CN111015640B - A Robot Handling Gripper That Can Realize Precise Positioning of Workpieces - Google Patents

Abstract

The invention belongs to the technical field of manipulators, in particular to a robot handling gripper capable of realizing precise positioning of workpieces, comprising a base, a power box and a positioning pin, and a rotating column is rotatably connected to the upper surface of the base; A first telescopic cylinder is fixedly connected to the upper surface; a horizontally placed second telescopic cylinder is fixedly connected to the arc surface of the first telescopic cylinder near the upper end face of the piston rod of the first telescopic cylinder; the piston of the second telescopic cylinder A fixed shell is fixedly connected to the end face of the rod; a power box is slidably connected to the inside of the fixed shell; a positioning pin is arranged on the power box near the hot forging blank; a robot handling gripper that can realize precise positioning of the workpiece, It effectively meets the processing needs of hot forging gears, and at the same time ensures the high-precision positioning of hot forging blanks, and effectively improves the yield of high-precision hot forging gears.

Description

A Robot Handling Gripper That Can Realize Precise Positioning of Workpieces

technical field

The invention belongs to the technical field of manipulators, in particular to a robot handling gripper which can realize precise positioning of workpieces.

Background technique

The robot gripper is a robot part that can realize functions similar to the human hand. The robot gripper is a part used to hold the workpiece or tool and is one of the important actuators. According to the shape of the workpiece held by the robot, the gripper can be divided into There are many types, which can be mainly divided into three categories: mechanical grippers, also known as mechanical clamps, including 2-finger, 3-finger and deformed fingers, special grippers including magnetic chucks, welding guns, etc., general grippers, including 2-finger to 5 fingers.

In the prior art, when the robot hand grips the hot forging blank, the movement accuracy between different clamping plates is low, which makes the clamping force unbalanced, which in turn leads to low positional accuracy of the hot forging blank, and there is no positioning pin. The plug-in positioning function, on the one hand, makes it impossible to adjust the gripper in a small amount, and on the other hand, there is no maintenance feedback, which easily leads to problems such as poor batch processing of products.

In view of this, in order to overcome the above technical problems, our company has designed and developed a robot handling gripper that can realize precise positioning of the workpiece, and solved the above technical problems.

SUMMARY OF THE INVENTION

In order to make up for the deficiencies of the prior art, in the prior art, when the robot gripper grips the hot forging blank, the moving precision between different clamping plates is low, which makes the clamping force unbalanced, which in turn leads to the position of the hot forging blank. The accuracy is low, and there is no insertion and positioning function of the positioning pin. On the one hand, the gripper cannot be adjusted in a small range. On the other hand, there is no maintenance feedback, which easily leads to problems such as poor batch processing of products. The method proposed by the present invention can realize the workpiece Precisely positioned robotic handling grippers.

The technical solution adopted by the present invention to solve the technical problem is as follows: a robot handling gripper that can realize precise positioning of the workpiece according to the present invention includes a base, a power box and a positioning pin, and the upper surface of the base is rotatably connected with a rotating A first telescopic cylinder is fixedly connected to the upper surface of the rotating column; a horizontally placed second telescopic cylinder is fixedly connected to the arc surface of the first telescopic cylinder near the upper end surface of the piston rod of the first telescopic cylinder; A fixed casing is fixedly connected to the end face of the piston rod of the second telescopic cylinder; a first cavity is opened inside the fixed casing; a power box is slidably connected to the bottom of the fixed casing in the inside of the first cavity; The inside of the power box is provided with a second cavity; the upper surface of the power box is provided with a first rotation hole at a position close to the side of the power box away from the second telescopic cylinder; the number of the first rotation holes is two , and are arranged symmetrically from left to right; a first transmission column is rotatably connected to the inside of the two first rotation holes; a first gear is fixedly connected to the upper surface of the two first transmission columns, and the two first gears are the same size as The lower surfaces of the two first transmission columns are respectively fixed with a first motor and a second motor at the inner position of the second cavity; the first motor and the second motor are directly connected to each other. Operates in the opposite way, and both are fixedly connected with the power box; the arc surfaces of the two first transmission columns are fixedly connected with a first connecting rod at the position between the first gear and the power box; the side surface of the power box A transmission hole is opened at the position of the first connecting rod; and the first connecting rod extends to the outside of the power box through the transmission hole; the second connecting rod is hinged on the end face of the first connecting rod away from the power box; The two second connecting rods are of "V"-shaped structure design; the power box is fixedly connected with a fixed block at the middle position of one side of the transmission hole; the upper surface of the fixed block is hinged with two symmetrically arranged first rods. Three connecting rods; the two third connecting rods are hinged with the corresponding second connecting rods; the same hot forging blank is sandwiched between the two second connecting rods; the power box is close to The position of the hot forging blank is provided with a positioning pin; during operation, since the gear needs to have high hardness, wear resistance and precision requirements, the prior art is to manufacture the gear by hot precision forging. During the manufacturing process, in order to ensure Due to the high quality of gear processing, it is necessary to place the heating device of the hot forging blank and the forging die in the same vacuum hood. Due to the high temperature in the vacuum hood and the requirement of a vacuum environment, it is impossible to manually pick and place the hot forging blank. Therefore, it needs to be transported by the robot gripper, so that the hot forging blank in the heating device can be transferred to the forging die. Since the hot precision forging gear needs high positioning accuracy to meet the processing requirements of high efficiency and high precision, it is necessary to realize the robot hand. The high-precision positioning function of the claw, when it is necessary to transfer the blank in the heating device, firstly make the rotating column rotate in the base, and at the same time cooperate with the piston rod of the first telescopic cylinder and the second telescopic cylinder to push out and retract, so that the hot forging blank is It is located between the two second connecting rods, and then the corresponding first motor and second motor are rotated forward and reverse respectively. The first motor and the second motor drive the corresponding first transmission column to rotate. The two first gears above the first transmission column are driven to rotate, the two first gears are meshed with each other and the transmission ratio is one, so the rotation of the two first connecting rods can be effectively driven. Both are hinged to the second link, and the surfaces of the second link are both hinged to the third link, and the other ends of the two third links are both hinged to the surface of the same fixed block, so the two first gears are meshed In this way, the synchronous movement of the two second connecting rods in the opposite or opposite directions is realized, and the moving distances are synchronously equal. Therefore, when the second connecting rod clamps the hot forging blank, the positioning of the two second connecting rods can always be guaranteed. Maintain symmetry to achieve higher clamping accuracy requirements. By setting positioning pins, the positioning pins and the positioning holes of the hot precision forging die are correspondingly inserted, and the mouth of the positioning holes is a horn-shaped structure to ensure that each time the heat is placed. When forging the blank, it can be effectively positioned and adjusted in small steps. At the same time, if the positioning pin is not effectively inserted into the corresponding positioning hole, the robot handling claw will stop running, reminding the maintenance, and the workpiece can be realized through a method. The precise positioning of the robot handling gripper effectively solves the problem that in the prior art, when the robot gripper grips the hot forging blank, the moving precision between different clamping plates is low, which makes the clamping force unbalanced, which in turn leads to hot forging. The positional accuracy of the blank is low, and there is no insertion and positioning function of the positioning pin. On the one hand, the gripper cannot be adjusted in a small amount. The processing needs of the gears, while ensuring the high-precision positioning of the hot-forging blanks, effectively improving the yield of high-precision hot-forging gears.

Preferably, the lower surface of the positioning pin is beveled; a first steel ball is rollingly connected to the lower surface of the positioning pin; the second steel ball that is evenly arranged is rollingly connected to the surface where the bevel of the positioning pin is located; Taking the axis of the locating pin as the center, the outer diameter of the largest outline of the second steel ball is smaller than the diameter of the locating pin; during operation, when the locating pin begins to be inserted into the locating hole, due to the small deviation of the position, the positioning The pin can be inserted into the positioning hole through the horn-shaped opening of the positioning hole, but when the positioning pin is repeatedly inserted into the positioning hole for a long time, the bottom of the positioning pin will repeatedly rub against the horn-shaped opening of the positioning hole, which is easy to cause the positioning pin. On the other hand, it will also cause abnormal friction noise during the movement and positioning of the positioning mechanism, which is not conducive to the long-term and efficient processing requirements. Therefore, by setting the first steel column and the evenly arranged second steel column on the surface of the positioning pin When the positioning pin is inserted into the horn-shaped opening of the positioning hole, the rolling friction contact between the positioning pin and the positioning hole is effectively realized, the friction force is reduced, the scratch and wear of the contact surface is avoided, and the efficient operation of positioning is realized. .

Preferably, the power box is slidably connected to the fixed casing; the inside of the first cavity is fixedly connected with a first spring that is evenly arranged between the side wall of the fixed casing and the side wall of the power box; during operation, due to The power box is in the first cavity and is slidably connected to the fixed shell. Therefore, before the positioning pin is inserted into the positioning hole for positioning, the power box will move back and forth inside the fixed shell, left and right, which will affect the second connection. Positioning of the rod position and fast and effective clamping of the hot forging blank. Therefore, by arranging the first spring fixedly and evenly arranged between the fixed shell and the power box, the elastic force of the first spring can make the fixed shell in the Under the condition of no external force, it is basically located in the middle position of the first cavity, so the initial position accuracy of the positioning pin can be ensured, and at the same time, the power box can be prevented from moving inside the first cavity, causing the power box and the fixed shell. The collision between the side walls affects the stability of the motion mechanism and the service life of the robot handling gripper.

Preferably, two second rotation holes are opened on the upper surface of the power box near the second telescopic rod; the interiors of the two second rotation holes are rotatably connected with a second transmission column; The upper surface of the transmission column is respectively fixed with a second gear and a third gear; the second gear and the third gear are meshed with each other, and the transmission ratio of the second gear and the third gear is two; The lower surfaces of the two transmission columns are respectively fixed with a third motor and a fourth motor at the inner position of the second cavity, and the third motor and the second gear are located on the same surface of the second transmission column; the third motor and The fourth motor runs in a forward and reverse manner, and both are fixedly connected to the power box; the second gear is meshed and connected with a first rack; the first rack is fixedly connected to the left position of the hot forging blank. a limit block; a symmetrically arranged bracket is fixedly connected to one side of the fixed box relative to the hot forging blank; a second limit block is fixedly connected to the two brackets near the hot forging blank; the third gear meshes A second rack is connected; the second rack is fixedly connected with a positioning pin between the first limit block and the second limit block; the upper surface of the power box is connected to the first rack and the second rack Two guide blocks are fixedly connected at the positions of the bars; the first gear and the second gear are both slidably connected in the corresponding guide blocks; during operation, due to the unrounded shape of the hot forging blank or the clamping heat of the second connecting rod. When there is a certain deviation in the positioning of the forging blank, there will be a large deviation between the axis of the hot forging blank and the relative reference point of the positioning pin. Therefore, the second gear and the third gear are driven to rotate forward and reverse by the third motor and the fourth motor. The second gear and the third gear then drive the first rack and the second rack to slide inside the guide block. By fixing the first limit block at the end of the first rack, it can pass the first rack. Drive the movement of the first limit block and cooperate with the fixed second limit block to realize the fixation of the hot forging blank in four directions: front, back, left, right, and through the second rack between the first limit block and the second limit block. A positioning pin is fixed between the two positions, so the sliding second rack can drive the position adjustment of the positioning pin. At the same time, because the transmission ratio of the second gear and the third gear is two, the moving distance of the first rack can always be Twice the moving distance of the second rack ensures that the positioning pin is always located in the middle of the first limit block and the second limit block, and ensures the relative position of the hot forging blank and the positioning pin. The forging blank is further effectively clamped, and the positioning accuracy of the positioning pin is also ensured, the structure is simple, and the degree of automation is high.

Preferably, the same hot forging blank is commonly connected between the first limit block, the second limit block and the two second connecting rods; the first limit block and the second limit block are relative to the heat A first splint is fixedly connected to one side of the forging blank, and the first splint is designed with a high temperature resistant material; the two second connecting rods are provided with a chute relative to one side of the hot forging blank; The inside of the chute is slidably connected with a second splint, and the second splint is designed with high temperature resistant materials; when working, when the hot forging blank needs to be clamped, firstly, the second connecting rod is rotated to realize the clamping of the blank. Pre-clamp, and then push the hot forging blank to stick to the surface of the second limit block by moving the first limit block, and then realize the secondary limit clamping of the hot forging blank with the second limit block, but due to During the process of pushing the hot forging blank by the first limit block, the hot forging blank will slide on the surface of the second connecting rod. It will also cause damage to the blank and the second connecting rod, which will affect the machining accuracy and the service life of the robot handling gripper, and the first limit block, the second limit block and the second connecting rod are directly connected to the high-temperature hot forging blank for a long time. Repeated contact will also be detrimental to the long-term use of the motion mechanism. Therefore, by fixing the first clamp plate on the side of the first limit block and the second limit block opposite to the hot forging blank, the first clamp plate is designed as Materials with poor high temperature resistance and thermal conductivity can effectively reduce the influence of high temperature on the first limit block and the second limit block. Two clamping plates, when the first limit block pushes the hot forging blank to move through the first clamping plate, it can slide directly inside the chute through the second clamping plate to realize the rapid and frictionless movement of the hot forging blank. The bit block can also be designed as a material with poor high temperature resistance and thermal conductivity, which ensures the long-term and effective operation of the motion mechanism.

Preferably, two second springs are fixedly connected between the second splint and the corresponding chute, and the second springs are located on the left and right sides of the chute respectively; the first splint and the second The position of the splint relative to the side of the hot forging blank is rough surface design; when the hot forging blank is placed in the hot forging die during operation, since the second splint slides to one end of the chute, it will affect the second When the splint is used for secondary sliding, the second spring is fixed between the second splint and the corresponding chute, and the second spring is arranged symmetrically on the left and right, so the braking and reset of the second splint can be effectively realized, and Reset to the middle position of the chute to ensure the ability to work continuously, and by designing the first clamp plate and the second clamp plate relative to one side of the hot forging blank as a rough surface structure, the up and down sliding of the hot forging blank can be avoided. At the same time, it can also ensure that when the first clamp plate pushes the hot forging blank, the hot forging blank will not slide on the surfaces of the two second clamp plates, thereby ensuring the quality stability of the hot forging blank.

The beneficial effects of the present invention are as follows:

1. A kind of robot handling gripper that can realize precise positioning of the workpiece according to the present invention, by setting the base, the power box and the positioning pin, the upper surface of the base is rotated and connected to the rotating column, and the upper surface of the rotating column is fixedly connected to the first telescopic Cylinder, the arc surface of the first telescopic cylinder is close to the upper end face of the piston rod of the first telescopic cylinder and is fixed to the second telescopic cylinder placed horizontally, and the end face of the piston rod of the second telescopic cylinder is fixed to the fixed shell, and the interior of the fixed shell The power box is slidably connected, a pair of first gears are arranged inside the power box, the two first gears drive the first connecting rod, and the first connecting rod further drives the second connecting rod to clamp the hot forging blank, and the power box is close to Positioning pins are provided at the position of the hot forging blank, and a robot handling gripper that can realize precise positioning of the workpiece effectively solves the problem of the robot gripper moving between different clamping plates in the prior art when the hot forging blank is clamped. The low precision makes the clamping force unbalanced, which in turn leads to low positional accuracy of the hot forging blank, and there is no insertion and positioning function of the positioning pin. This leads to problems such as poor batch processing of products, which effectively meets the processing needs of hot forging gears, and at the same time ensures the high-precision positioning of hot forging blanks, effectively improving the yield of high-precision hot forging gears.

2. According to the present invention, a robot handling gripper that can realize precise positioning of the workpiece is provided by setting the second gear, the third gear, the first limit block and the second limit block, and by setting the first limit block inside the power box. The second gear and the third gear, the second gear and the third gear mesh with each other, and the transmission ratio of the second gear and the third gear is two, the second gear drives the first rack to move, and then drives the first limit The movement of the block cooperates with the fixed second limit block to realize the effective limit and fixation of the hot forging blank, and the third gear is used to drive the movement of the second rack, which in turn drives the movement of the positioning pin. The hot forging blank is fixed in four directions, front, back, left and right. On the other hand, the moving distance of the first rack is always twice that of the second rack, which ensures that the positioning pin is always located at the first limit block and the second limit The middle position of the block ensures that the relative position of the hot forging blank and the positioning pin is fixed, so it can satisfy the effective clamping of hot forging blanks of different sizes and also ensure the positioning accuracy of the positioning pin. The structure is simple and the degree of automation is high.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings.

Fig. 1 is the perspective view of the present invention;

Fig. 2 is the sectional view of the present invention;

Fig. 3 is the first perspective view of the motion clamping mechanism of the present invention;

4 is a second perspective view of the motion clamping mechanism of the present invention;

Fig. 5 is the partial enlarged view of A place in Fig. 4;

In the figure: base 1, first telescopic cylinder 11, second telescopic cylinder 12, fixed shell 13, first spring 14, power box 2, first gear 21, first connecting rod 22, second connecting rod 23, third Connecting rod 24, hot forging blank 25, second clamping plate 26, second spring 27, positioning pin 3, first steel ball 31, second steel ball 32, second gear 33, third gear 34, first rack 35, A limit block 36 , a second limit block 37 , a second rack 38 , a guide block 39 , and a first clamping plate 310 .

Detailed ways

In order to make it easy to understand the technical means, creation features, achieved goals and effects of the present invention, the present invention will be further described below with reference to the specific embodiments.

As shown in FIG. 1 to FIG. 5 , a robot handling gripper that can realize precise positioning of workpieces according to the present invention includes a base 1, a power box 2 and a positioning pin 3, and the upper surface of the base 1 is rotatably connected with a rotating A first telescopic cylinder 11 is fixedly connected to the upper surface of the rotating column; the arc surface of the first telescopic cylinder 11 is fixed to the upper end surface of the piston rod of the first telescopic cylinder 11, and a horizontally placed second telescopic cylinder is fixed. The cylinder 12; the end surface of the piston rod of the second telescopic cylinder 12 is fixedly connected with a fixed shell 13; the inside of the fixed shell 13 is provided with a first cavity; A power box 2 is slidably connected to the bottom position; a second cavity is opened inside the power box 2; Rotation holes; the number of the first rotation holes is two, and the left and right are symmetrically arranged; the interiors of the two first rotation holes are rotatably connected with a first transmission column; the upper surfaces of the two first transmission columns are A first gear 21 is fixedly connected, and the two first gears 21 are equal in size and mesh with each other; the lower surfaces of the two first transmission columns are respectively fixed with a first motor and a second gear at the inner position of the second cavity. Two motors; the first motor and the second motor run in a forward and reverse manner, and both are fixedly connected with the power box 2 ; the arc surfaces of the two first transmission columns are on the first gear 21 and the power box 2 The first connecting rod 22 is fixedly connected between the positions; the side of the power box 2 is provided with a transmission hole at the position of the first connecting rod 22; and the first connecting rod 22 extends through the transmission hole to the outside of the power box 2 ; The first connecting rod 22 is hinged with a second connecting rod 23 on one side end face position away from the power box 2; the two second connecting rods 23 are both "V"-shaped structural designs; the power box 2 is in A fixed block is fixedly connected at the middle position of one side of the transmission hole; the upper surface of the fixed block is hinged with two symmetrically arranged third connecting rods 24 ; the two third connecting rods 24 are respectively connected with the corresponding second connecting rods 23 are hinged to each other; the same hot forging blank 25 is sandwiched between the two second connecting rods 23; the power box 2 is provided with a positioning pin 3 near the hot forging blank 25; High hardness, wear resistance and precision are required. Therefore, in the prior art, gears are produced by hot precision forging. In order to ensure the processing quality of the gears during the production process, a heating device for the hot forging blank 25 is required. It is placed in the same vacuum hood as the forging die. Due to the high temperature in the vacuum hood and the requirement of a vacuum environment, the hot forging blank 25 cannot be picked and placed manually, so it needs to be transported by a robot hand to make the heating device The hot forging blank 25 inside can be transferred to the forging die. Since the hot precision forging gear needs high positioning accuracy to meet the high-efficiency and high-precision processing requirements, it is necessary to realize the high-precision positioning function of the robot gripper. When the blank is in the device, the rotating column is first rotated in the base 1, and at the same time, the piston rods of the first telescopic cylinder 11 and the second telescopic cylinder 12 are pushed out and retracted. The hot forging blank 25 is positioned between the two second connecting rods 23, and then the corresponding first motor and the second motor are rotated forward and reverse respectively, and the first motor and the second motor drive the corresponding first transmission column to rotate, and then The two first gears 21 above the first transmission column are driven to rotate. The two first gears 21 are meshed with each other and the transmission ratio is one, so the rotation of the two first connecting rods 22 can be effectively driven. The rods 22 are both hinged to the second link 23, and the surfaces of the second links 23 are hinged to the third link 24, and the other ends of the two third links 24 are both hinged to the surface of the same fixed block, so The two first gears 21 realize the synchronous movement of the two second connecting rods 23 in the opposite or opposite directions through the meshing method, and the moving distances are synchronously equal. Therefore, when the second connecting rod 23 clamps the hot forging blank 25, It can ensure that the positioning of the two second connecting rods 23 is always kept symmetrical, thereby achieving higher clamping accuracy requirements. The mouth of the hole is a horn-shaped structure, which ensures that each time the hot forging blank 25 is placed, effective positioning can be carried out and small adjustments can be made. At the same time, if the positioning pin 3 is not effectively inserted into the corresponding positioning hole, the robot will The handling claws will stop running to remind maintenance. A robot handling claws that can achieve precise positioning of the workpiece effectively solves the problem of different clamping plates in the prior art when the robot claws grip the hot forging blank 25 . The accuracy of the movement between the two parts is low, which makes the clamping force unbalanced, which leads to the low position accuracy of the hot forging blank 25, and there is no insertion and positioning function of the positioning pin 3. Overhaul feedback can easily lead to problems such as poor batch processing of products, which effectively meets the processing needs of hot forging gears, and at the same time ensures the high-precision positioning of hot forging blanks 25, which effectively improves the yield of high-precision hot forging gears.

As an embodiment of the present invention, the lower surface of the positioning pin 3 is beveled; a first steel ball 31 is rollingly connected to the lower surface of the positioning pin 3; the surface where the bevel of the positioning pin 3 is located There are evenly arranged second steel balls 32 in rolling connection; with the axis of the positioning pin 3 as the center, the outer diameter of the largest contour of the second steel ball 32 is smaller than the diameter of the positioning pin 3; during operation, when the positioning pin 3 starts to be inserted When the positioning pin 3 is inserted into the positioning hole, due to the small deviation of the position, the positioning pin 3 can be inserted into the positioning hole through the horn-shaped opening of the positioning hole, but when the positioning pin 3 is repeatedly inserted into the positioning hole for a long time, the The bottom will repeatedly rub against the horn-shaped opening of the positioning hole. On the one hand, it is easy to scratch or break the positioning pin 3. By arranging the first steel column and the evenly arranged second steel column 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 between the positioning pin 3 and the positioning hole is effectively realized. Contact, reduce friction, avoid scratches and wear on the contact surface, and achieve efficient positioning.

As an embodiment of the present invention, the power box 2 is slidably connected to the fixed shell 13 ; the interior of the first cavity is fixedly connected with a uniform uniform position between the side wall of the fixed shell 13 and the side wall of the power box 2 . The arranged first spring 14; during operation, since the power box 2 is in the first cavity and is slidably connected with the fixed shell 13, before the positioning pin 3 is inserted into the positioning hole to achieve positioning, the power box 2 will appear in the fixed shell. The phenomenon that the interior of 13 moves back and forth, left and right, which in turn affects the positioning of the second connecting rod 23 and fast and effective clamping of the hot forging blank 25. The evenly arranged first springs 14, through the elastic force of the first springs 14, can make the fixed shell 13 basically located in the middle position of the first cavity under the condition of no external force, so the initial position accuracy of the positioning pin 3 can be guaranteed At the same time, it can also prevent the power box 2 from moving inside the first cavity, causing collision between the power box 2 and the side wall of the fixed shell 13, affecting the stability of the motion mechanism and the service life of the robot handling gripper.

As an embodiment of the present invention, two second rotation holes are opened on the upper surface of the power box 2 near the second telescopic rod; the interiors of the two second rotation holes are rotatably connected with a second transmission column ; The upper surfaces of the two second transmission columns are respectively fixed with a second gear 33 and a third gear 34; the second gear 33 and the third gear 34 mesh with each other, and the second gear 33 and the third gear 34 The gear ratio of the gear 34 is two; the lower surfaces of the two second transmission columns are respectively fixed with a third motor and a fourth motor at the inner position of the second cavity, and the third motor and the second gear 33 are both located in The surface of the same second transmission column; the third motor and the fourth motor run in a forward and reverse manner, and they are both fixedly connected with the power box 2; the second gear 33 is meshed with a first rack 35; The first rack 35 is fixed with a first limit block 36 at the left position of the hot forging blank 25; the fixing box is fixed with a symmetrically arranged bracket relative to one side of the hot forging blank 25; A second limit block 37 is fixedly connected to the bracket near the hot forging blank 25 ; the third gear 34 is engaged with a second rack 38 ; the second rack 38 is connected to the first limit block 36 and the second limit Positioning pins 3 are fixedly connected between the position blocks 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 slidably connected in the corresponding guide blocks 39; during operation, due to the unrounded shape of the hot forging blank 25 or the positioning of the second connecting rod 23 clamping the hot forging blank 25 to a certain extent, the hot forging blank 25 will be heated. There is a large deviation between the axis of the forging blank 25 and the relative reference point of the positioning pin 3, so the second gear 33 and the third gear 34 are driven to rotate forward and reverse by the third motor and the fourth motor, and the second gear 33 and the third The gear 34 further drives the first rack 35 and the second rack 38 to slide inside the guide block 39 , and by fixing the first limit block 36 at the end of the first rack 35 , the first rack 35 can pass through the 35 drives the movement of the first limit block 36 and cooperates with the fixed second limit block 37 to realize the fixation of the hot forging blank 25 in four directions: front, rear, left, right, and through the second rack 38 between the first limit block 36 and the first limit block 37. The positioning pin 3 is fixedly connected between the second limit blocks 37, so the sliding second rack 38 can drive the position adjustment of the positioning pin 3. At the same time, since the transmission ratio of the second gear 33 and the third gear 34 is two, Therefore, the moving distance of the first rack 35 can always be twice the moving distance of the second rack 38, which ensures that the positioning pin 3 is always located in the middle of the first limit block 36 and the second limit block 37, and ensures that The relative positions of the hot forging blanks 25 and the positioning pins 3 are fixed, so that the hot forging blanks 25 of different sizes can be further effectively clamped, and the positioning accuracy of the positioning pins 3 is also ensured. The structure is simple and the degree of automation is high.

As an embodiment of the present invention, the first limit block 36 , the second limit block 37 and the two second connecting rods 23 are jointly connected with the same hot forging blank 25 ; The block 36 and the second limit block 37 are fixedly connected with a first clamping plate 310 at one side of the hot forging blank 25, and the first clamping plate 310 is designed with high temperature resistant materials; the two second connecting rods 23 A chute is provided on one side of the hot forging blank 25; the inside of the chute is slidably connected with a second clamping plate 26, and the second clamping plate 26 is designed with high temperature resistant materials; When the hot forging blank 25 is clamped, firstly, the pre-clamping of the blank is realized by the rotation of the second connecting rod 23, and then the hot forging blank 25 is pushed against the surface of the second limiting block 37 by moving the first limit block 36. Further, the secondary limit clamping of the hot forging blank 25 is realized between the second limit block 37 , but because the first limit block 36 pushes the hot forging blank 25 , the hot forging blank 25 will be in the second position. The surface of the second connecting rod 23 slides. On the one hand, the frictional force will increase the motion resistance of the first limit block 36. On the other hand, the sliding process will also cause damage to the blank and the second connecting rod 23, which will affect the machining accuracy and the robot. The service life of the handling claws, and the long-term repeated contact of the first limit block 36, the second limit block 37 and the second connecting rod 23 directly with the high-temperature hot forging blank 25 will also be unfavorable for the long-term use of the motion mechanism. By fixing the first clamping plate 310 on one side of the first limiting block 36 and the second limiting block 37 opposite to the hot forging blank 25, the first clamping plate 310 is designed as a material with poor high temperature resistance and thermal conductivity , the influence of high temperature on the first limit block 36 and the second limit block 37 can be effectively reduced. By opening a chute on the surface of the second connecting rod 23, and the inside of the chute is slidingly connected to the second clamp plate 26, when the first When a limit block 36 pushes the hot forging blank 25 to move through the first clamping plate 310 , it can slide inside the chute directly through the second clamping plate 26 to realize the fast and frictionless movement of the hot forging blank 25 . The position block 37 can also be designed as a material with poor high temperature resistance and thermal conductivity, which ensures the long-term effective operation of the motion mechanism.

As an embodiment of the present invention, two second springs 27 are fixedly connected between the second clamping plate 26 and the corresponding chute, and the second springs 27 are located on the left and right sides of the chute respectively. ; Described first clamping plate 310 and second clamping plate 26 are rough surface design with respect to hot forging blank 25 one side side position; When working, when hot forging blank 25 is placed in hot forging die, because the second clamping plate 26 Both slide to one end of the chute, so it will affect the secondary sliding use of the second clamping plate 26. Therefore, by fixing the second spring 27 between the second clamping plate 26 and the corresponding chute, and the second spring 27 The left and right are symmetrically arranged, so the braking reset of the second clamping plate 26 can be effectively realized, and reset to the middle position of the chute, which ensures the ability to work continuously. One side of the forging blank 25 is designed as a rough surface structure, which can prevent the hot forging blank 25 from sliding up and down, and can also ensure that when the first clamping plate 310 pushes the hot forging blank 25, the hot forging blank 25 will not slide between two sides. The surface of the second clamping plate 26 slides to ensure the quality stability of the hot forging blank 25 .

The specific workflow is as follows:

During operation, since the gears need to have high hardness, wear resistance and precision requirements, the gears are manufactured by hot precision forging in the prior art. The heating device of the blank 25 and the forging die are placed in the same vacuum hood. Due to the high temperature in the vacuum hood and the requirement of a vacuum environment, the hot forging blank 25 cannot be picked and placed manually, so it needs to be carried out by a robot gripper. Handling, so that the hot forging blank 25 in the heating device can be transferred to the forging die. Since the hot precision forging gear needs high positioning accuracy to meet the high-efficiency and high-precision processing requirements, it is necessary to realize the high-precision positioning function of the robot gripper. , when it is necessary to transfer the blank in the heating device, first make the rotating column rotate in the base 1, and at the same time cooperate with the piston rods of the first telescopic cylinder 11 and the second telescopic cylinder 12 to push out and retract, so that the hot forging blank 25 is located between the two positions. position between the second connecting rod 23, and then rotate the corresponding first motor and the second motor in the forward and reverse directions respectively, the first motor and the second motor drive the corresponding first transmission column to rotate, and then drive the corresponding first transmission column to rotate The two first gears 21 are rotated, and the two first gears 21 are meshed with each other and the transmission ratio is one, so the rotation of the two first connecting rods 22 can be effectively driven. connecting rod 23, and the surfaces of the second connecting rod 23 are both hinged to the third connecting rod 24, and the other ends of the two third connecting rods 24 are both hinged to the surface of the same fixed block, so the two first gears 21 pass through The meshing method realizes the synchronous movement of the two second connecting rods 23 in the opposite or opposite directions, and the moving distances are synchronously equal, so when the second connecting rod 23 clamps the hot forging blank 25, the two second connecting rods 23 can be guaranteed The positioning of the rod 23 is always kept symmetrical, thereby achieving higher clamping accuracy requirements. By setting the positioning pin 3, and the positioning pin 3 and the positioning hole of the hot precision forging die are correspondingly inserted, and the mouth of the positioning hole is horn-shaped. The structure ensures that each time the hot forging blank 25 is placed, effective positioning can be carried out and small adjustments can be made. At the same time, if the positioning pin 3 is not effectively inserted into the corresponding positioning hole, the robot handling claw will stop running. Reminder for maintenance; by arranging the first steel column and the evenly arranged second steel column 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 positioning pin 3 and the positioning hole are effectively realized. The rolling friction contact reduces the friction force and avoids the scratch and wear of the contact surface; the first spring 14 arranged between the fixed shell 13 and the power box 2 is fixed and evenly arranged, and the elastic force of the first spring 14 is used. , the fixed shell 13 can be basically located in the middle position of the first cavity under the condition of no external force, so the initial position accuracy of the positioning pin 3 can be ensured, and at the same time, the power box 2 can be prevented from drifting inside the first cavity. The second gear 33 and the third gear 34 are driven to rotate forward and reverse by the third motor and the fourth motor, and the second gear 33 and the third gear 34 further drive the first rack 35 and the second rack 38 in the guide block. 39's The first limit block 36 is fixed at the end position of the first rack 35, so the movement of the first limit block 36 can be driven by the first rack 35 to cooperate with the fixed second limit block 37 , the hot forging blank 25 can be fixed in four directions, front, back, left and right. The positioning pin 3 is fixed between the first limit block 36 and the second limit block 37 through the second rack 38, so the sliding The second rack 38 can drive the position adjustment of the positioning pin 3 , and since the transmission ratio of the second gear 33 and the third gear 34 is two, the moving distance of the first rack 35 can always be the moving distance of the second rack 38 twice, to ensure that the positioning pin 3 is always located in the middle of the first limit block 36 and the second limit block 37, and to ensure that the relative position of the hot forging blank 25 and the positioning pin 3 is fixed; 36 and the second limiting block 37 are fixed to the side of the hot forging blank 25 opposite to the first clamping plate 310. By designing the first clamping plate 310 to be a material with poor high temperature resistance and poor thermal conductivity, it can effectively reduce the impact of high temperature. The influence of the first limit block 36 and the second limit block 37 is through opening a chute on the surface of the second connecting rod 23, and the inside of the chute is slidably connected to the second clamp plate 26, when the first limit block 36 passes through the first limit block 36. When a clamping plate 310 pushes the hot forging blank 25 to move, the second clamping plate 26 can directly slide inside the chute to realize the fast and frictionless movement of the hot forging blank 25, and the second limit block 37 can also be designed as The material with poor high temperature resistance and thermal conductivity ensures the long-term effective operation of the moving mechanism; by fixing the second spring 27 between the second clamping plate 26 and the corresponding chute, and the second spring 27 is symmetrically arranged on the left and right, so The braking reset of the second clamping plate 26 can be effectively realized and reset to the middle position of the chute, which ensures the ability to work continuously. The side positions are designed as rough surface structures, which can prevent the hot forging blank 25 from sliding up and down, and can also ensure that when the first clamping plate 310 pushes the hot forging blank 25, the hot forging blank 25 will not be on the surface of the two second clamping plates 26. slide.

The basic principles, main features and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principles of the present invention. Under the premise of not departing from the spirit and scope of the present invention, the present invention will also have various changes and improvements, and these changes and improvements all fall within the scope of the claimed invention, and the claimed scope of the present invention is determined by the appended claims and Its equivalents are defined.

Claims (3)

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); a positioning pin (3) is arranged at the position, close to the hot forging blank (25), of the power box (2);

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;

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;

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).

2. A robotic handling gripper capable of performing precise positioning of a workpiece according to claim 1, further comprising: the first limiting block (36), the second limiting block (37) and the two second connecting rods (23) are connected with the same hot forging blank (25) together; the first limiting block (36) and the second limiting block (37) are connected with first clamping plates (310) at the side positions of one side relative to the hot forging blank (25), and the first clamping plates (310) are made of 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.

3. A robotic handling gripper capable of performing precise positioning of a workpiece according to claim 2, 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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