Welding rod grabbing manipulator

Abstract

The utility model relates to the technical field of manipulators, in particular to a welding rod grabbing manipulator which comprises an installation platform, a plurality of sets of grabbing devices used for moving welding rods are installed on one side of the installation platform, and each grabbing device comprises a clamping assembly used for clamping the welding rods and a power transmission structure used for driving the clamping assembly to move. The power transmission structure comprises a mechanical arm; the clamping assembly comprises an air cylinder used for outputting power in the clamping process and a gripper used for clamping a welding rod. In the grabbing process, the second mechanical arm assembly can enter a receding groove in the middle of the first mechanical arm assembly, so that all the welding rods are grabbed, the problem that the welding rods fall off in the welding rod grabbing process is avoided, meanwhile, the number of the welding rods is reduced through the clamping action, a traditional pushing method is changed, and the welding rod grabbing efficiency is improved. The problems that in the traditional pushing process, relative sliding occurs between the welding rods, and coatings fall off due to friction between the welding rods are solved, and the packaging accuracy is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field, specifically is a kind of welding rod grabbing manipulator. BACKGROUND

[0002] Welding rod is the metal strip that is melted and filled in the joint of welding workpiece when gas welding or electric welding, and welding rod is composed of two parts of welding core and coating: welding core, i.e. the metal core of welding rod, is usually a steel wire with certain length and diameter, used to conduct welding current, generate arc to convert electric energy into heat energy, and welding core itself is melted as filler metal and fused with liquid base metal to form weld; coating is the coating layer coated on the surface of welding core, and forms gas and slag after decomposition and melting in the welding process, plays the role of mechanical protection, metallurgical treatment and improving process performance. The composition of coating includes minerals (such as marble, fluorite, etc.), ferroalloy and metal powder (such as manganese iron, titanium iron, etc.), organic matter (such as wood powder, starch, etc.) and chemical products (such as titanium white, water glass, etc.).

[0003] At present, welding rod on the market is mostly packaged and weighed, and then packed horizontally, and welding rod is pushed to the packing platform by mechanical rod. Since the coating is the coating layer coated on the surface of welding core, the coating on welding rod falls off due to friction during movement between welding rods when pushing, so that the weight of package is not accurate enough. UTILITY MODEL CONTENT

[0004] In view of the problems in the prior art, the utility model provides a welding rod grabbing manipulator, and mechanical hand component two can enter into the yielding slot in the middle part of mechanical hand component one during grabbing, so as to grab all welding rods, avoid the problem of falling welding rods during grabbing, reduce welding rods between each other by clamping action and change the traditional pushing method, avoid relative sliding between welding rods in the traditional pushing process, cause the problem of coating falling off due to friction between welding rods, and ensure the accuracy of package.

[0005] The utility model solves the technical problems by adopting the following technical scheme: a welding rod grabbing manipulator, comprising a mounting platform, a plurality of grabbing devices for moving welding rods are installed on one side of the mounting platform, the grabbing device comprises a clamping assembly for clamping welding rods and a power transmission structure for driving the clamping assembly to move.

[0006] The power transmission structure comprises a mechanical arm.

[0007] The clamping assembly comprises a cylinder for power output during clamping and a gripper for clamping the electrode, the gripper comprising a mechanical hand assembly one, a mechanical hand assembly two and a mechanical hand assembly three, the mechanical hand assembly one and the mechanical hand assembly two being rotatably connected to the two sides of the mechanical hand assembly three through a rotating shaft, the mechanical hand assembly one being provided with a clearance slot in the middle, and the mechanical hand assembly two being provided in cooperation with the clearance slot in the middle of the mechanical hand assembly one.

[0008] Specifically, the end of the mechanical arm is fixedly connected with a support frame, the first cylinder is fixedly connected to the top of the support frame, and the telescopic end of the first cylinder penetrates through the top of the support frame, the telescopic end of the first cylinder is fixedly sleeved with a connecting sleeve, the connecting sleeve is rotatably connected with two rotating connecting plates, and the ends of the rotating connecting plates away from the connecting sleeve are rotatably connected with the mechanical hand assembly two and the mechanical hand assembly one respectively.

[0009] Specifically, the outer wall of the mechanical arm is fixedly sleeved with a mechanical arm support, the same side of the end of the mechanical arm support away from the mechanical arm is rotatably connected with the second cylinder, the telescopic end of the second cylinder is arranged on the two sides of the mechanical arm, the outer walls of the mechanical hand assembly two and the mechanical hand assembly one are fixedly connected with connecting blocks, and the second cylinder is rotatably connected with the connecting blocks.

[0010] Specifically, the end of the cylinder is connected with an air pipe, one end of the air pipe is connected with an air pipe controller, and the side of the air pipe controller is connected with a control handle.

[0011] Specifically, the outer wall of the mechanical arm is fixedly connected with a tray, the tray is provided in cooperation with the gripper, and the side of the tray close to the gripper is provided with a circular groove.

[0012] Specifically, the middle of the mounting platform is provided with a transmission chain for conveying the electrode, the electrode placing rack is connected with the electrode placing rack for placing the electrode, the inner wall of the mounting platform is fixedly connected with a fixed plate, the fixed plate is arranged below the transmission chain, the lower surface of the fixed plate is fixedly connected with a motor, the output end of the motor is fixedly connected with a speed reducer, the output end of the speed reducer is rotatably penetrated through the fixed plate, and the side of the fixed plate is respectively provided with a clamp lifting sensing switch and a clamp clamping sensing switch.

[0013] Specifically, the output end of the speed reducer is fixedly connected with a crank, the end of the crank away from the speed reducer is connected with a first movable joint, the first movable joint is connected with a push rod, the end of the push rod away from the first movable joint is connected with a second movable joint, and the second movable joint is connected with a pull rod.

[0014] Specifically, the power transmission structure further comprises a mounting box, the bottom of the mounting box is fixedly connected with a first support bearing, the middle of the first support bearing is rotatably connected with a pull rod rotating shaft, the middle of the pull rod rotating shaft is connected with a second support bearing, the second support bearing is fixedly connected to one side of the mounting platform, and the end of the pull rod away from the second movable joint is fixedly connected to the bottom of the mounting box.

[0015] Specific, fixedly connected with the third support bearing in the installation box, the mechanical arm is rotatably connected in the middle of the third support bearing, and the one end outer wall of the mechanical arm placed in the installation box is fixedly connected with the semicircular gear.

[0016] Specific, fixedly connected with the third support bearing in the installation box, the mechanical arm is rotatably connected in the middle of the third support bearing, and the one end outer wall of the mechanical arm placed in the installation box is fixedly connected with the semicircular gear.

[0017] The beneficial effects of the present application are as follows:

[0018] (1) the welding rod grabbing manipulator, the utility model discloses a kind of welding rod grabbing manipulators, and the utility model is relative to the prior art in the process of welding rod grabbing, and the mechanical hand component one, the mechanical hand component two rotation is realized by the telescopic control of cylinder to the welding rod grabbing, in the process of grabbing, the mechanical hand component two can enter the accommodation slot in the middle of mechanical hand component one, so that all welding rods are grabbed, avoid the problem of welding rod falling in the process of grabbing welding rod, simultaneously, by clamping action, the traditional pushing method is changed, avoid the relative sliding between welding rods in traditional pushing process, the problem of coating peeling caused by the friction between welding rods, guarantee the accuracy of welding rod quality after packaging. BRIEF DESCRIPTION OF DRAWINGS

[0019] The present application will be further described below in conjunction with the drawings and examples.

[0020] Figure 1 It is the overall structure schematic diagram of the utility model;

[0021] Figure 2 It is the axial view of the utility model; Figure 1

[0022] Figure 3 It is the motor and reducer position diagram of the utility model;

[0023] Figure 4 It is the fixed plate three-dimensional structure schematic diagram of the utility model;

[0024] Figure 5 It is the motor and reducer connection diagram of the utility model;

[0025] Figure 6 It is the three-dimensional structure schematic diagram of the utility model grabbing device;

[0026] Figure 7 It is the installation box and mechanical arm position three-dimensional structure schematic diagram of the utility model;

[0027] Figure 8 It is the clamping assembly three-dimensional structure schematic diagram of the utility model example one

[0028] Figure 9 ​The utility model discloses tooth rail and half circle gear meshing diagram

[0029] Figure 10 The utility model discloses two clamping assemblies three -dimensional structure schematic diagram of embodiment two,

[0030] Figure 11 The utility model discloses Figure 10 The axial view of the utility model.

[0031] In the figure: 1, installation platform, 2, transmission chain, 21, welding rod rack, 3, replenishing assembly,

[0032] 4, grabbing device, 41, installation box, 412, turnover cylinder, 413, connecting rod, 414, tooth rail, 42, first support bearing, 43, pull rod pivot, 44, second support bearing, 45, mechanical arm, 451, half circle gear, 46, third support bearing, 47, tray,

[0033] 6, clamping assembly, 61, first cylinder, 62, support frame, 63, connecting sleeve, 64, rotation connecting plate, 67, mechanical arm support, 68, second cylinder, 681, air pipe, 69, air pipe controller, 691, control handle,

[0034] 7, motor, 71, speed reducer, 711, fixed plate, 712, clamp lifting inductive switch, 713, clamp clamping inductive switch, 72, push rod, 73, crank, 74, first movable joint, 75, second movable joint, 76, pull rod, 8, mechanical hand assembly one, 81, mechanical hand assembly two, 82, connecting block, 83, mechanical hand assembly three, 84, rotation shaft. DETAILED DESCRIPTION

[0035] In order to make the technical means, creation features, purposes and effects realized by the utility model easy to understand, the utility model is further described below in combination with specific embodiments.

[0036] Embodiment one:

[0037] As Figures 1-8 Shown, the utility model discloses a welding rod grabbing mechanical hand, including installation platform 1, the installation platform 1 one side is equipped with multiple groups for the welding rod and is grabbed grabbing device 4, the grabbing device 4 includes the clamping assembly 6 for the welding rod clamping and the power transmission structure for driving clamping assembly 6 motion,

[0038] The power transmission structure includes mechanical arm 45,

[0039] The clamping assembly 6 includes a cylinder for power output during clamping and a gripper for clamping the electrode, the gripper includes a mechanical arm assembly one 8, a mechanical arm assembly two 81 and a mechanical arm assembly three 83, the mechanical arm assembly one 8 and the mechanical arm assembly two 81 are rotatably connected on both sides of the mechanical arm assembly three 83 through a rotating shaft 84, and a clearance slot is arranged in the middle of the mechanical arm assembly one 8.

[0040] Through the setting of the grabbing device 4, the electrode can be grabbed and rotated to a preset position, and then taken out by the staff for weighing and packaging, so that the weight of each package of electrodes meets the preset standard before packaging, and the clamping assembly 45 can reciprocally clamp the electrode, and the power transmission structure is arranged to realize the transfer of the clamped electrode to a preset position.

[0041] The gripper structure realizes the grabbing of the electrode, and in the process of grabbing the electrode, the mechanical arm assembly one 8 and the mechanical arm assembly two 81 are controlled to rotate by the extension and retraction of the cylinder to realize the grabbing of the electrode, and in the process of grabbing, the mechanical arm assembly two 81 can enter the clearance slot in the middle of the mechanical arm assembly one 8, so that all the electrodes are grabbed, avoiding the problem of electrode falling during the process of grabbing the electrode, and reducing the relative sliding between the electrodes through the clamping action, avoiding the problem of coating peeling caused by multiple friction between the electrodes.

[0042] Specifically, the end of the mechanical arm 45 is fixedly connected with a support frame 62, the first cylinder 61 is fixedly connected to the top of the support frame 62, and the extension end of the first cylinder 61 penetrates the top of the support frame 62, the outer wall of the extension end of the first cylinder 61 is fixedly sleeved with a connecting sleeve 63, and the connecting sleeve 63 is rotatably hinged with two rotating connecting plates 64, and one end of the rotating connecting plate 64 away from the connecting sleeve 63 is rotatably connected with the mechanical arm assembly two 81 and the mechanical arm assembly one 8 respectively.

[0043] When the cylinder is a single cylinder, referring to Figure 5 When the cylinder is a single cylinder, referring to

[0044] By controlling the retraction of the telescopic end of the first cylinder 61, the connecting sleeve 63 is driven to move synchronously, the two rotating connecting plates 64 connected to the outer wall of the connecting sleeve 63 move upward at one end connected to the connecting sleeve 63, the end of the rotating connecting plate 64 away from the connecting sleeve 63 pulls the mechanical hand assembly two 81 and the mechanical hand assembly one 8 to rotate in the direction of approaching each other, and the bottom of the mechanical hand assembly two 81 and the mechanical hand assembly one 8 is just rotated below the welding rod, so that the welding rod is clamped by the mechanical hand assembly two 81 and the mechanical hand assembly one 8.

[0045] Embodiment two:

[0046] As shown in Figure 1 , Figure 10 and Figure 11 , the difference is that the outer wall of the mechanical arm 45 is fixedly sleeved with a mechanical arm support 67, one end of the mechanical arm support 67 away from the mechanical arm 45 is rotatably connected with a second cylinder 68, the telescopic end of the second cylinder 68 is arranged on the two sides of the mechanical arm 45, the outer wall of the mechanical hand assembly two 81 and the mechanical hand assembly one 8 is fixedly connected with a connecting block 82, and the second cylinder 68 is rotatably connected with the connecting block 82.

[0047] The mechanical arm support 67 is supported and fixed by the mechanical arm 45, when the mechanical arm 45 rotates, the mechanical arm support 67 is also rotated, when it is necessary to clamp and transport the welding rod, first, the telescopic ends of the two second cylinders 68 are controlled to be shortened, in the process that the two second cylinders 68 are shortened at the same time, the telescopic end of the second cylinder 68 pulls the connecting block 82 to move the mechanical hand assembly two 81 and the mechanical hand assembly one 8 in the direction of moving away from each other, in the process that the second cylinder 68 pushes the connecting block 82 to rotate, the second cylinder 68 also rotates by a certain angle to realize the opening of the mechanical hand assembly two 81 and the mechanical hand assembly one 8.

[0048] The mechanical hand assembly two 81 and the mechanical hand assembly one 8 are driven to the preset position by the mechanical arm 45, the telescopic ends of the two second cylinders 68 are controlled to be lengthened, the telescopic end of the second cylinder 68 pushes the connecting block 82, the connecting block 82 drives the mechanical hand assembly two 81 and the mechanical hand assembly one 8 to move in the direction of approaching each other, and clamps the welding rod.

[0049] Specifically, the end of the cylinder is connected with a gas pipe 681, one end of the gas pipe 681 is connected with a gas pipe controller 69, and one side of the gas pipe controller 69 is connected with a control handle 691.

[0050] When the mechanical arm 45 drives the welding rod clamped by the mechanical arm assembly two 81 and the mechanical arm assembly one 8 to the preset position by rotating, the mechanical arm assembly two 81 and the mechanical arm assembly one 8 clamping the welding rod can be controlled to be released by pushing the control handle 691, so as to facilitate the worker to take down the welding rod for weighing.

[0051] Specifically, the mechanical arm 45 is fixedly connected with a tray 47, the tray 47 is arranged in cooperation with the gripper, and a circular groove is formed in one side of the tray 47 close to the gripper.

[0052] After the welding rod is gripped by the mechanical arm assembly two 81 and the mechanical arm assembly one 8, the mechanical arm 45 drives the mechanical arm assembly two 81 and the mechanical arm assembly one 8 to rotate, so that the welding rod is rotated to a vertical position, and one end of the welding rod enters the circular groove of the tray 47. Through the arrangement of the tray 47, the welding rod can be aligned and arranged by using the gravity of the welding rod, so as to facilitate the welding rod to be taken down and weighed.

[0053] Specifically, the middle of the installation platform 1 is provided with a transmission chain 2 for welding rod transmission, the welding rod placing rack 21 is connected with the welding rod placing rack 21 for welding rod placing, the inner wall of the installation platform 1 is fixedly connected with a fixed plate 711, the fixed plate 711 is arranged below the transmission chain 2, the lower surface of the fixed plate 711 is fixedly connected with a motor 7, the output end of the motor 7 is fixedly connected with a speed reducer 71, the output end of the speed reducer 71 penetrates through the fixed plate 711, and the one side of the fixed plate 711 is respectively provided with a clamp lifting sensing switch 712 and a clamp clamping sensing switch 713.

[0054] The transmission chain 2 can transport the welding rod, the welding rod placing rack 21 supports both ends of the welding rod, and the middle of the welding rod is gripped in the process that the mechanical arm assembly two 81 and the mechanical arm assembly one 8 grip the welding rod, so as to facilitate the welding rod to be gripped and transported. In the transportation process, the welding rod can be supplemented into the welding rod placing rack 21 through the feeding assembly 3.

[0055] The motor 7 transmits power to the speed reducer 71 in the working process, and the power output is more stable through the arrangement of the speed reducer 71.

[0056] The clamp lifting sensing switch 712 and the clamp clamping sensing switch 713 can control the mechanical arm 45, and the crank 73 shields the clamp lifting sensing switch 712 and the clamp clamping sensing switch 713 in the rotating process, so as to control the state of the clamping assembly 6.

[0057] Specific, the output end of the reducer 71 is fixedly connected with a crank 73, one end of the crank 73 away from the reducer 71 is connected with a first movable joint 74, the first movable joint 74 is connected with a push rod 72, one end of the push rod 72 away from the first movable joint 74 is connected with a second movable joint 75, and the second movable joint 75 is connected with a pull rod 76.

[0058] The output end of the reducer 71 drives the crank 73 to reciprocating rotate, and the crank 73 drives one end of the connected push rod 72 to move through the first movable joint 74 in the process of rotating, and the pull rod 76 is pulled through the second movable joint 75 at the other end of the push rod 72.

[0059] Specific, the power transmission structure further comprises a mounting box 41, the bottom of the mounting box 41 is fixedly connected with a first support bearing 42, the middle of the first support bearing 42 is rotatably connected with a pull rod rotating shaft 43, the middle of the pull rod rotating shaft 43 is connected with a second support bearing 44, the second support bearing 44 is fixedly connected on one side of the mounting platform 1, and one end of the pull rod 76 away from the second movable joint 75 is fixedly connected on the bottom of the mounting box 41.

[0060] When the push rod 72 pulls the pull rod 76 to move towards the direction close to the reducer 71, at this time, the mounting box 41 is rotated along the pull rod rotating shaft 43 through the pull rod 76, at this time, the mounting box 41 is rotated by 90 degrees, and the clamped electrode is rotated to the preset position along with the mounting box 41, so that the worker can take down the electrode, and the first support bearing 42 supports the mounting box 41 to ensure that the mounting box 41 rotates more smoothly.

[0061] Specific, the mounting box 41 is fixedly connected with a third support bearing 46, the mechanical arm 45 is rotatably connected in the middle of the third support bearing 46, and one end of the mechanical arm 45 arranged in the mounting box 41 is fixedly connected with a semicircular gear 451.

[0062] The middle of the mounting box 41 is fixedly connected with a turnover air cylinder 412, the telescopic end of the turnover air cylinder 412 is connected with a toothed rail 414 through a connecting rod 413, and the toothed rail 414 is meshed with the semicircular gear 451.

[0063] When the clamp lifting induction switch 712 detects that the crank 73 rotates, the telescopic end of the turnover air cylinder 412 can be controlled to shorten, so as to pull the connecting rod 413 through the control of the turnover air cylinder 412.

[0064] When the welding rod is rotated to the vertical state, the welding rod is still close to the transmission chain 2 at this time, the extension end of the turnover cylinder 412 is retracted at this time, the extension end of the turnover cylinder 412 will pull the rack 414 to move synchronously through the connecting rod 413 during the retraction process, the rack 414 drives the semicircular gear 451 to rotate, the semicircular gear 451 drives the mechanical arm 45 to rotate synchronously during the rotation process, the welding rod is rotated to the side close to the worker through the mechanical arm 45, and the worker takes down the welding rod for weighing after moving the preset control handle 691.

[0065] Working principle: the welding rod is conveyed through the transmission chain 2, the welding rod is placed in the welding rod placing rack 21 and supplied to the welding rod placing rack 21 through the feeding assembly 3, the quality of the welding rod is ensured to meet the preset standard, the motor 7 is started when the welding rod moves to the preset position, the motor 7 transmits power to the speed reducer 71 during the working process, the output end of the speed reducer 71 drives the crank 73 to reciprocate, the first movable joint 74 drives one end of the connecting push rod 72 to move through the crank 73 during the rotation process, and the second movable joint 75 pulls the pull rod 76 through the other end of the push rod 72;

[0066] The mounting box 41 is rotated along the pull rod rotation shaft 43 through the pull rod 76 at this time, the mounting box 41 is rotated by 90 degrees at this time, and the clamped welding rod is rotated to the preset position together with the mounting box 41, the extension end of the turnover cylinder 412 is shortened when the crank 73 is rotated, so that the connecting rod 413 is pulled through the control of the turnover cylinder 412, the extension end of the turnover cylinder 412 will pull the rack 414 to move synchronously through the connecting rod 413 during the retraction process, the rack 414 drives the semicircular gear 451 to rotate, the semicircular gear 451 drives the mechanical arm 45 to rotate synchronously during the rotation process, and the welding rod is rotated to the side close to the worker through the mechanical arm 45, and the worker takes down the welding rod for weighing after moving the preset control handle 691.

[0067] Embodiment one:

[0068] During the grabbing process, the extension end of the first cylinder 61 is retracted to drive the connecting sleeve 63 to move synchronously, the two rotating connecting plates 64 connected to the outer wall of the connecting sleeve 63 move upward at one end connected to the connecting sleeve 63, the mechanical hand assembly two 81 and the mechanical hand assembly one 8 are pulled to rotate in the direction of approaching each other at one end away from the connecting sleeve 63 of the rotating connecting plate 64, and the bottom of the mechanical hand assembly two 81 and the mechanical hand assembly one 8 is just rotated below the welding rod, and the welding rod is clamped through the mechanical hand assembly two 81 and the mechanical hand assembly one 8.

[0069] Embodiment two:

[0070] In the process of grabbing, the mechanical arm support 67 is supported and fixed by the mechanical arm 45, when the mechanical arm 45 rotates and drives the mechanical arm support 67 to rotate, when it is necessary to clamp and transport the welding rod, first, the extension ends of the two second cylinders 68 are shortened, in the process that the two second cylinders 68 are shortened at the same time, the extension ends of the second cylinders 68 pull the connecting block 82 to make the mechanical hand assembly two 81 and the mechanical hand assembly one 8 move to the direction of moving away from each other, in the process that the second cylinder 68 drives the connecting block 82 to rotate, the second cylinder 68 also rotates by a certain angle to realize the opening of the mechanical hand assembly two 81 and the mechanical hand assembly one 8;

[0071] The mechanical hand assembly two 81 and the mechanical hand assembly one 8 are driven to the preset position by the mechanical arm 45, the extension ends of the two second cylinders 68 are lengthened, the extension ends of the second cylinders 68 push the connecting block 82 to drive the mechanical hand assembly two 81 and the mechanical hand assembly one 8 to move to the direction of moving close to each other, and the welding rod is clamped.

[0072] The basic principle, main features and advantages of the utility model are shown and described above. It should be understood by the person skilled in the art that the utility model is not limited by the above-mentioned embodiments, the above-mentioned embodiments and the description in the specification are only to illustrate the principle of the utility model, under the premise of not departing from the spirit and scope of the utility model, the utility model will also have various changes and improvements, and these changes and improvements all fall within the scope of the utility model claimed to be protected. The protection scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. A welding rod grasping robot comprising a mounting platform (1) characterized in that: The installation platform (1) is provided with a plurality of groups of grabbing devices (4) for moving the welding rod on one side, the grabbing device (4) comprises a clamping assembly (6) for clamping the welding rod and a power transmission structure for driving the clamping assembly (6) to move; The power transmission structure comprises a mechanical arm (45); The clamping assembly (6) comprises a cylinder for power output during clamping and a gripper for clamping the welding rod, the gripper comprises a mechanical hand assembly one (8), a mechanical hand assembly two (81) and a mechanical hand assembly three (83), the mechanical hand assembly one (8) and the mechanical hand assembly two (81) are rotatably connected on both sides of the mechanical hand assembly three (83) through a rotating shaft (84), the mechanical hand assembly one (8) is provided with a clearance slot in the middle, and the mechanical hand assembly two (81) is matched with the clearance slot in the middle of the mechanical hand assembly one (8).

2. A welding rod grasping robot according to claim 1, characterized in that: The end of the mechanical arm (45) is fixedly connected with a support frame (62), a first cylinder (61) is fixedly connected to the top of the support frame (62), and the telescopic end of the first cylinder (61) penetrates through the top of the support frame (62), the outer wall of the telescopic end of the first cylinder (61) is fixedly sleeved with a connecting sleeve (63), and the connecting sleeve (63) is rotatably connected with two rotating connecting plates (64), one end of the rotating connecting plate (64) away from the connecting sleeve (63) is rotatably connected with the mechanical hand assembly two (81) and the mechanical hand assembly one (8) respectively.

3. A welding rod grasping robot as defined in claim 1, wherein: The outer wall of the mechanical arm (45) is fixedly sleeved with a mechanical arm support (67), one end of the mechanical arm support (67) away from the mechanical arm (45) is rotatably connected with a second cylinder (68) on the same side, the telescopic end of the second cylinder (68) is arranged on both sides of the mechanical arm (45), and the outer walls of the mechanical hand assembly two (81) and the mechanical hand assembly one (8) are fixedly connected with a connecting block (82), and the second cylinder (68) is rotatably connected with the connecting block (82).

4. A welding rod gripping robot according to claim 2 or 3, characterized in that: The end of the cylinder is connected with an air pipe (681), one end of the air pipe (681) is connected with an air pipe controller (69), and one side of the air pipe controller (69) is connected with a control handle (691).

5. A welding rod gripping robot as defined in claim 4, wherein: The outer wall of the mechanical arm (45) is fixedly connected with a tray (47), the tray (47) is matched with the gripper, and a circular groove is formed in the side of the tray (47) close to the gripper.

6. A welding rod grasping robot as defined in claim 5, wherein: The middle of the installation platform (1) is provided with a transmission chain (2) for transmitting the welding rod, the welding rod placing rack (21) is connected to the welding rod placing rack, the inner wall of the installation platform (1) is fixedly connected with a fixed plate (711), the fixed plate (711) is arranged below the transmission chain (2), the lower surface of the fixed plate (711) is fixedly connected with a motor (7), the output end of the motor (7) is fixedly connected with a speed reducer (71), the output end of the speed reducer (71) is rotatably penetrated through the fixed plate (711), and the fixed plate (711) is provided with a clamp lifting sensing switch (712) and a clamp clamping sensing switch (713) on one side.

7. A welding rod grasping robot as defined in claim 6, wherein: The output end of the speed reducer (71) is fixedly connected with a crank (73), one end of the crank (73) away from the speed reducer (71) is connected with a first movable joint (74), the first movable joint (74) is connected with a push rod (72), one end of the push rod (72) away from the first movable joint (74) is connected with a second movable joint (75), and the second movable joint (75) is connected with a pull rod (76).

8. A welding rod grasping robot as defined in claim 7, wherein: The power transmission structure further comprises a mounting box (41), the bottom of the mounting box (41) is fixedly connected with a first support bearing (42), the middle of the first support bearing (42) is rotatably connected with a pull rod rotating shaft (43), the middle of the pull rod rotating shaft (43) is connected with a second support bearing (44), the second support bearing (44) is fixedly connected to one side of the mounting platform (1), and one end of the pull rod (76) away from the second movable joint (75) is fixedly connected to the bottom of the mounting box (41).

9. A welding rod grasping robot as defined in claim 8, wherein: The third support bearing (46) is fixedly connected in the mounting box (41), the mechanical arm (45) is rotatably connected to the middle of the third support bearing (46), and the outer wall of one end of the mechanical arm (45) arranged in the mounting box (41) is fixedly connected with a semicircular gear (451).

10. A welding rod gripping robot as defined in claim 9, characterized in that: The mounting box (41) is fixedly connected with a turnover air cylinder (412) in the middle, the telescopic end of the turnover air cylinder (412) is connected with a toothed rail (414) through a connecting rod (413), and the toothed rail (414) is meshed with the semicircular gear (451).

Images