller is completely entered into its inner cavity, the external vacuum equipment works to generate negative pressure suction at multiple adsorption points on the inner wall of the inner cavity multi-point negative pressure structure 5 at the same time. This creates a stable negative pressure field between the arc-shaped surface of the impeller top and the contour surface, thereby uniformly adsorbing the top of the impeller into the interior of the hollow ring platform 4.

[0044] In step S1, the working principle of the internal cavity multi-point negative pressure structure 5 is as follows: First, start the external vacuum equipment, open the electromagnetic switch valve one on the quick connector one 502, and close the electromagnetic switch valve two on the quick connector two 504. At this time, the external vacuum equipment extracts the air in the exhaust ring cavity 505 through the quick connector one 502 to form a uniform negative pressure field. At this time, the vacuum suction cup 506 is distributed in multiple points in the circumferential direction. Through multi-point parallel adsorption, it achieves large-area contact with the arc surface of the impeller top. At this time, the total adsorption force is equal to the sum of the negative pressure suction force at each point, thereby achieving uniform adsorption of the impeller top to the hollow ring platform 4.

[0045] S2: After the top of the impeller workpiece is vacuum-adsorbed and fixed, the lifting actuator 7 starts to work. The lifting actuator 7 performs linear motion to drive each link gripper structure 6 to perform radial synchronous contraction motion. At this time, the outer clamping surfaces of each gripper simultaneously adhere to and press against the outer circumference of the impeller. The radial clamping force is amplified by the driving force of the lifting actuator 7 through the link and applied evenly to ensure that the outer circumference of the impeller is subjected to balanced force.

[0046] In step S2, the working principle of the lifting actuator 7 and the linkage gripper structure 6 is as follows: the automatic telescopic rod 701 in the lifting actuator 7 starts to drive the upper ring platform 702 to move upward. The upper ring platform 702 drives the short connecting rod 604 to swing around the fixed hinge point through the guide rod 602, thereby pulling the L-shaped gripper 603 to swing, so that multiple L-shaped grippers 603 retract radially inward. The L-shaped grippers 603 drive the elastic pad to contact the outer wall of the impeller, which is used to clamp the impeller workpiece.

[0047] S3: After the impeller workpiece is securely clamped, the robot body 1 drives the entire end assembly to lift the impeller vertically and transfer it to the next processing station under the spatial path planning, and then perform assembly processing operations on the impeller.

[0048] In step S3, the working principle of the robot body 1 is the existing technology. The robot body 1 is used to drive the end component and the clamped impeller workpiece to move in multiple directions to achieve posture adjustment. Then, through spatial path planning, it is used to transfer the impeller as a whole to the pump shaft station to perform coaxial fitting and subsequent assembly operations, which is convenient to use.

[0049] S4: After the impeller is in place, the connecting rod gripper structure 6 continues to rigidly clamp and constrain the outer wall of the impeller. At this time, the impeller will not rotate on its own. The robot body 1 works to drive the impeller to adjust its position and rotate circumferentially.

[0050] S5: When the impeller needs to be released, the connecting rod gripper structure 6 opens synchronously under the reverse drive of the lifting actuator 7, and at the same time the internal cavity multi-point negative pressure structure 5 is completely released. The robot body 1 drives the hollow ring platform 4 and the arc-shaped semi-cage 3 assembly to be lifted upward, completely detached from the impeller, and then moves to the cycle starting point position.

[0051] 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 dual-constraint manipulator for machining the impeller of a permanent magnet synchronous deep well pump, comprising a manipulator body (1), characterized in that: An X-shaped end plate (2) is fixedly installed on the end flange of the robot body (1). An arc-shaped half-cage frame (3) is fixedly installed on the left and right sides of the lower end of the X-shaped end plate (2). The two arc-shaped half-cage frames (3) form a guide cage. A hollow ring platform (4) is fixedly installed between the bottom walls of the two arc-shaped half-cage frames (3). The hollow ring platform (4) is a ring-shaped hollow component. An inner cavity multi-point negative pressure structure (5) is fixedly installed in the middle of the hollow ring platform (4). The inner cavity multi-point negative pressure structure (5) is connected to the external vacuum pumping equipment. A contoured surface matching the arc surface at the top of the impeller is set in the middle of the lower end of the inner cavity multi-point negative pressure structure (5). The contoured surface is vacuum adsorbed after it fits the arc surface at the top of the impeller. The inner cavity multi-point negative pressure structure (5) is provided with a middle ring platform (8) at intervals above it. The middle ring platform (8) is located in a ring shape and is located outside the hollow ring platform (4) with multiple connecting claw structures (6) arranged at intervals below it. A lifting actuator (7) is fixedly installed on one of the arc-shaped half cages (3). The driving end of the lifting actuator (7) is connected to each connecting claw structure (6) for transmission, which is used to drive the multiple connecting claw structures (6) to synchronously retract radially to clamp the outer circumference of the impeller, or to synchronously open to release the impeller workpiece.

2. The dual-constraint robotic arm for machining permanent magnet synchronous deep well pump impellers according to claim 1, characterized in that: The internal cavity multi-point negative pressure structure (5) includes an annular air passage (501) integrally formed on the hollow ring platform (4). The lower middle part of the annular air passage (501) is provided with an arc transition surface (503) that matches the curvature of the arc surface at the top of the impeller. Multiple vacuum suction cups (506) are installed at equal intervals in an annular shape at the bottom of the annular air passage (501). An exhaust annular cavity (505) connected to each vacuum suction cup (506) is provided inside the annular air passage (501).

3. The dual-constraint robotic arm for machining permanent magnet synchronous deep well pump impellers according to claim 2, characterized in that: The top left and right sides of the annular air passage (501) are respectively equipped with quick-connect connector one (502) and quick-connect connector two (504), and the inner ends of quick-connect connector one (502) and quick-connect connector two (504) are respectively connected to the exhaust ring cavity (505).

4. The dual-constraint robotic arm for machining permanent magnet synchronous deep well pump impellers according to claim 3, characterized in that: The center of the X-shaped end plate (2) is provided with a mounting hole that matches the end flange of the robot body (1), and multiple weight reduction holes are provided on the X-shaped end plate (2).

5. The dual-constraint robotic arm for machining permanent magnet synchronous deep well pump impellers according to claim 4, characterized in that: A gap (401) is provided between the top of the hollow ring platform (4) and the inner top wall of the arc-shaped semi-cage (3), and multiple sets of notches (402) are equally spaced on the outer peripheral walls of the hollow ring platform (4) and the annular air passage (501).

6. The dual-constraint robotic arm for machining permanent magnet synchronous deep well pump impellers according to claim 5, characterized in that: On the outer periphery of the central ring platform (8), a protruding plate (801) is integrally formed at the position corresponding to each notch (402). An inner U-shaped vertical beam (802) is fixedly installed at the bottom end of each protruding plate (801), and the lower end of the inner U-shaped vertical beam (802) is bolted to the outer wall of the annular air passage (501).

7. The dual-constraint robotic arm for machining permanent magnet synchronous deep well pump impellers according to claim 6, characterized in that: The connecting rod gripper structure (6) includes an outer U-shaped vertical beam (601) fixedly installed on the outer side below each convex plate (801). The lower end of the outer U-shaped vertical beam (601) is hinged with an L-shaped gripper (603). A guide rod (602) is vertically arranged on the side of the outer U-shaped vertical beam (601) near the annular air passage (501). The upper end of the guide rod (602) slides through the upper end surface of the convex plate (801). The lower end of the guide rod (602) is hinged with a short connecting rod (604). The other end of the short connecting rod (604) is hinged to one end of the corresponding L-shaped gripper (603).

8. The dual-constraint robotic arm for machining the impeller of a permanent magnet synchronous deep well pump according to claim 7, characterized in that: An elastic pad is installed on the working surface of the L-shaped gripper (603) facing the vertical axis of the annular air passage (501).

9. A dual-constraint robotic arm for machining permanent magnet synchronous deep well pump impellers according to claim 8, characterized in that: The lifting actuator (7) includes an automatic telescopic rod (701) fixedly installed on one of the arc-shaped semi-cage frames (3), an upper ring platform (702) is provided above the middle ring platform (8), the upper ring platform (702) and the hollow ring platform (4) are arranged concentrically, and the telescopic end of the automatic telescopic rod (701) is fixedly connected to the upper ring platform (702); the upper end of the guide rod (602) is fixedly connected to the lower end face of the upper ring platform (702).

10. A method of using a dual-constraint manipulator for machining a permanent magnet synchronous deep well pump impeller, based on the dual-constraint manipulator for machining a permanent magnet synchronous deep well pump impeller as described in any one of claims 1-9, characterized in that: Includes the following steps: S1: The robot body (1) is activated to drive its end effector to move to the position of the impeller. When the hollow ring platform (4) descends and the top of the impeller is completely entered into its inner cavity, the external vacuum equipment works to generate negative pressure suction at multiple adsorption points on the inner wall of the inner cavity multi-point negative pressure structure (5) at the same time, so that a stable negative pressure field is formed between the arc surface of the top of the impeller and the contour surface, thereby uniformly adsorbing the top of the impeller into the interior of the hollow ring platform (4). S2: After the top of the impeller workpiece is vacuum-adsorbed and fixed, the lifting actuator (7) starts to work. The lifting actuator (7) makes a linear motion to drive each link gripper structure (6) to perform radial synchronous contraction motion. At this time, the outer clamping surfaces of each gripper simultaneously adhere to and press against the outer circumference of the impeller. Its radial clamping force is amplified by the driving force of the lifting actuator (7) through the link and applied evenly to ensure that the outer circumference of the impeller is subjected to balanced force. S3: After the impeller workpiece is securely clamped, the robot body (1) drives the entire end assembly to lift the impeller vertically and transfer it to the next processing station under the spatial path planning, and then perform assembly processing on the impeller; S4: After the impeller is in place, the connecting rod gripper structure (6) continues to rigidly clamp and constrain the outer wall of the impeller. At this time, the impeller will not rotate on its own. The robot body (1) works to drive the impeller to adjust its position and rotate circumferentially. S5: When the impeller needs to be released, the connecting rod gripper structure (6) opens synchronously under the reverse drive of the lifting actuator (7), and the inner cavity multi-point negative pressure structure (5) is completely released. The robot body (1) drives the hollow ring platform (4) and the arc-shaped half cage (3) assembly to rise upward, completely detach from the impeller, and then move to the cycle starting point position.

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