CN111015640A - Robot carrying paw capable of realizing accurate positioning of workpiece - Google Patents
Robot carrying paw capable of realizing accurate positioning of workpiece Download PDFInfo
- Publication number
- CN111015640A CN111015640A CN201911393544.8A CN201911393544A CN111015640A CN 111015640 A CN111015640 A CN 111015640A CN 201911393544 A CN201911393544 A CN 201911393544A CN 111015640 A CN111015640 A CN 111015640A
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- China
- Prior art keywords
- fixedly connected
- hot forging
- power box
- gear
- forging blank
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
Abstract
The invention belongs to the technical field of manipulators, and particularly relates to a robot carrying paw capable of realizing accurate positioning of a workpiece, which comprises a base, a power box and a positioning pin, wherein the upper surface of the base is rotatably connected with a rotating column; the upper surface of the rotating column is fixedly connected with a first telescopic cylinder; the position of the arc-shaped surface of the first telescopic cylinder, which is close to the upper end surface of the piston rod of the first telescopic cylinder, is fixedly connected with a horizontally arranged second telescopic cylinder; the end face position of a piston rod of the second telescopic cylinder is fixedly connected with a fixed shell; the power box is connected to the inside of the fixed shell in a sliding manner; a positioning pin is arranged at the position, close to the hot forging blank, of the power box; through a robot transport hand claw that can realize work piece accurate positioning, the effectual technology that adapts to the hot forging gear needs of processing, has guaranteed the location of hot forging blank high accuracy simultaneously, the effectual yields that improves the high accuracy hot forging gear.
Description
Technical Field
The invention belongs to the technical field of mechanical arms, and particularly relates to a robot carrying paw capable of realizing accurate positioning of a workpiece.
Background
The robot paw is a robot part which can realize the function similar to a human hand, the robot paw is a part used for holding workpieces or tools and is one of important execution mechanisms, and according to the shape of the workpieces held by the robot, the paw can be divided into various types which can be mainly divided into three types: the mechanical paw, also called mechanical clamp, comprises 2 fingers, 3 fingers and deformation fingers, comprises special paws of a magnetic chuck, a welding gun and the like, and comprises a universal paw from 2 fingers to 5 fingers.
Among the prior art, when the hot forging blank was got to the robot hand claw clamp, it is lower to remove the precision between the clamp plate of difference for it is unbalanced to press from both sides tight dynamics, and then leads to the position precision of hot forging blank lower, and does not have the grafting locate function of locating pin, makes the unable small-amplitude adjustment of hand claw on the one hand, and on the other hand does not have the maintenance feedback, leads to the poor scheduling problem of product batch nature processing easily.
In view of the above, in order to overcome the above technical problems, the present inventors have designed and developed a robot handling gripper capable of accurately positioning a workpiece, and have solved the above technical problems.
Disclosure of Invention
In order to make up for the defects of the prior art and solve the problems that in the prior art, when a robot paw clamps a hot forging blank, the moving precision between different clamping plates is low, the clamping force is unbalanced, the position precision of the hot forging blank is low, the inserting and positioning effects of positioning pins are avoided, on one hand, the paw cannot be adjusted in a small range, on the other hand, the overhaul feedback is avoided, the poor product batch processing is easy to cause, and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows: the robot carrying paw capable of realizing accurate positioning of the workpiece comprises a base, a power box and a positioning pin, wherein a rotating column is rotatably connected to the upper surface of the base; the upper surface of the rotating column is fixedly connected with a first telescopic cylinder; the position of the arc-shaped surface of the first telescopic cylinder, which is close to the upper end surface of the piston rod of the first telescopic cylinder, is fixedly connected with a horizontally arranged second telescopic cylinder; the end face position of a piston rod of the second telescopic cylinder is fixedly connected with a fixed shell; a first cavity is formed in the fixed shell; a power box is connected to the bottom of the fixed shell in a sliding manner inside the first cavity; a second cavity is formed in the power box; a first rotating hole is formed in the side surface of the upper surface of the power box, which is close to one side of the power box, which is far away from the second telescopic cylinder; the number of the first rotating holes is two, and the first rotating holes are arranged in a bilateral symmetry mode; the inner parts of the two first rotating holes are rotatably connected with first transmission columns; the upper surfaces of the two first transmission columns are fixedly connected with first gears, and the two first gears are equal in size and meshed with each other; the lower surfaces of the two first transmission columns are fixedly connected with a first motor and a second motor respectively at the inner positions of the second cavity; the first motor and the second motor run in a positive and negative mode and are fixedly connected with the power box; the arc-shaped surfaces of the two first transmission columns are fixedly connected with first connecting rods at positions between the first gear and the power box; a transmission hole is formed in the side face of the power box at the position of the first connecting rod; the first connecting rods penetrate through the transmission holes and extend to the outside of the power box; the end surfaces of the first connecting rods, which are far away from the power box, are hinged with second connecting rods; the two second connecting rods are designed into a V-shaped structure; the middle position of the side surface of one side of the transmission hole of the power box is fixedly connected with a fixed block; the upper surface of the fixed block is hinged with two symmetrically arranged third connecting rods; the two third connecting rods are respectively hinged with the corresponding second connecting rods; the same hot forging blank is clamped between the two second connecting rods; a positioning pin is arranged at the position, close to the hot forging blank, of the power box; when the gear is in work, because the gear needs to have higher hardness, wear resistance and precision requirements, the gear is manufactured in a hot precision forging mode in the prior art, in order to ensure the processing quality of the gear in the manufacturing process, a heating device and a forging die of a hot forging blank need to be arranged in the same vacuum cover, because the temperature in the vacuum cover is higher and the vacuum environment is required, the hot forging blank cannot be taken and placed manually, a robot claw needs to carry the gear, the hot forging blank in the heating device can be transferred into the forging die, because the hot precision forging gear needs higher positioning precision to meet the processing requirements of high efficiency and high precision, the high-precision positioning function of the robot claw needs to be realized, when the blank in the heating device needs to be transferred, a rotating column firstly rotates in a base, and piston rods of a first telescopic cylinder and a second telescopic cylinder are matched for ejecting and inward retracting, the hot forging blank is positioned between the two second connecting rods, then the corresponding first motor and the second motor are respectively rotated in the forward and reverse directions, the first motor and the second motor drive the corresponding first transmission column to rotate, so as to drive the two first gears above the first transmission column to rotate, the two first gears are mutually meshed, the transmission ratio is one, therefore, the two first connecting rods can be effectively driven to rotate, the second connecting rods are hinged on the first connecting rods, the surfaces of the second connecting rods are hinged with the third connecting rods, and the other ends of the two third connecting rods are hinged on the surface of the same fixed block together, therefore, the two first gears realize synchronous opposite or back-to-back movement of the two second connecting rods in a meshing mode, the moving distances are synchronous and equal, therefore, when the second connecting rods clamp the hot forging blank, the positioning of the two second connecting rods can be ensured to be symmetrical all the time, further, the requirement of higher clamping precision is realized, the positioning pin is arranged, the positioning pin is correspondingly inserted into the positioning hole of the hot precision forging die, the opening part of the positioning hole is of a horn-shaped structure, the effective positioning and small-amplitude adjustment can be realized when a hot forging blank is placed each time, and meanwhile, if the positioning pin is not effectively inserted into the corresponding positioning hole, the robot carrying paw stops running to remind of maintenance, and the problems that in the prior art, when the robot paw clamps the hot forging blank, the moving precision between different clamping plates is low, the clamping force is unbalanced, the position precision of the hot forging blank is low, the inserting positioning function of the positioning pin is not available, on one hand, the paw cannot be adjusted in a small-amplitude manner, on the other hand, the maintenance feedback is not available, the batch processing of products is easy to cause and the like are effectively solved, the method effectively meets the process machining requirements of the hot forging gear, ensures the high-precision positioning of the hot forging blank, and effectively improves the yield of the high-precision hot forging gear.
Preferably, the lower surface of the positioning pin is chamfered with an oblique angle; the lower surface of the positioning pin is connected with a first steel ball in a rolling manner; the surface of the oblique angle of the positioning pin is connected with second steel balls which are uniformly distributed in a rolling manner; the diameter of the excircle of the maximum outline where the second steel ball is located is smaller than that of the positioning pin by taking the axis of the positioning pin as a center; the during operation, when the locating pin begins to peg graft in the locating hole, because there is little deviation in the position, therefore the locating pin can be drawn into in the locating hole through the opening of locating hole loudspeaker form, but peg graft in the locating hole repeatedly for a long time when the locating pin, the bottom of locating pin can rub repeatedly with the opening of locating hole loudspeaker form, cause the fish tail or the fracture of locating pin easily on the one hand, on the other hand also can make positioning mechanism movement positioning process friction abnormal sound appear, be unfavorable for long-term efficient processing demand, consequently, through the second steel column that sets up first steel column and evenly arranged on the surface at the locating pin, the locating pin is when pegging graft into the opening position of locating hole loudspeaker form, the effectual rolling friction contact who has realized locating pin and locating hole, frictional force has been reduced, the fish tail wearing and tearing of contact surface have been avoided, the.
Preferably, the power box is slidably connected to the fixed shell; first springs which are uniformly arranged are fixedly connected between the side wall of the fixed shell and the side wall of the power box in the first cavity; during operation, because the headstock is in first cavity and with set casing sliding connection, consequently before the locating pin is pegged graft into the locating hole and is realized the location, the phenomenon of headstock drunkenness all around in the inside of set casing can appear, and then can influence the location of second connecting rod position, and carry out quick effectual clamp to the hot forging blank, consequently link firmly the first spring of evenly arranging through setting up the position between set casing and headstock, through the elastic force effect of first spring, can make the set casing under the condition that does not receive the external force, be located the intermediate position of first cavity basically, consequently, can guarantee the initial position precision of locating pin, also can avoid the headstock to drunkenness in the inside of first cavity simultaneously, cause and produce the collision between the lateral wall of headstock and set casing, influence the stability of motion and the life of robot transport hand claw.
Preferably, two second rotating holes are formed in the position, close to the second telescopic rod, of the upper surface of the power box; the inner parts of the two second rotating holes are rotatably connected with second transmission columns; the upper surfaces of the two second transmission columns are fixedly connected with a second gear and a third gear respectively; the second gear and the third gear are meshed with each other, and the transmission ratio of the second gear to the third gear is two; the lower surfaces of the two second transmission columns are fixedly connected with a third motor and a fourth motor respectively at the inner positions of the second cavity, and the third motor and the second gear are positioned on the surface of the same second transmission column; the third motor and the fourth motor run in a positive and negative mode and are fixedly connected with the power box; the second gear is meshed with a first rack; the first rack is fixedly connected with a first limiting block at the left side position of the hot forging blank; the side surface of one side of the fixed box, which is opposite to the hot forging blank, is fixedly connected with symmetrically arranged brackets; the two supports are fixedly connected with a second limiting block at the position close to the hot forging blank; the third gear is connected with a second rack in a meshing manner; a positioning pin is fixedly connected between the first limiting block and the second limiting block of the second rack; the upper surface of the power box is fixedly connected with two guide blocks at the positions of the first rack and the second rack; the first gear and the second gear are both connected in a sliding manner in the corresponding guide blocks; when the hot forging blank fixing device works, when the shape of the hot forging blank is not round or the second connecting rod clamps the hot forging blank to be positioned with a certain deviation, the axis of the hot forging blank and the relative reference point of the positioning pin have a larger deviation, so that the second motor and the fourth motor drive the second gear and the third gear to rotate in the forward and reverse directions, the second gear and the third gear further drive the first rack and the second rack to slide in the guide block, the first limiting block is fixedly connected at the end position of the first rack, the first limiting block can be driven by the first rack to move, the fixed second limiting block is matched, the hot forging blank can be fixed in the front, back, left and right directions, the positioning pin is fixedly connected between the first limiting block and the second limiting block by the second rack, the sliding second rack can drive the positioning pin to be adjusted, and meanwhile, the transmission ratio of the second gear and the third gear is two, consequently can make the displacement of first rack be the twice of second rack displacement all the time, guarantee that the locating pin is located the intermediate position of first stopper and second stopper all the time, guarantee the fixed of hot forging blank and locating pin relative position, consequently can satisfy the not positioning accuracy of locating pin also guaranteed when the hot forging blank of equidimension is further effectively pressed from both sides tightly, simple structure, degree of automation is high.
Preferably, the first limiting block, the second limiting block and the two second connecting rods are fixedly connected with a same hot forging blank; the first limiting block and the second limiting block are fixedly connected with first clamping plates relative to the side face of one side of the hot forging blank, and the first clamping plates are made of high-temperature-resistant materials; the side surfaces of one side of each second connecting rod, which are opposite to the hot forging blank, are provided with sliding grooves; the inner parts of the sliding grooves are all connected with second clamping plates in a sliding mode, and the second clamping plates are all made of high-temperature-resistant materials; when the hot forging mechanism works, when a hot forging blank needs to be clamped, the blank is pre-clamped through rotation of the second connecting rod, then the hot forging blank is pushed to be attached to the surface of the second limiting block by moving the first limiting block, and secondary limiting clamping of the hot forging blank is further realized between the hot forging blank and the second limiting block, but in the process of pushing the hot forging blank, the hot forging blank can slide on the surface of the second connecting rod, so that on one hand, the motion resistance of the first limiting block is increased under the action of friction force, on the other hand, the blank and the second connecting rod are damaged in the sliding process, the processing precision and the service life of a robot carrying paw are influenced, and the first limiting block, the second limiting block and the second connecting rod are directly contacted with the hot forging blank with high temperature repeatedly for a long time, and are not beneficial to the long-time use of the motion mechanism, so that the first clamping plate is fixedly connected to the side surface, opposite to the hot forging blank, of, through designing first splint for the relatively poor material of high temperature resistant and heat conductivity, can effectual reduction high temperature to the influence of first stopper and second stopper, through seting up the spout on the surface at the second connecting rod, and the inside sliding connection second splint of spout, when first stopper promotes the hot forging blank through first splint and removes, can directly slide at the inside of spout through the second splint, realize the quick frictionless removal of damaging of hot forging blank, and the same second stopper also can be designed for the relatively poor material of high temperature resistant and heat conductivity, the long-term effective operation of motion has been guaranteed.
Preferably, two second springs are fixedly connected between the second clamping plate and the corresponding sliding groove, and the second springs are respectively positioned on the left side surface and the right side surface of the sliding groove; the first clamping plate and the second clamping plate are designed to be rough surfaces relative to the side surface of one side of the hot forging blank; the during operation, after in arranging the hot forging mould with the hot forging blank in, because the second splint all slides the one end position of spout, so can influence the secondary of second splint when sliding the use, consequently, link firmly the second spring through the position between second splint and the spout that corresponds, and second spring bilateral symmetry sets up, consequently, can effectually realize the braking of second splint and reset, and reset to the intermediate position of spout, sustainable work's ability has been guaranteed, and through all designing first splint and second splint for hot forging blank one side position to the matte structure, can avoid the top-to-bottom slip of hot forging blank, also can guarantee simultaneously that first splint are when promoting the hot forging blank, the hot forging blank can not be at two second splint surface sliding, hot forging blank stability of quality has been guaranteed.
The invention has the following beneficial effects:
1. the invention relates to a robot transport paw capable of realizing accurate positioning of a workpiece, which is characterized in that a base, a power box and a positioning pin are arranged, a rotating column is rotatably connected through the upper surface of the base, a first telescopic cylinder is fixedly connected to the upper surface of the rotating column, a horizontally arranged second telescopic cylinder is fixedly connected to the position, close to the upper end surface of a piston rod of the first telescopic cylinder, of the arc surface of the first telescopic cylinder, a fixed shell is fixedly connected to the end surface of the piston rod of the second telescopic cylinder, the power box is slidably connected to the inside of the fixed shell, a pair of first gears are arranged inside the power box, the two first gears drive a first connecting rod, the first connecting rod further drives a second connecting rod to clamp a hot forging blank, the positioning pin is arranged at the position, close to the hot forging blank, of the power box, the robot transport paw capable of realizing accurate positioning of the workpiece is used for effectively solving the problem that in the prior art, when the robot, the precision of moving between the different clamp plates is lower for it is uneven to press from both sides tight dynamics, and then leads to the position precision of hot forging blank lower, and does not have the grafting positioning action of locating pin, makes the unable small-amplitude adjustment of hand claw on the one hand, and on the other hand does not have the maintenance feedback, leads to the bad scheduling problem of product batch nature processing easily, the effectual technology that adapts to the hot forging gear needs, has guaranteed the location of hot forging blank high accuracy simultaneously, the effectual yields that improves the high accuracy hot forging gear.
2. The robot carrying paw capable of realizing accurate positioning of workpieces is characterized in that a second gear, a third gear, a first limiting block and a second limiting block are arranged, the second gear and the third gear are arranged in a power box and are meshed with each other, the transmission ratio of the second gear to the third gear is two, a first rack is driven to move through the second gear, the first limiting block is driven to move, the fixed second limiting block is matched, effective limiting and fixing of a hot forging blank are realized, the third gear is used for driving a second rack to move, and a positioning pin is driven to move, so that on one hand, the hot forging blank is fixed in four directions of front, back, left and right, on the other hand, the moving distance of the first rack is always twice the moving distance of the second rack, and the positioning pin is ensured to be always located in the middle position of the first limiting block and the second limiting block, the fixing of the relative positions of the hot forging blank and the positioning pin is ensured, so that the positioning accuracy of the positioning pin is also ensured while the hot forging blanks of different sizes are effectively clamped, the structure is simple, and the automation degree is high.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is a first perspective view of the moving clamping mechanism of the present invention;
FIG. 4 is a second perspective view of the moving clamping mechanism of the present invention;
FIG. 5 is an enlarged partial view at A of FIG. 4;
in the figure: the device comprises a base 1, a first telescopic cylinder 11, a second telescopic cylinder 12, a fixed shell 13, a first spring 14, a power box 2, a first gear 21, a first connecting rod 22, a second connecting rod 23, a third connecting rod 24, a hot forging blank 25, a second clamping plate 26, a second spring 27, a positioning pin 3, a first steel ball 31, a second steel ball 32, a second gear 33, a third gear 34, a first rack 35, a first limiting block 36, a second limiting block 37, a second rack 38, a guide block 39 and a first clamping plate 310.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 5, the robot handling gripper capable of accurately positioning a workpiece according to the present invention includes a base 1, a power box 2 and a positioning pin 3, wherein a rotation column is rotatably connected to an upper surface of the base 1; the upper surface of the rotating column is fixedly connected with a first telescopic cylinder 11; a second telescopic cylinder 12 which is horizontally arranged is fixedly connected to the position, close to the upper end face of the piston rod of the first telescopic cylinder 11, of the arc-shaped face of the first telescopic cylinder 11; the end surface position of the piston rod of the second telescopic cylinder 12 is fixedly connected with a fixed shell 13; a first cavity is formed in the fixed shell 13; the power box 2 is connected to the bottom of the fixed shell 13 in the first cavity in a sliding mode; a second cavity is formed in the power box 2; a first rotating hole is formed in the side surface of the upper surface of the power box 2, which is close to one side of the power box 2, which is far away from the second telescopic cylinder 12; the number of the first rotating holes is two, and the first rotating holes are arranged in a bilateral symmetry mode; the inner parts of the two first rotating holes are rotatably connected with first transmission columns; the upper surfaces of the two first transmission columns are fixedly connected with first gears 21, and the two first gears 21 are equal in size and are meshed with each other; the lower surfaces of the two first transmission columns are fixedly connected with a first motor and a second motor respectively at the inner positions of the second cavity; the first motor and the second motor run in a positive and negative mode and are fixedly connected with the power box 2; the arc-shaped surfaces of the two first transmission columns are fixedly connected with first connecting rods 22 at positions between the first gear 21 and the power box 2; a transmission hole is formed in the side surface of the power box 2 at the position of the first connecting rod 22; and the first connecting rods 22 pass through the transmission holes and extend to the outside of the power box 2; the end surfaces of the first connecting rods 22, which are far away from the power box 2, are hinged with second connecting rods 23; the two second connecting rods 23 are both designed into a V-shaped structure; the middle position of the side surface of one side of the transmission hole of the power box 2 is fixedly connected with a fixed block; the upper surface of the fixed block is hinged with two symmetrically arranged third connecting rods 24; the two third connecting rods 24 are hinged with the corresponding second connecting rods 23; the same hot forging blank 25 is clamped between the two second connecting rods 23; a positioning pin 3 is arranged at the position, close to the hot forging blank 25, of the power box 2; during operation, because the gear needs to have higher hardness, wear resistance and precision requirements, the gear is manufactured in a hot precision forging mode in the prior art, in order to ensure the processing quality of the gear in the manufacturing process, a heating device and a forging die of a hot forging blank 25 need to be arranged in the same vacuum cover, because the temperature in the vacuum cover is higher and a vacuum environment is required, the hot forging blank 25 cannot be taken and placed manually, a robot claw needs to carry the gear, the hot forging blank 25 in the heating device can be transferred into the forging die, because the hot precision forging gear needs higher positioning precision to meet the processing requirements of high efficiency and high precision, the high-precision positioning function of the robot claw needs to be realized, when the blank in the heating device needs to be transferred, a rotating column firstly rotates in a base 1, the piston rods of the first telescopic cylinder 11 and the second telescopic cylinder 12 are matched to eject and retract at the same time, so that the hot forging blank 25 is positioned between the two second connecting rods 23, then the corresponding first motor and the second motor are respectively rotated in the forward and reverse directions, the first motor and the second motor drive the corresponding first transmission column to rotate, and further drive the two first gears 21 above the first transmission column to rotate, the two first gears 21 are mutually meshed and have a transmission ratio of one, so that the two first connecting rods 22 can be effectively driven to rotate, the second connecting rods 23 are hinged on the first connecting rods 22, the surfaces of the second connecting rods 23 are hinged with the third connecting rods 24, the other ends of the two third connecting rods 24 are hinged on the surface of the same fixed block together, and therefore, the two first gears 21 realize synchronous opposite or opposite-back movement of the two second connecting rods 23 through a meshing mode, the moving distances are synchronous and equal, so when the second connecting rods 23 clamp the hot forging blank 25, the positioning of the two second connecting rods 23 can be ensured to be symmetrical all the time, and further higher clamping precision requirements are realized, by arranging the positioning pins 3, and correspondingly inserting the positioning pins 3 into the positioning holes of the hot precision forging die, and the mouth parts of the positioning holes are of a horn-shaped structure, the effective positioning can be realized and small-amplitude adjustment can be carried out when the hot forging blank 25 is placed each time, and meanwhile, if the positioning pins 3 are not effectively inserted into the corresponding positioning holes, the robot carrying paw stops running to remind of maintenance, and the problem that in the prior art, when the robot paw clamps the hot forging blank 25, the moving precision between different clamping plates is lower, so that the clamping force is unbalanced, and further the position precision of the hot forging blank 25 is lower is solved, and the inserting and positioning functions of the positioning pin 3 are not needed, so that the paw cannot be adjusted in a small range on the one hand, and the problems of poor product batch processing and the like are easily caused due to no overhauling feedback on the other hand, the process processing requirements of the hot forging gear are effectively met, the high-precision positioning of the hot forging blank 25 is ensured, and the yield of the high-precision hot forging gear is effectively improved.
As an embodiment of the present invention, the lower surface of the positioning pin 3 is chamfered; the lower surface of the positioning pin 3 is connected with a first steel ball 31 in a rolling way; the surface of the oblique angle of the positioning pin 3 is connected with second steel balls 32 which are uniformly arranged in a rolling manner; taking the axis of the positioning pin 3 as a center, the diameter of the excircle of the maximum outline where the second steel ball 32 is located is smaller than that of the positioning pin 3; when the positioning pin 3 is inserted into the positioning hole, the positioning pin 3 can be drawn into the positioning hole through the trumpet-shaped opening of the positioning hole due to small deviation of the position, however, when the positioning pin 3 is repeatedly inserted into the positioning hole for a long time, the bottom of the positioning pin 3 repeatedly rubs against the trumpet-shaped opening of the positioning hole, which is likely to cause scratching or breaking of the positioning pin 3, and also causes friction abnormal sound in the movement positioning process of the positioning mechanism, which is not favorable for long-term and efficient processing requirements, therefore, by arranging the first steel columns and the second steel columns which are uniformly arranged on the surface of the positioning pin 3, when the positioning pin 3 is inserted into the trumpet-shaped opening position of the positioning hole, the rolling friction contact of the positioning pin 3 and the positioning hole is effectively realized, the friction force is reduced, the scratch abrasion of the contact surface is avoided, and the efficient operation of positioning is realized.
As an embodiment of the present invention, the power box 2 is slidably connected to the fixed casing 13; first springs 14 which are uniformly arranged are fixedly connected between the side wall of the fixed shell 13 and the side wall of the power box 2 in the first cavity; when the power box 2 works, the power box 2 is arranged in the first cavity and is in sliding connection with the fixed shell 13, so that before the positioning pin 3 is inserted into the positioning hole to realize positioning, the phenomenon that the power box 2 moves back and forth and left and right in the fixed shell 13 can occur, which in turn affects the positioning of the second connecting rod 23 and the rapid and effective clamping of the hot forged blank 25, therefore, by fixedly connecting the first springs 14 which are evenly arranged at the positions between the fixed shell 13 and the power box 2, by the elastic force action of the first springs 14, it is possible to make the fixing housing 13 be located substantially at the middle position of the first cavity without being subjected to an external force, and therefore it is possible to secure the initial position accuracy of the aligning pin 3, meanwhile, the power box 2 can be prevented from moving in the first cavity, so that collision is generated between the power box 2 and the side wall of the fixed shell 13, and the stability of the motion mechanism and the service life of the robot carrying paw are influenced.
As an embodiment of the present invention, two second rotation holes are formed on the upper surface of the power box 2 near the second telescopic rod; the inner parts of the two second rotating holes are rotatably connected with second transmission columns; the upper surfaces of the two second transmission columns are fixedly connected with a second gear 33 and a third gear 34 respectively; the second gear 33 and the third gear 34 are meshed with each other, and the transmission ratio of the second gear 33 to the third gear 34 is two; the lower surfaces of the two second transmission columns are fixedly connected with a third motor and a fourth motor respectively at the inner positions of the second cavity, and the third motor and the second gear 33 are both positioned on the surface of the same second transmission column; the third motor and the fourth motor run in a positive and negative mode and are fixedly connected with the power box 2; the second gear 33 is connected with a first rack 35 in a meshing manner; the first rack 35 is fixedly connected with a first limiting block 36 at the left side position of the hot forging blank 25; the side face of one side of the fixed box, which is opposite to the hot forging blank 25, is fixedly connected with symmetrically arranged brackets; the positions of the two brackets, which are close to the hot forging blank 25, are fixedly connected with second limiting blocks 37; a second rack 38 is connected with the third gear 34 in a meshing manner; the second rack 38 is fixedly connected with a positioning pin 3 between the first limiting block 36 and the second limiting block 37; two guide blocks 39 are fixedly connected to the upper surface of the power box 2 at the positions of the first rack 35 and the second rack 38; the first gear 21 and the second gear 33 are both connected in a sliding way in the corresponding guide blocks 39; when the hot forging blank 25 is in an incomplete shape or the second connecting rod 23 clamps the hot forging blank 25 and positions the hot forging blank 25 with a certain deviation, the axis of the hot forging blank 25 and the relative reference point of the positioning pin 3 have a large deviation, so that the second motor and the fourth motor drive the second gear 33 and the third gear 34 to rotate in the forward and reverse directions, the second gear 33 and the third gear 34 further drive the first rack 35 and the second rack 38 to slide in the guide block 39, the first limiting block 36 is fixedly connected with the end position of the first rack 35, so that the first limiting block 36 can be driven by the first rack 35 to move, the fixed second limiting block 37 is matched, the hot forging blank 25 can be fixed in the front, back, left and right directions, the positioning pin 3 is fixedly connected between the first limiting block 36 and the second limiting block 37 by the second rack 38, and therefore the sliding second rack 38 can drive the positioning pin 3 to adjust the position, meanwhile, the transmission ratio of the second gear 33 to the third gear 34 is two, so that the moving distance of the first rack 35 is always twice of the moving distance of the second rack 38, the positioning pin 3 is always located in the middle of the first limiting block 36 and the second limiting block 37, and the fixing of the relative positions of the hot forging blank 25 and the positioning pin 3 is ensured, so that the positioning accuracy of the positioning pin 3 is ensured while the hot forging blanks 25 with different sizes are further effectively clamped, the structure is simple, and the automation degree is high.
As an embodiment of the present invention, the same hot forging blank 25 is fixedly connected between the first limiting block 36, the second limiting block 37 and the two second connecting rods 23; the first limiting block 36 and the second limiting block 37 are fixedly connected with a first clamping plate 310 relative to the side surface of one side of the hot forging blank 25, and the first clamping plate 310 is made of a high-temperature resistant material; the two second connecting rods 23 are provided with sliding grooves relative to the side surface of one side of the hot forging blank 25; the inner parts of the sliding grooves are all connected with second clamping plates 26 in a sliding mode, and the second clamping plates 26 are all made of high-temperature-resistant materials; when the clamping mechanism works, when a hot forging blank 25 needs to be clamped, the blank is pre-clamped through the rotation of the second connecting rod 23, then the first limiting block 36 is moved to push the hot forging blank 25 to be attached to the surface of the second limiting block 37, and further the second limiting clamping of the hot forging blank 25 is realized between the first limiting block and the second limiting block 37, but in the process of pushing the hot forging blank 25, the hot forging blank 25 can slide on the surface of the second connecting rod 23, so that the action of friction force can increase the motion resistance of the first limiting block 36, on the other hand, the blank and the second connecting rod 23 can be damaged in the sliding process, the processing precision and the service life of a robot carrying paw are influenced, and the first limiting block 36, the second limiting block 37 and the second connecting rod 23 are directly contacted with the hot forging blank 25 with high temperature repeatedly for a long time, and the long-time use of the motion mechanism is also unfavorable, therefore, the first clamping plate 310 is fixedly connected to the side face, opposite to the hot forging blank 25, of the first limiting block 36 and the second limiting block 37, the first clamping plate 310 is designed to be made of a material with high temperature resistance and poor heat conductivity, the influence of high temperature on the first limiting block 36 and the second limiting block 37 can be effectively reduced, the surface of the second connecting rod 23 is provided with a sliding groove, the sliding groove is connected with the second clamping plate 26 in a sliding mode, when the first limiting block 36 pushes the hot forging blank 25 to move through the first clamping plate 310, the second clamping plate 26 can directly slide in the sliding groove, the hot forging blank 25 can move quickly without friction damage, the second limiting block 37 can also be designed to be made of a material with high temperature resistance and poor heat conductivity, and long-term effective operation of a heat conductivity movement mechanism is guaranteed.
As an embodiment of the present invention, two second springs 27 are fixedly connected between the second clamping plate 26 and the corresponding sliding chute, and the second springs 27 are respectively located at the left and right side positions of the sliding chute; the side positions of the first clamping plate 310 and the second clamping plate 26 relative to one side of the hot forging blank 25 are both designed to be rough surfaces; in operation, after placing hot forging blank 25 in the hot forging mould, because second splint 26 all slides to the one end position of spout, so can influence the secondary of second splint 26 and slide when using, consequently through the position link firmly second spring 27 between second splint 26 and the spout that corresponds, and second spring 27 bilateral symmetry sets up, consequently can effectually realize that the braking of second splint 26 resets, and reset to the intermediate position of spout, sustainable work's ability has been guaranteed, and through all designing first splint 310 and second splint 26 for hot forging blank 25 one side position as the matte structure, can avoid hot forging blank 25's top and bottom to slide, also can guarantee first splint 310 when promoting hot forging blank 25 simultaneously, hot forging blank 25 can not slide on two second splint 26 surfaces, hot forging blank 25 stability of quality has been guaranteed.
The specific working process is as follows:
during operation, because the gear needs to have higher hardness, wear resistance and precision requirements, the gear is manufactured in a hot precision forging mode in the prior art, in order to ensure the processing quality of the gear in the manufacturing process, a heating device and a forging die of a hot forging blank 25 need to be arranged in the same vacuum cover, because the temperature in the vacuum cover is higher and a vacuum environment is required, the hot forging blank 25 cannot be taken and placed manually, a robot claw needs to carry the gear, the hot forging blank 25 in the heating device can be transferred into the forging die, because the hot precision forging gear needs higher positioning precision to meet the processing requirements of high efficiency and high precision, the high-precision positioning function of the robot claw needs to be realized, when the blank in the heating device needs to be transferred, a rotating column firstly rotates in a base 1, the piston rods of the first telescopic cylinder 11 and the second telescopic cylinder 12 are matched to eject and retract at the same time, so that the hot forging blank 25 is positioned between the two second connecting rods 23, then the corresponding first motor and the second motor are respectively rotated in the forward and reverse directions, the first motor and the second motor drive the corresponding first transmission column to rotate, and further drive the two first gears 21 above the first transmission column to rotate, the two first gears 21 are mutually meshed and have a transmission ratio of one, so that the two first connecting rods 22 can be effectively driven to rotate, the second connecting rods 23 are hinged on the first connecting rods 22, the surfaces of the second connecting rods 23 are hinged with the third connecting rods 24, the other ends of the two third connecting rods 24 are hinged on the surface of the same fixed block together, and therefore, the two first gears 21 realize synchronous opposite or opposite-back movement of the two second connecting rods 23 through a meshing mode, the moving distances are synchronous and equal, so that when the second connecting rods 23 clamp the hot forging blank 25, the positioning of the two second connecting rods 23 can be ensured to be symmetrical all the time, and further higher clamping precision requirements are realized, by arranging the positioning pins 3, the positioning pins 3 are correspondingly inserted into the positioning holes of the hot precision forging die, and the mouth parts of the positioning holes are of a horn-shaped structure, the hot forging blank 25 can be effectively positioned and adjusted in a small range at the same time when being placed each time, and meanwhile, if the positioning pins 3 are not effectively inserted into the corresponding positioning holes, the robot carrying paw stops running to remind of maintenance; by arranging the first steel columns and the second steel columns which are uniformly arranged on the surface of the positioning pin 3, when the positioning pin 3 is inserted into the horn-shaped opening position of the positioning hole, the rolling friction contact between the positioning pin 3 and the positioning hole is effectively realized, the friction force is reduced, and the scratch and abrasion of the contact surface are avoided; the first springs 14 which are fixedly connected and uniformly arranged between the fixed shell 13 and the power box 2 are arranged, and the fixed shell 13 can be basically positioned at the middle position of the first cavity under the condition of not receiving external force through the elastic force action of the first springs 14, so that the initial position precision of the positioning pin 3 can be ensured, and the power box 2 can be prevented from moving in the first cavity; the third motor and the fourth motor drive the second gear 33 and the third gear 34 to rotate in forward and reverse directions, the second gear 33 and the third gear 34 further drive the first rack 35 and the second rack 38 to slide in the guide block 39, the end position of the first rack 35 is fixedly connected with the first limit block 36, so the first limit block 36 can be driven by the first rack 35 to move, the fixed second limit block 37 is matched, the hot forging blank 25 can be fixed in four directions of front, back, left and right, the position between the first limit block 36 and the second limit block 37 is fixedly connected with the positioning pin 3 by the second rack 38, so the sliding second rack 38 can drive the positioning pin 3 to adjust the position, meanwhile, the transmission ratio of the second gear 33 and the third gear 34 is two, so the moving distance of the first rack 35 is always twice of the moving distance of the second rack 38, the positioning pin 3 is always positioned between the first limiting block 36 and the second limiting block 37, and the relative positions of the hot forging blank 25 and the positioning pin 3 are fixed; the first clamping plate 310 is fixedly connected to the side face, opposite to the hot forging blank 25, of the first limiting block 36 and the second limiting block 37, the first clamping plate 310 is designed to be made of a material with high temperature resistance and poor heat conductivity, the influence of high temperature on the first limiting block 36 and the second limiting block 37 can be effectively reduced, the surface of the second connecting rod 23 is provided with a sliding groove, the interior of the sliding groove is in sliding connection with the second clamping plate 26, when the first limiting block 36 pushes the hot forging blank 25 to move through the first clamping plate 310, the first limiting block can directly slide through the second clamping plate 26 in the sliding groove, the hot forging blank 25 can move quickly without friction damage, and the second limiting block 37 can also be designed to be made of a material with high temperature resistance and poor heat conductivity, so that long-term effective operation of a movement mechanism is guaranteed; through position link firmly second spring 27 between second splint 26 and the spout that corresponds, and second spring 27 bilateral symmetry sets up, consequently can effectual realization second splint 26's braking reset, and reset to the intermediate position of spout, sustainable work's ability has been guaranteed, and through all designing first splint 310 and second splint 26 for hot forging blank 25 one side position to the matte structure, can avoid hot forging blank 25's upper and lower slip, also can guarantee first splint 310 when promoting hot forging blank 25 simultaneously, hot forging blank 25 can not be in two second splint 26 surface sliding.
While there have been shown and described what are at present considered the fundamental principles of the invention, its essential features and advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (6)
1. The utility model provides a can realize robot transport hand claw of work piece accurate positioning, includes base (1), headstock (2) and locating pin (3), its characterized in that: the upper surface of the base (1) is rotatably connected with a rotating column; the upper surface of the rotating column is fixedly connected with a first telescopic cylinder (11); a second telescopic cylinder (12) which is horizontally arranged is fixedly connected to the position, close to the upper end face of the piston rod of the first telescopic cylinder (11), of the arc-shaped face of the first telescopic cylinder (11); the end surface of the piston rod of the second telescopic cylinder (12) is fixedly connected with a fixed shell (13); a first cavity is formed in the fixed shell (13); the power box (2) is connected to the bottom of the fixed shell (13) in the first cavity in a sliding mode; a second cavity is formed in the power box (2); a first rotating hole is formed in the side surface of the upper surface of the power box (2), which is close to one side of the power box (2) away from the second telescopic cylinder (12); the number of the first rotating holes is two, and the first rotating holes are arranged in a bilateral symmetry mode; the inner parts of the two first rotating holes are rotatably connected with first transmission columns; the upper surfaces of the two first transmission columns are fixedly connected with first gears (21), and the two first gears (21) are equal in size and are meshed with each other; the lower surfaces of the two first transmission columns are fixedly connected with a first motor and a second motor respectively at the inner positions of the second cavity; the first motor and the second motor run in a positive and negative mode and are fixedly connected with the power box (2); the arc-shaped surfaces of the two first transmission columns are fixedly connected with first connecting rods (22) at positions between the first gear (21) and the power box (2); a transmission hole is formed in the side face of the power box (2) at the position of the first connecting rod (22); the first connecting rods (22) penetrate through the transmission holes and extend to the outside of the power box (2); the end surfaces of the first connecting rods (22) far away from the power box (2) are hinged with second connecting rods (23); the two second connecting rods (23) are both designed into a V-shaped structure; the middle position of the side surface of one side of the transmission hole of the power box (2) is fixedly connected with a fixed block; the upper surface of the fixed block is hinged with two symmetrically arranged third connecting rods (24); the two third connecting rods (24) are hinged with the corresponding second connecting rods (23) respectively; the same hot forging blank (25) is clamped between the two second connecting rods (23); and a positioning pin (3) is arranged at the position of the power box (2) close to the hot forging blank (25).
2. A robotic handling gripper capable of performing precise positioning of a workpiece according to claim 1, further comprising: the lower surface of the positioning pin (3) is chamfered with an oblique angle; the lower surface of the positioning pin (3) is connected with a first steel ball (31) in a rolling way; the surface of the oblique angle of the positioning pin (3) is connected with second steel balls (32) which are uniformly distributed in a rolling manner; the diameter of the excircle of the maximum outline where the second steel ball (32) is located is smaller than that of the positioning pin (3) by taking the axis of the positioning pin (3) as the center.
3. A robotic handling gripper capable of performing precise positioning of a workpiece according to claim 1, further comprising: the power box (2) is connected to the fixed shell (13) in a sliding manner; first springs (14) which are uniformly arranged are fixedly connected between the side wall of the fixed shell (13) and the side wall of the power box (2) in the first cavity.
4. A robotic handling gripper capable of performing precise positioning of a workpiece according to claim 1, further comprising: two second rotating holes are formed in the position, close to the second telescopic rod, of the upper surface of the power box (2); the inner parts of the two second rotating holes are rotatably connected with second transmission columns; the upper surfaces of the two second transmission columns are fixedly connected with a second gear (33) and a third gear (34) respectively; the second gear (33) and the third gear (34) are meshed with each other, and the transmission ratio of the second gear (33) to the third gear (34) is two; the lower surfaces of the two second transmission columns are fixedly connected with a third motor and a fourth motor respectively at the inner positions of the second cavity, and the third motor and the second gear (33) are positioned on the surface of the same second transmission column; the third motor and the fourth motor run in a positive and negative mode and are fixedly connected with the power box (2); the second gear (33) is connected with a first rack (35) in a meshing manner; the first rack (35) is fixedly connected with a first limiting block (36) at the left side position of the hot forging blank (25); the side surface of one side of the fixed box corresponding to the hot forging blank (25) is fixedly connected with symmetrically arranged brackets; the two supports are fixedly connected with a second limiting block (37) at the position close to the hot forging blank (25); a second rack (38) is connected with the third gear (34) in a meshing manner; the second rack (38) is fixedly connected with a positioning pin (3) between the first limiting block (36) and the second limiting block (37); two guide blocks (39) are fixedly connected to the upper surface of the power box (2) at the positions of the first rack (35) and the second rack (38); the first gear (21) and the second gear (33) are connected in a sliding mode into the corresponding guide blocks (39).
5. A robot handling gripper capable of achieving accurate positioning of a workpiece according to claim 4, further comprising: the first limiting block (36), the second limiting block (37) and the two second connecting rods (23) are fixedly connected with one hot forging blank (25) together; the first limiting block (36) and the second limiting block (37) are fixedly connected with first clamping plates (310) relative to the side surfaces of one side of the hot forging blank (25), and the first clamping plates (310) are all designed by high-temperature-resistant materials; the side surfaces of one side of each of the two second connecting rods (23) relative to the hot forging blank (25) are respectively provided with a sliding groove; the inside of spout all sliding connection have second splint (26), and second splint (26) are high temperature resistant material design.
6. A robotic handling gripper capable of performing precise positioning of a workpiece according to claim 5 and further comprising: two second springs (27) are fixedly connected between the second clamping plate (26) and the corresponding sliding groove, and the second springs (27) are respectively positioned on the left side surface and the right side surface of the sliding groove; the side positions of the first clamping plate (310) and the second clamping plate (26) relative to the hot forging blank (25) are both designed to be rough surfaces.
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| CN201911393544.8A CN111015640B (en) | 2019-12-30 | 2019-12-30 | Robot carrying paw capable of realizing accurate positioning of workpiece |
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| CN201911393544.8A CN111015640B (en) | 2019-12-30 | 2019-12-30 | Robot carrying paw capable of realizing accurate positioning of workpiece |
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| CN114633271A (en) * | 2022-03-10 | 2022-06-17 | 常州大学 | Flexible clamping manipulator with gear self-locking function |
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| CN111015640B (en) | 2020-12-29 |
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