Manipulator equipment for feeding of electric welding machine

Abstract

The utility model discloses manipulator equipment for feeding of an electric welding machine, which comprises a machine cover and a machine body seat, a feeding manipulator is arranged on the machine body seat, a plurality of rotating manipulators are arranged on two sides of the feeding manipulator, and transverse moving modules are arranged on grabbing sides of the feeding manipulator and the rotating manipulators; a jacking module is arranged below the feeding manipulator, and a first longitudinal moving module is arranged above the jacking module; the rotating manipulator comprises a rotating mechanical claw, the side, away from the feeding manipulator, of the rotating mechanical claw is connected with a rotating module, a lifting module is arranged above the rotating module, and the lifting module is arranged on the second longitudinal moving module. By arranging the feeding manipulator, the rotating manipulator and the transverse moving module, the direction of the rotor is automatically changed, then automatic feeding of rotor electric welding is achieved, the production efficiency is improved, and the production cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to motor rotor spot welding technical field, especially a mechanical arm equipment for the feeding of electric welding machine. BACKGROUND

[0002] The robot arm can replace artificial high-intensity labor tasks, realize the mechanization and automation of production process, and is widely used in mechanical manufacturing, light industry and nuclear energy and many other industries.

[0003] In the storage process, the shape of the rotor is usually different from that in processing. In storage, the rotor is generally placed vertically, and the rotating shaft is at a 90-degree angle with the ground; in the processing process, the rotor needs to be placed horizontally, and at this time the rotating shaft is perpendicular to the conveying belt. At present, the robot arm is difficult to realize the change of the shape in the grabbing and feeding link.

[0004] Chinese patent publication No. CN216632978U, published on May 31, 2022, discloses a utility model named spot welding machine with automatic feeding function. The application discloses a spot welding machine with automatic feeding function, which comprises a machine body, a bottom plate fixedly connected to the top of the machine body, a rotor conveying line fixedly connected to the top of the bottom plate, and a welding mechanism installed on the top of the bottom plate. A welding discharge power supply is fixedly connected to the top of the bottom plate, and the welding discharge power supply is electrically connected to the welding mechanism. A material taking mechanical hand is installed on the top of the bottom plate, and the material taking mechanical hand is located directly above one end of the rotor conveying line. The mechanical hand of the utility model can only grab the rotor downward, and cannot change the direction of the rotor. The production efficiency is reduced. Utility model content

[0005] The utility model provides a kind of mechanical arm equipment for the feeding of electric welding machine, by setting up feeding mechanical hand, rotating mechanical hand and horizontal displacement module, to realize the automatic conversion of rotor direction, and then realize the automatic feeding of rotor electric welding, improve production efficiency, reduce production cost.

[0006] To achieve the above object, the utility model adopts the following technical scheme: a kind of mechanical arm equipment for the feeding of electric welding machine, including machine cover and machine body seat, machine body seat is equipped with feeding mechanical hand, feeding mechanical hand both sides are equipped with a plurality of rotating mechanical hands, and the grabbing side of feeding mechanical hand and rotating mechanical hand is equipped with horizontal displacement module;Feeding mechanical hand below is equipped with jacking module, and first longitudinal movement module is equipped above jacking module;Rotating mechanical hand includes rotating mechanical paw, and rotating mechanical paw side away from feeding mechanical hand is connected with rotating module, and lifting module is equipped above rotating module, and lifting module is equipped on second longitudinal movement module. By setting up feeding mechanical hand, rotating mechanical hand and horizontal displacement module, the change of rotor direction is automatically realized, and then the automatic feeding of rotor electric welding is realized, the production efficiency is improved, and the production cost is reduced.

[0007] Preferably, the first longitudinal movement module is connected with the feeding mechanical gripper, and the feeding mechanical gripper is connected with a clamping cylinder near one side of the first longitudinal movement module. The clamping cylinder, the feeding mechanical gripper and the first longitudinal movement module are located on the same horizontal plane, the first longitudinal movement module is used to drive the feeding mechanical gripper to move longitudinally, and the clamping cylinder is used to drive the feeding mechanical gripper to grab the horizontally placed rotor. More accurate rotor grabbing and longitudinal movement control can be achieved. This design improves the stability of grabbing and the flexibility of operation, and reduces the risk of rotor damage caused by improper operation.

[0008] Preferably, the feeding mechanical gripper is downwardly open and is provided with a grabbing groove at the bottom end, and the axis of the grabbing groove is the same as the moving direction of the first longitudinal movement module. The grabbing groove of the feeding mechanical gripper is arc-shaped and is used to grab the outer circle of the rotor chip, and is only used to grab the horizontally placed rotor and place the horizontally placed rotor on the electric welding processing position. The downwardly open design of the feeding mechanical gripper, in combination with the grabbing groove at the bottom end, makes the grabbing of the rotor more stable and reduces the risk of sliding or falling during the handling process. The arc-shaped grabbing groove is particularly suitable for grabbing the outer circle of the rotor chip, which improves the accuracy and reliability of grabbing.

[0009] Preferably, the first longitudinal movement module includes a longitudinally arranged telescopic cylinder, the telescopic cylinder is connected with the clamping cylinder through a connecting plate, and the connecting plate is provided with telescopic shafts on both sides of the telescopic cylinder. The telescopic cylinder and the telescopic shafts are located on the same horizontal plane, when the telescopic cylinder is telescoped, the telescopic shafts move longitudinally to push the connecting plate, and then push the clamping cylinder to move longitudinally, so that the feeding mechanical gripper can move longitudinally quickly and stably.

[0010] Preferably, a mounting block is slidably sleeved on the telescopic shaft, a mounting plate is arranged below the mounting block, and the mounting plate is connected with the jacking module. The mounting block is fixed in the longitudinal direction, the telescopic shaft moves longitudinally in the mounting block, the mounting block is used to support and guide the telescopic shaft, and the jacking module includes a jacking cylinder 3.5 used to jack the mounting plate. The mounting plate drives the mounting block and the telescopic shaft to move in the vertical direction, and the telescopic shaft drives the connecting plate and the feeding mechanical gripper to move in the vertical direction. The lower surface of the mounting plate is provided with guide columns on both sides of the jacking cylinder 3.5, and the guide columns are sleeved with guide sleeves 3.4 at the bottom ends, and the guide sleeves 3.4 are fixed on the upper surface of the machine body seat. The design of the mounting block and the mounting plate, in combination with the use of the jacking module, realizes the accurate movement of the rotor in the vertical direction. The use of the guide columns and the guide sleeves 3.4 further improves the accuracy and stability of the movement, and reduces the processing errors caused by inaccurate positioning.

[0011] Preferably, the rotating mechanical claw top end is connected with a clamping cylinder, the rotating module comprises a rotating cylinder, and the rotating cylinder is connected with the clamping cylinder through a rotating shaft and is close to one side of the feeding manipulator. The clamping cylinder is used for driving the rotating mechanical claw to hold the rotor, the rotating cylinder drives the rotating shaft to rotate, the rotating shaft drives the rotating mechanical claw to rotate by 90 degrees, and the rotating mechanical claw is used for placing the rotor in a converted form on the carrier pickup station from the carrier conveying station. Specifically, the rotor is vertically placed on the carrier conveying station, and is horizontally placed on the carrier pickup station. The cooperation of the clamping cylinder at the top end of the rotating mechanical claw and the rotating cylinder in the rotating module enables the rotor to rotate by 90 degrees accurately, which is crucial for the conversion of the rotor from vertical placement to horizontal placement. This design improves the accuracy of rotor placement, reduces manual intervention, and improves the automation level. Preferably, the lifting module comprises a lifting cylinder, the bottom end of the lifting cylinder is connected with the rotating cylinder, the side away from the feeding manipulator is connected with a second sliding block, the second sliding block is connected with a second longitudinal movement module, the lifting cylinder is used for driving the rotating mechanical claw to ascend and descend in the vertical direction, the second longitudinal movement module is a telescopic cylinder and is used for driving the rotating mechanical claw to move in the longitudinal direction perpendicular to the carrier conveying station, and the side away from the lifting cylinder of the second sliding block is slidably installed on the second guide rail. The combination of the lifting module and the second longitudinal movement module enables the rotating mechanical claw to ascend and descend in the vertical direction and to move in the longitudinal direction, which provides double protection for the accurate placement of the rotor. The design of the second sliding block makes the movement of the rotating mechanical claw more flexible and adapts to different working position requirements.

[0012] Preferably, the horizontal movement module and the feeding manipulator are provided with a carrier conveying station, and the carrier pickup station is arranged on the horizontal movement module through a horizontal movement plate. The arrangement of the horizontal movement module and the carrier conveying station, in cooperation with the use of the horizontal movement plate, realizes the rapid transfer of the rotor between different stations and improves the overall production efficiency.

[0013] Preferably, the horizontal movement plate is connected with a telescopic cylinder on the side surface, is provided with a first sliding block on the lower surface, and the first sliding block is arranged on the first guide rail. The telescopic cylinder is used for moving the carrier pickup station loaded with the rotor from the rotating mechanical claw grabbing position to the feeding manipulator grabbing position, so as to realize the feeding work of the rotor in the converted form.

[0014] The utility model discloses a rotor automatic feeding device, which comprises a horizontal movement module, a feeding manipulator and a rotating mechanical claw. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the overall structural drawing of the utility model.

[0016] Figure 2A structure diagram of the mechanical hand assembly.

[0017] Figure 3 A structure diagram of the mechanical hand assembly.

[0018] Fig. 1: feeding mechanical hand; 1.1: feeding mechanical claw; 1.2: clamping finger cylinder; 1.3: connecting plate; 2: first longitudinal movement module; 2.1: telescopic cylinder; 2.2: telescopic shaft; 3: jacking module; 3.1: mounting plate; 3.2: mounting block; 3.3: guide column; 3.4: guide sleeve; 3.5: jacking cylinder; 4: rotary mechanical hand; 4.1: rotary mechanical claw; 4.2: rotary shaft; 4.3: rotary cylinder; 5: second longitudinal movement module; 6: transverse movement module; 6.1: transverse movement plate; 6.2: first guide rail; 6.3: first sliding block; 7: carrier pick-and-place station; 8: carrier conveying station; 9: rotor; 10: machine body seat; 11: machine cover; 12: lifting module; 12.1: lifting cylinder; 12.2: second sliding block; 12.3: second guide rail. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0020] As Figure 1As shown, a mechanical hand device for feeding of electric welding machine, including a machine cover 11 and a machine body seat 10, the machine body seat 10 is a rectangular shell, which is provided with an electric control assembly, the upper surface of the machine body seat 10 is provided with a feeding mechanical hand 1, a rotating mechanical claw 4.1, a carrier conveying station 8 and a horizontal moving module 6, the four corners of the upper surface of the machine body seat 10 are provided with a machine cover 11 for protecting the mechanical hand device. The machine body seat 10 is provided with a feeding mechanical hand 1, and a plurality of rotating mechanical hands 4 are arranged on the two sides of the feeding mechanical hand 1. The plane where the feeding mechanical hand 1 is located is a horizontal plane, which is arranged longitudinally. The two rotating mechanical hands 4 are symmetrically arranged along the feeding mechanical hand 1. The grabbing side of the feeding mechanical hand 1 and the rotating mechanical hand 4 is provided with a horizontal moving module 6, which is used to horizontally move the carrier pick-and-place station 7 from the grabbing position of the rotating mechanical hand 4 to the grabbing position of the feeding mechanical hand 1. The feeding mechanical hand 1 is provided below with a jacking module 3, which is used to drive the feeding mechanical hand 1 to rise and fall in the vertical direction. The jacking module 3 is provided above with a first longitudinal moving module 2, which is used to drive the feeding mechanical hand 1 to move in the longitudinal direction. The longitudinal direction here refers to the direction perpendicular to the carrier conveying station 8 on the horizontal plane. The rotating mechanical hand 4 includes a rotating mechanical claw 4.1, which is connected with a rotating module on the side away from the feeding mechanical hand 1. The rotating module is used to drive the rotating mechanical claw 4.1 to rotate by 90 degrees, so as to realize the change of the rotor 9 mode. The rotating module is provided above with a lifting module 12, which is used to drive the rotating mechanical claw 4.1 to rise and fall in the vertical direction. The lifting module 12 is arranged on a second longitudinal moving module 5. The second longitudinal moving module 5 and the first longitudinal moving module 2 are in the same direction, which are used to drive the rotating mechanical claw 4.1 to rise and fall in the longitudinal direction. By arranging the feeding mechanical hand 1, the rotating mechanical hand 4 and the horizontal moving module 6, the change of the direction of the rotor 9 is automatically realized, and the automatic feeding of the rotor 9 electric welding is realized, which improves the production efficiency and reduces the production cost.

[0021] In Figure 2 And Figure 3In the preferred embodiment shown, the first longitudinal movement module 2 is connected with the feeding mechanical gripper 1.1, and the feeding mechanical gripper 1.1 is connected with a pinch cylinder 1.2 near one side of the first longitudinal movement module 2. The pinch cylinder 1.2, the feeding mechanical gripper 1.1 and the first longitudinal movement module 2 are located on the same horizontal plane, the first longitudinal movement module 2 is used to drive the feeding mechanical gripper 1.1 to move longitudinally, and the pinch cylinder 1.2 is used to drive the feeding mechanical gripper 1.1 to grab the horizontally placed rotor 9. The first longitudinal movement module 2 can accurately control the position of the feeding mechanical gripper 1.1 to move longitudinally, ensuring that it can accurately reach the grabbing position of the horizontally placed rotor 9, improving the accuracy and stability of grabbing. The pinch cylinder 1.2 provides reliable grabbing power, which can firmly grab the horizontally placed rotor 9 in cooperation with the feeding mechanical gripper 1.1, effectively avoiding the sliding or displacement of the rotor 9 during the transfer process, ensuring the continuity and efficiency of the feeding process, and further improving the stability and reliability of the entire production process.

[0022] In Figure 2 In the preferred embodiment shown, the feeding mechanical gripper 1.1 is downwardly open and provided with a grabbing groove at the bottom end, and the axis of the grabbing groove is the same as the moving direction of the first longitudinal movement module 2. The grabbing groove of the feeding mechanical gripper 1.1 is arc-shaped and used to grab the outer circle of the rotor 9 chip, and is only used to grab the horizontally placed rotor 9, i.e. only to grab the rotor 9 on the carrier pick-and-place station 7, more specifically, only to grab the rotor 9 after changing the direction by the rotating mechanical gripper 4.1, and to place the horizontally placed rotor 9 on the electric welding processing station. The design of downward opening and arc-shaped grabbing groove is specially designed for grabbing the outer circle of the rotor 9 chip, which can well fit the shape profile of the rotor 9, increase the contact area and friction force of grabbing, and make the grabbing more stable. The setting of the same axis of the grabbing groove and the moving direction of the first longitudinal movement module 2 ensures that the posture of the rotor 9 will not be shifted when the rotor 9 is moved to the electric welding processing station after grabbing, reduces the time loss and error risk caused by posture adjustment, improves the accuracy and speed of feeding, and helps to improve the overall production efficiency and reduce the scrap rate.

[0023] In Figure 3In the preferred embodiment shown, the first longitudinal movement module 2 comprises a longitudinally arranged telescopic cylinder 2.1 connected with the finger cylinder 1.2 through the connecting plate 1.3, and the telescopic shaft 2.2 is arranged on both sides of the telescopic cylinder 2.1. The telescopic cylinder 2.1 and the telescopic shaft 2.2 are located in the same horizontal plane, and when the telescopic cylinder 2.1 is telescoped, the telescopic shaft 2.2 follows the longitudinal movement to push the connecting plate 1.3, and then push the finger cylinder 1.2 to move longitudinally. The telescopic cylinder 2.1 and the telescopic shaft 2.2 are combined to drive the longitudinal movement of the finger cylinder 1.2, the telescopic cylinder 2.1 provides the main power source, and the telescopic shaft 2.2 on both sides plays the role of auxiliary support and guidance. During the telescoping process of the telescopic cylinder 2.1, the telescopic shaft 2.2 can ensure the stable movement of the connecting plate 1.3 and the connected finger cylinder 1.2 along the predetermined longitudinal direction, avoiding the shaking or deviation phenomenon caused by a single power source, and improving the stability and accuracy of the movement. This stable longitudinal movement is crucial for accurate grabbing and placing the rotor 9, which helps to improve the feeding accuracy of the equipment, reduces the production failures caused by position deviation, and ensures the efficient and stable production.

[0024] In Figure 3In the preferred embodiment shown, the telescopic shaft 2.2 is sleeved with a mounting block 3.2, and a mounting plate 3.1 is arranged below the mounting block 3.2. The mounting block 3.2 is fixedly arranged on the upper surface of the mounting block 3.2 and symmetrically arranged along the center of the mounting block 3.2. The mounting plate 3.1 is connected to the jacking module 3 through the lower surface of the mounting plate 3.1. The mounting block 3.2 is fixed in the longitudinal direction, and the telescopic shaft 2.2 moves longitudinally in the mounting block 3.2. The mounting block 3.2 is used to support and guide the telescopic shaft 2.2. The jacking module 3 includes a jacking cylinder 3.5 used to jack the mounting plate 3.1. The mounting plate 3.1 drives the mounting block and the telescopic shaft 2.2 to move in the vertical direction. The telescopic shaft 2.2 drives the connecting plate 1.3 and the feeding mechanical claw 1.1 to move in the vertical direction. The lower surface of the mounting plate 3.1 is provided with guide columns 3.3 on both sides of the jacking cylinder 3.5. The guide columns 3.3 are sleeved with guide sleeves 3.4 at the bottom ends of the guide columns 3.3. The guide sleeves 3.4 are fixed on the upper surface of the machine body seat 10. The telescopic shaft 2.2 is sleeved with the mounting block 3.2, which provides a stable support point and an accurate guide path for the telescopic shaft 2.2, so that the telescopic shaft 2.2 can maintain linearity and stability when moving longitudinally, thereby ensuring the accuracy of the feeding mechanical claw 1.1 during longitudinal movement. The jacking module 3 is arranged to enable the feeding mechanical claw 1.1 to perform lifting operation in the vertical direction. When the jacking cylinder 3.5 drives the mounting plate 3.1 to lift, the vertical position of the feeding mechanical claw 1.1 is adjusted through the linkage of the mounting block 3.2 and the telescopic shaft 2.2, which facilitates the feeding mechanical claw 1.1 to adapt to the grasping and placing requirements of rotors 9 of different heights and improves the adaptability of the equipment to different working conditions. The guide columns 3.3 below the mounting plate 3.1 cooperate with the guide sleeves 3.4 to further enhance the stability of the mounting plate 3.1 during lifting, prevent the mounting plate 3.1 from tilting or shaking, and ensure the accuracy and reliability of the feeding mechanical claw 1.1 moving in the vertical direction, effectively reducing the feeding errors and equipment failures caused by unstable mechanical structure.

[0025] In Figure 2In the preferred embodiment shown, the rotating mechanical claw 4.1 is connected to a clamping cylinder at its top end, and the rotating module includes a rotating cylinder 4.3 connected to the clamping cylinder through a rotating shaft 4.2 on the side away from the feeding manipulator 1. The clamping cylinder is used to drive the rotating mechanical claw 4.1 to clamp the rotor 9, and the rotating cylinder 4.3 drives the rotating shaft 4.2 to rotate, which in turn drives the rotating mechanical claw 4.1 to rotate 90 degrees. The rotating mechanical claw 4.1 is used to place the rotor 9 in the converted form from the carrier conveying station 8 onto the carrier picking and placing station 7. Specifically, the rotor 9 is placed vertically on the carrier conveying station 8 and horizontally on the carrier picking and placing station 7. The combination of the rotating cylinder 4.3 and the rotating shaft 4.2 achieves a 90-degree precise rotation of the rotating mechanical claw 4.1, enabling the rotor 9 to be smoothly converted from a vertical form to a horizontal form. This precise form conversion is crucial for subsequent feeding and welding processes. By converting the form of the rotor 9 between different stations and accurately placing it, the key link in the automated production process is achieved, greatly improving production efficiency, reducing uncertainty and errors caused by manual intervention, and reducing production costs caused by improper manual operation, while improving the consistency and stability of product quality.

[0026] In Figure 2 In the preferred embodiment shown, the lifting module 12 includes a lifting cylinder 12.1 connected to the rotating cylinder 4.3 at its bottom end and a second sliding block 12.2 connected to the second longitudinal movement module 5 on the side away from the feeding manipulator 1. The lifting cylinder 12.1 is used to drive the rotating mechanical claw 4.1 to move vertically, and the second longitudinal movement module 5 is a telescopic cylinder used to drive the rotating mechanical claw 4.1 to move longitudinally perpendicular to the direction of the carrier conveying station 8. The second sliding block 12.2 is slidably installed on the second guide rail 12.3 on the side away from the lifting cylinder 12.1. The lifting cylinder 12.1 serves as the driving source for the rotating mechanical claw 4.1 in the vertical direction, allowing flexible adjustment of the height of the rotating mechanical claw 4.1 to accurately grasp and place the rotor 9 between different height carrier conveying stations 8 and carrier picking and placing stations 7, adapting to different production layouts and rotor 9 heights, and improving the versatility and flexibility of the equipment. The telescopic cylinder of the second longitudinal movement module 5 provides the rotating mechanical claw 4.1 with the ability to move perpendicular to the direction of the carrier conveying station 8, ensuring the stability and precision of the rotating mechanical claw 4.1 during longitudinal movement, combined with the sliding installation structure of the second sliding block 12.2 and the second guide rail 12.3. This multi-directional precise movement control enables the rotating mechanical claw 4.1 to efficiently shuttle between various stations and accurately complete the tasks of grasping, converting the form, and placing the rotor 9, further improving the automation level and production efficiency of the entire production process, reducing the risk of production interruption and production costs caused by inaccurate mechanical movement.

[0027] In Figure 1 And Figure 2 In the preferred embodiment shown, a carrier conveying station 8 is provided between the horizontal movement module 6 and the feeding manipulator 1. The carrier conveying station 8 is arranged transversely, and a plurality of carriers are arranged on the carrier conveying station 8. The carriers are used to load the rotors 9, and the carrier conveying station 8 is provided with a driving assembly at one end. The driving assembly is used to drive the carrier conveying station 8 to move the carriers transversely. The carrier pick-and-place station 7 is arranged on the horizontal movement module 6 through the horizontal movement plate 6.1, and the carrier pick-and-place station 7 is a rectangular block. An arc-shaped groove is arranged on the upper surface of the carrier pick-and-place station 7, which is used to place the rotors 9 in the horizontal direction. The lower surface of the carrier pick-and-place station 7 is fixedly installed on the horizontal movement plate 6.1. The provision of the carrier conveying station 8 provides a stable platform for the initial conveying of the rotors 9, and the vertically placed rotors 9 can be orderly transported into the grabbing range of the rotating manipulator 4, thereby ensuring the continuity and efficiency of the feeding process. The carrier pick-and-place station 7 is connected to the horizontal movement module 6 through the horizontal movement plate 6.1, so that the rotors 9 after shape conversion can be accurately moved to the grabbing position of the feeding manipulator 1 through the horizontal movement module 6, thereby realizing seamless connection between different stations. The presence of the horizontal movement module 6 improves the flexibility and positioning accuracy of the carrier pick-and-place station 7, facilitates quick adjustment according to the working rhythm and position requirements of the feeding manipulator 1, reduces the production efficiency loss caused by the transfer time and positioning error between stations, optimizes the material flow efficiency on the entire production line, reduces production costs and improves production capacity.

[0028] Preferably, a telescopic air cylinder is connected to the side surface of the horizontal movement plate 6.1, and a first sliding block 6.3 is arranged on the lower surface of the horizontal movement plate 6.1. The first sliding block 6.3 is arranged on the first guide rail 6.2. The telescopic air cylinder is used to move the carrier pick-and-place station 7 loaded with the rotors 9 from the rotating gripper 4.1 grabbing position to the feeding gripper 1.1 grabbing position, so as to realize the feeding work of the rotors 9 after shape conversion. The telescopic air cylinder serves as the driving power of the horizontal movement plate 6.1, and can provide stable and accurate linear driving force, thereby ensuring that the carrier pick-and-place station 7 moves quickly and accurately between the rotating gripper 4.1 grabbing position and the feeding gripper 1.1 grabbing position. The cooperation between the first sliding block 6.3 and the first guide rail 6.2 provides accurate guidance and low-friction movement environment for the movement of the horizontal movement plate 6.1, so that the carrier pick-and-place station 7 can maintain a stable posture and accurate positioning during movement, thereby effectively avoiding feeding errors caused by shaking or deviation during horizontal movement. This accurate horizontal movement control mechanism improves the accuracy and efficiency of the rotor 9 feeding, reduces the scrap rate and production interruption frequency caused by inaccurate feeding, thereby ensuring the efficient and stable operation of the entire electric welding machine feeding production process, reducing production costs and improving product quality.

[0029] Working process.

[0030] After the carrier conveying station 8 conveys the carrier with the rotor 9 to the grabbing position of the rotary manipulator 4, the rotary manipulator 4 works, the rotary gripper 4.1 is initially placed in a horizontal direction, and after the rotary gripper 4.1 grabs the outer circle of the chip of the rotor 9 placed in a vertical direction, the rotary module, the lifting module 12 and the second longitudinal movement module 5 work cooperatively to change the direction of the rotor 9 from vertical to horizontal while placing the rotor 9 on the carrier taking and placing station 7. After the rotor 9 is placed on the carrier taking and placing station 7, the transverse movement module 6 works to move the carrier taking and placing station 7 to the grabbing position of the feeding manipulator 1, and the feeding gripper 1.1, the jacking module 3 and the first longitudinal movement module 2 work cooperatively to grab the rotor 9 and place the rotor 9 on the electric welding machine for processing. After the rotor 9 is processed and grabbed by the feeding manipulator 1, the rotor 9 is placed on the carrier taking and placing station 7. After the rotor 9 is placed on the carrier taking and placing station 7, the transverse movement module 6 works to move the processed rotor 9 to the grabbing position of the rotary manipulator 4 on the other side, the rotary manipulator 4 works to grab the horizontally placed rotor 9, change the placing direction to vertical, and place the rotor 9 on the carrier conveying station 8, and the carrier conveying station 8 moves the rotor 9 to the next station.

[0031] In addition to the above embodiments, within the scope disclosed in the claims and the specification of the present application, the technical features or technical data of the present application can be reselected and combined to form new embodiments, and these embodiments of the present application which are not described in detail are easily realized by those skilled in the art without creative labor, therefore these embodiments which are not described in detail should be regarded as specific embodiments of the present application and within the protection scope of the present application.

Claims

1. A mechanical hand device for feeding an electric welding machine, comprising a machine cover and a machine body seat, characterized in that, a feeding mechanical hand is arranged on the machine body seat, a plurality of rotating mechanical hands are arranged on both sides of the feeding mechanical hand, and a horizontal movement module is arranged on the gripping side of the feeding mechanical hand and the rotating mechanical hand; a jacking module is arranged below the feeding mechanical hand, and a first longitudinal movement module is arranged above the jacking module; the rotating mechanical hand comprises a rotating mechanical claw, a rotating module is connected to the side of the rotating mechanical claw away from the feeding mechanical hand, a lifting module is arranged above the rotating module, and the lifting module is arranged on a second longitudinal movement module.

2. The mechanical arm device for feeding an electric welding machine according to claim 1, characterized in that, The first longitudinal movement module is connected to the feeding mechanical claw, and a clamping finger cylinder is connected to the side of the feeding mechanical claw close to the first longitudinal movement module.

3. The mechanical arm device for feeding an electric welding machine according to claim 2, characterized in that, The feeding mechanical claw is open downward, and a gripping groove is arranged at the bottom end, the axis of the gripping groove is the same as the movement direction of the first longitudinal movement module.

4. The mechanical arm device for feeding an electric welding machine according to claim 1 or 2 or 3, characterized in that, The first longitudinal movement module comprises a longitudinally arranged telescopic cylinder, the telescopic cylinder is connected to the clamping finger cylinder through a connecting plate, and telescopic shafts are arranged on both sides of the connecting plate.

5. The mechanical arm device for feeding an electric welding machine according to claim 4, characterized in that, A mounting block is slidably arranged on the telescopic shaft, a mounting plate is arranged below the mounting block, and the mounting plate is connected to the jacking module.

6. The mechanical arm device for feeding an electric welding machine according to claim 1, characterized in that, A clamping claw cylinder is connected to the top end of the rotating mechanical claw, the rotating module comprises a rotating cylinder, and the rotating cylinder is connected to the clamping claw cylinder through a rotating shaft on the side close to the feeding mechanical hand.

7. The mechanical arm device for feeding an electric welding machine according to claim 6, characterized in that, The lifting module comprises a lifting cylinder, the lifting cylinder is connected to the rotating cylinder at the bottom end, a second sliding block is connected to the side away from the feeding mechanical hand, and the second sliding block is connected to the second longitudinal movement module.

8. The mechanical hand device for feeding an electric welding machine according to claim 1, wherein A carrier conveying station is arranged between the horizontal movement module and the feeding mechanical hand, and the carrier conveying station is arranged on the horizontal movement module through a horizontal movement plate.

9. The mechanical hand device for feeding an electric welding machine according to claim 8, wherein A telescopic cylinder is connected to the side of the horizontal movement plate, a first sliding block is arranged on the lower surface of the horizontal movement plate, and the first sliding block is mounted on a first guide rail.

Images