CN115533944A

CN115533944A - Multi-degree-of-freedom stamping robot and using method thereof

Info

Publication number: CN115533944A
Application number: CN202211528065.4A
Authority: CN
Inventors: 张正峰
Original assignee: Jzj Robot Co ltd
Current assignee: Jzj Robot Co ltd
Priority date: 2022-12-01
Filing date: 2022-12-01
Publication date: 2022-12-30

Abstract

The invention discloses a multi-degree-of-freedom stamping robot and a using method thereof, and particularly relates to the field of stamping equipment.

Description

Multi-degree-of-freedom stamping robot and using method thereof

Technical Field

The invention relates to the technical field of stamping equipment, in particular to a multi-degree-of-freedom stamping robot and a using method thereof.

Background

The punching process is a metal processing method, which is a process that is established on the basis of metal plastic deformation, and utilizes a die and a punching device to apply pressure to a plate so as to enable the plate to generate plastic deformation or separation, thereby obtaining parts with certain shapes, sizes and performances.

Known from the technique that application number 201821457022.0 has disclosed, this design utilizes the through-hole structure and the first fixed block fixed connection that the top movable block seted up through its inside, inside activity post runs through in top movable block, first fixed block and inside fixed block in proper order, and the inside parcel of inside fixed block has the mode of inside spliced pole to utilize rotatoryly between the activity post, makes equipment can give stamping device material loading by multi freedom to can carry out the punching press to two large-scale shells simultaneously, thereby save user's time and energy.

However, the free rotation of the robot arm is realized by matching rotation among the movable columns, the stability of the stamping part in the multi-degree-of-freedom motion process is neglected, and if the stamping part is too fast in the multi-degree-of-freedom motion process, the stamping part is easy to fall off from the robot arm due to self gravity and too fast transmission, so that safety accidents are caused, so that the multi-degree-of-freedom stamping robot is provided.

Disclosure of Invention

In order to overcome the above-mentioned drawbacks of the prior art, embodiments of the present invention provide a multiple degree of freedom punching robot and a method for using the same, in which a second small gear is engaged with a first small gear, a second large gear is engaged with a first large gear, a second medium gear is engaged with the first medium gear, and a third motor drives the third motor to rotate a movable wheel carrier.

In order to achieve the purpose, the invention provides the following technical scheme: a multi-degree-of-freedom stamping robot comprises a robot main body, wherein an auxiliary rotating plate is fixedly connected to the bottom end of the robot main body, a movable rotating rod is rotatably connected to the inside of the auxiliary rotating plate, the inner wall of a free rotating frame is attached to the auxiliary rotating plate, the auxiliary rotating plate can only rotate on the same plane, a free rotating frame is rotatably connected to the outer surface of the auxiliary rotating plate through the movable rotating rod, a limiting lantern ring is sleeved at the joint of the movable rotating rod and the free rotating frame, the movable rotating rod cannot slide in the free rotating frame when rotating, a supporting base is rotatably connected to the bottom end of the free rotating frame, a first motor is fixedly connected to the inside of the supporting base, the output end of the first motor is electrically connected to the bottom end of the free rotating frame, a placing frame is connected to the bottom end of the supporting base through a bolt, a control rotating rod is rotatably connected to one side of the robot main body, a curved round rotating frame is rotatably connected to one end of the control rotating rod, a mechanical arm is hinged to the curved round rotating frame, and a mechanical arm is fixedly connected to the bottom end of the mechanical arm; the first motor is used for driving and drives the free rotating frame to rotate, the free rotating frame drives the mechanical arm to rotate along with the output end of the first motor, the transverse operation direction of the mechanical arm for grabbing the stamping part is further transferred, the rotating rod, the curved circular rotating frame and the mechanical arm are controlled to be hinged, the angle fine adjustment is performed by a robot according to the transportation requirement of the stamping part in the prior art, and the connection position of the rotating rod and the curved circular rotating frame and the connection position of the mechanical arm and the curved circular rotating frame are electrically connected with a forward and reverse rotating motor;

the robot comprises a free rotating frame, a movable rotating rod, a supporting base, a speed regulating mechanism, an angle measuring sensor, two groups of double-cavity clamping frames, an auxiliary screw rod, a first large gear, a first small gear and a second medium gear, wherein the end, penetrating through the free rotating frame, of the movable rotating rod is rotatably connected with the speed regulating mechanism, the angle measuring sensor is used for monitoring an included angle between a robot main body and a mechanical arm in real time, the surface of the speed regulating mechanism is sleeved with the two groups of double-cavity clamping frames, the two groups of double-cavity clamping frames are fixedly mounted at the top end of the supporting base, the movable rotating rod is positioned between the two groups of double-cavity clamping frames and is rotatably connected with the speed regulating mechanism, the top end of the supporting base is fixedly connected with a second motor through a fixing frame, the output end of the second motor is electrically connected with the auxiliary screw rod, the outer surface of the auxiliary screw rod is sequentially and rotatably connected with the second large gear, the second small gear and the second medium gear are respectively arranged in a meshed state with the speed regulating mechanism; a third motor for adjusting the speed regulating mechanism to move along the axial direction of the movable rotating rod is arranged on the supporting base; the top end of the robot main body is provided with a height sensor for monitoring the vertical distance from the top end of the robot main body to the horizontal plane where the axis of the speed regulating mechanism is located in real time, the first motor, the second motor and the third motor are in wireless communication connection with a remote control single chip microcomputer, and an angular velocity sensor on the speed regulating mechanism and the height sensor at the top end of the robot main body are also in wireless communication connection with the remote control single chip microcomputer for transmitting acquired data to the remote control single chip microcomputer; the second motor drives the second large gear, the second small gear and the second medium gear to rotate synchronously through clockwise rotation of the auxiliary screw rod, the joints of the second large gear, the second small gear and the second medium gear and the auxiliary screw rod are limited, the second large gear, the second small gear and the second medium gear rotate in situ, the diameters of the second large gear, the second small gear and the second medium gear are different, the relationship between the rotating speed of the gears and the torque is that the diameter of the gears is larger under the drive of the same rotating speed, the diameter of the gears meshed with the gears is smaller, the gears rotate for one circle, and the diameters of the gears meshed with the gears are smaller, so that the meshed gears can achieve the torque of the large gear for one circle in the same rotating time, the rotating speed of the movable rotating rod is adjusted through the meshing of the second large gear, the second small gear and the second medium gear, the movable rotating rod drives the auxiliary rotating plate robot to adjust the rotating speed, the speed of the movable rotating rod is matched with a component, the transportation condition of the second large gear, the second small gear and the middle gear and the movable rotating rod is matched with the auxiliary screw rod, and the auxiliary screw rod, so that the speed of the movable rotating rod can be attached to adjust the transportation condition of the transportation of the stamping workpiece, and ensure the transportation of the stamping workpiece.

In a preferred embodiment, the speed regulating mechanism comprises a first middle gear, a first large gear and a first small gear, the first large gear, the first small gear and the first middle gear are arranged on the outer surface of the movable rotating rod in this order, the speed regulating mechanism is arranged between the second large gear and the second middle gear, if the grabbing configuration member needs to be moved quickly to the transportation position of the stamping part, and the clamping hook does not grab the stamping part, the moving speed of the grabbing configuration member is high, because the volume of the second large gear is maximum, the speed regulating mechanism moves towards the direction of the second large gear, the first small gear is meshed with the second large gear, the diameter of the first small gear is minimum, according to the above principle, when the fastest rotating speed of the first small gear is high, the first small gear drives the movable rotating rod to rotate, the movable rotating rod drives the robot main body to rotate through the auxiliary rotating plate, the robot main body drives the mechanical arm to move quickly to the surface of the stamping part through the control rotating rod and Qu Yuanzhuai rack, the mechanical arm moves upwards immediately after the stamping part is just moved, the mechanical arm moves upwards, the mechanical arm and the clamping force of the second large gear and the second small gear and the second large gear are connected in a state convenient for adjusting mechanism and the second small gear and the middle gear is in a state;

the limiting blocks are sleeved at the joints of the second large gear, the second small gear and the middle-sized gear and the auxiliary screw rod, so that the second large gear, the second small gear and the middle-sized gear are in rotary motion at the same position relative to the surface of the auxiliary screw rod, the second small gear and the first large gear are arranged in a meshing state, the second large gear and the first small gear are arranged in a meshing state, the second middle gear and the first middle gear are arranged in a meshing state, the auxiliary screw rod rotates clockwise, and due to the meshing of the speed regulating mechanism and the second large gear, the second small gear and the second middle gear, the speed regulating mechanism drives the robot body to rotate anticlockwise through the movable rotating rod, the auxiliary screw rod rotates anticlockwise, and the speed regulating mechanism drives the robot body to rotate clockwise through the movable rotating rod.

In a preferred embodiment, a hollow fixing frame is fixedly connected to the top end of the supporting base, an edge fixing plate is fixedly connected to the outer side of the hollow fixing frame, the third motor is fixedly connected to one side, close to the outer wall of the hollow fixing frame, of the edge fixing plate, the output end of the third motor is electrically connected to a movable rotating wheel frame, one end of the movable rotating wheel frame is rotatably connected to a clamping cavity frame, the clamping cavity frame is attached to the outer surface of the first small gear, and the speed regulating mechanism is arranged on the surface of the movable rotating rod in a sliding state through rotation of the movable rotating wheel frame; the third motor drives the movable runner carrier to rotate, the clamping cavity carrier is tightly attached to the surface of the first small gear, the speed regulating mechanism is an integral mechanism, the output end of the third motor drives the movable runner carrier to deflect anticlockwise, the speed regulating mechanism moves towards the position of the second large gear, and the first large gear and the second large gear are in a meshed state;

the third motor output end drives the movable rotating wheel frame to deflect clockwise corresponding to the mechanical arm to move to the position of a stamping part, the movable rotating wheel frame drives the speed regulating mechanism to move to one side of the second small gear, the first large gear is meshed with the second small gear, the third motor output end drives the movable rotating wheel frame to deflect clockwise corresponding to the position where the mechanical arm grabs the stamping part through the clamping hook and moves upwards to the position of the PLC stamping equipment, then the movable rotating wheel frame drives the speed regulating mechanism to move to one side of the second medium gear, the first medium gear is meshed with the second medium gear and corresponds to the position where the mechanical arm grabs the stamping part through the clamping hook and places the stamping part towards the PLC stamping equipment, and finally the third motor output end drives the movable rotating wheel frame to deflect clockwise, and the speed regulating mechanism restores to the original position.

In a preferred embodiment, the outer surface of the grabbing and arranging member is slidably connected with a corresponding type inserting frame, the bottom end of the grabbing and arranging member is fixedly connected with a magnetic sucker, four groups of auxiliary springs are arranged between the corresponding type inserting frame and the magnetic sucker, and the four groups of auxiliary springs are respectively and fixedly arranged between the bottom end of the corresponding type inserting frame and the top end of the magnetic sucker; the configuration component is provided with a pressure sensor and a gyroscope, the pressure sensor is used for detecting whether the stamping part is grabbed or not, the gyroscope is used for monitoring the running rates of the configuration component in the directions of an x axis, a y axis and a z axis under a geodetic coordinate system in real time, and the pressure sensor and the gyroscope are also in wireless communication connection with the remote control single chip microcomputer and are used for transmitting acquired data to the remote control single chip microcomputer; when the magnetic chuck adsorbs on the surface of the stamping part, the air pump is used as a drive to transfer the clamping small arm to deflect towards the surface direction of the stamping part, the clamping small arm is tightly attached to the surface of the stamping part, the clamping hook is buckled at the curved surface of the stamping part, the clamping small arm and the clamping hook are extruded due to the mass of the stamping part, the positioning block drives the corresponding inserting frame to move downwards along a cylinder structure for grabbing the configuration component through the gravity borne by the clamping small arm, the corresponding inserting frame is buffered through four groups of auxiliary springs, and then the stamping part is buffered by shaking when being grabbed by the magnetic chuck, and the stability of the stamping part during transportation is ensured.

In a preferred embodiment, the outer surface of the corresponding inserting frame is fixedly connected with four groups of positioning blocks, two sides of the four groups of positioning blocks are hinged with two J-shaped clamping small arms, the clamping small arms are J-shaped, and the clamping small arms are easily contacted with a stamping part to form clamping, so that the transportation stability of the stamping part is improved, each group of the clamping small arms is two, the bottom end of the grabbing configuration component is fixedly connected with an air pump, the air pump is fixedly installed between the two groups of clamping small arms, two clamping small arms are connected with a protection hollow tube through bolts, the protection hollow tube is communicated with air flow inside an annular air bag, the protection hollow tube is sealed with the annular air bag, the thrust of the protection hollow tube pushing a clamping hook through internal air flow is kept consistent, the clamping hook can be in contact with the curved surface of the stamping part and can move in a telescopic manner inside the protection hollow tube to further change the direction, so that the stamping part can be better clamped, the four groups of the protection hollow tubes circulate the air flow through the protection hollow tube, and the clamping force ratio of the four groups is more stable when the clamping is realized.

In a preferred embodiment, the number of the protective hollow tubes is the same as that of the positioning blocks, annular air bags are fixedly connected to the outer surfaces of the four groups of protective hollow tubes, the interiors of the annular air bags and the protective hollow tubes are arranged in a communicated state, air pipes are inserted into the interiors of the annular air bags and fixedly arranged on one side of the robot main body, the air bags are fixedly arranged at the connecting positions of the robot main body and the air pipes, the air pipes are inserted into the interiors of the air bags, the air flow pressure between the groups of protective hollow tubes and the annular air bags is consistent due to air flow of the external air bags, and the stability of clamping hooks during clamping is improved.

In a preferred embodiment, the corresponding type inserting frame is arranged on the surface of the grabbing and arranging component in a sliding state, four groups of the protection hollow pipes and the clamping small arms are arranged in an annular and sequentially equidistant state relative to the outer wall of the corresponding type inserting frame, and the four groups of the protection hollow pipes and the clamping small arms are fully clamped on the peripheral side of the stamping part like a octopus shape, so that the transmission stability of the stamping part is improved; the protection hollow pipe is characterized in that a corresponding air pipe is arranged inside the protection hollow pipe, an auxiliary clamping frame is hinged to the inner wall of the corresponding air pipe, a sliding frame is hinged to one end of the auxiliary clamping frame, and the sliding frame is connected inside the corresponding air pipe in a sliding mode through a sliding groove.

In a preferred embodiment, the number of the auxiliary clamping frames is two, one group of the auxiliary clamping frames is fixedly connected with a convex block, the other group of the auxiliary clamping frames is fixedly connected with a receiving frame, the inner wall of the sliding frame is fixedly connected with a clamping hook, the convex block is matched with the receiving frame, if the stamping part shakes in the transmission process, when the stamping part is guided to one end, the pressure borne by the clamping hook towards that end is larger, so that the insertion hole is formed in one side, facing the auxiliary clamping frame, of the corresponding air pipe, so that the auxiliary clamping frames can move conveniently, the clamping hook drives the sliding frame to move towards the clamping hook through the sliding groove, and as the other end of the auxiliary clamping frame can only do hinged motion on the inner wall of the corresponding air pipe, the two groups of the auxiliary clamping frames move towards the inner cavity of the corresponding air pipe, the convex blocks of the two groups of the auxiliary clamping frames are inserted into the receiving frame with the auxiliary clamping frame to form a buckled state, the clamping hook keeps the clamping state at the moment, and avoids the stamping part from shaking, further deviates the clamping position of the stamping part and drops.

The invention also provides a using method of the multi-degree-of-freedom stamping robot, which comprises the following steps:

s1: monitoring the vertical distance between the top end of the robot main body and the horizontal plane where the axle center of the speed regulating mechanism is located in real time

And then calculating the angle of the robot main body deviated along the vertical plane in real time

：

Wherein the content of the first and second substances,

is the length of the robot body (1);

s2: and according to the calculation result of the step S1, calculating that the second motor drives the auxiliary screw rod so as to adjust the rotating torque T of the robot main body:

wherein the content of the first and second substances,

as to the mass of the speed-regulating mechanism,

for the mass of the stamping gripped by the configuration member,

an angular acceleration of the robot body deviating along a vertical direction plane,

is the total mass of the robot main body, the control rotating rod (5), the curve round rotating frame, the mechanical arm and the configuration component,

the linear distance from the configuration member to the axis of the control rotating rod, g is the gravity acceleration

Real-time motion acceleration of the configuration member in the y-axis direction;

an included angle between the robot main body and the mechanical arm is obtained through real-time monitoring; s3: real-time monitoring the real-time angular velocity of the rotation of the speed regulating mechanism

And then calculating the real-time rotation angular velocity of a second motor driving the auxiliary screw rod

：

Wherein, the first and the second end of the pipe are connected with each other,

is the radius of the gear in the speed regulating mechanism,

the radius of a gear rotationally connected with the outer surface of the auxiliary screw rod;

s4: according to the included angle between the robot main body and the mechanical arm obtained through real-time monitoring

Further, the real-time movement speed of the stamping part captured by the configuration component in the y-axis direction can be controlled

According to

The real-time control of the rotation of the movable rotary wheel frame, and further the control of the rotation direction of the third motor and the real-time angular speed of the rotation of the speed regulating mechanism driven by the third motor

。

In a preferred embodiment, in the S4 step:

when in use

When the stamping die is used, the third motor is controlled to be started to drive the movable rotary wheel frame to rotate anticlockwise, so that the mechanical arm can grab the stamping part downwards, and further the stamping part can be grabbed downwards

When is coming into contact with

The moving direction is downward, and the stamping part reaches the placing position of the stamping part;

the maximum movement speed of the configuration component in the y-axis direction;

when the stamping part needs to be stamped, the third motor is controlled to be started again to drive the movable rotary wheel frame to rotate anticlockwise, so that the mechanical arm can grab the stamping part downwards, and further the stamping part can be grabbed downwards

When is coming into contact with

The movable rotary wheel frame rotates clockwise, and then the real-time movement speed of the stamping part captured by the configuration component in the y-axis direction is controlled

The moving direction of the mechanical arm is controlled to lift the stamping part upwards, and after the stamping part is placed at a stamping position, the configuration component is controlled to release the stamping part;

the minimum movement speed of the configuration component in the y-axis direction;

after the stamping is finished, controlling the third motor to be started again to drive the movable wheel carrier to rotate anticlockwise, enabling the mechanical arm to grab the stamping part downwards, and further enabling the mechanical arm to grab the stamping part downwards

When is coming into contact with

The movable rotary wheel frame continues to rotate clockwise, and then the real-time movement speed of the stamping part captured by the configuration component in the y-axis direction is controlled

And controlling the moving direction of the mechanical arm to grab the punched stamping part downwards to the position where the stamping part is arranged on the PLC stamping equipment. The invention has the technical effects and advantages that:

1. the second small gear is meshed with the first large gear, the second large gear is meshed with the first small gear, the second medium gear is meshed with the first medium gear, the speed regulating mechanism moves towards the position of the second large gear, the first large gear is meshed with the second small gear and moves to the position of a stamping part corresponding to the mechanical arm, the output end of the third motor drives the movable rotating wheel frame to deflect clockwise, the movable rotating wheel frame drives the speed regulating mechanism to move to one side of the second small gear, the first small gear is meshed with the second small gear and moves upwards to the position of a PLC stamping device corresponding to the stamping part grabbed by the mechanical arm through a clamping hook, then the movable rotating wheel frame drives the speed regulating mechanism to move to one side of the second medium gear, the first medium gear is meshed with the second medium gear and corresponds to the position where the stamping part is placed towards the PLC stamping device by the mechanical arm through the clamping hook, and therefore the moving speed state of the mechanical arm can be reasonably regulated and controlled according to different stamping part transportation states;

2. the clamping hook drives the sliding frame to move towards the clamping hook through the sliding groove, and the other end of the auxiliary clamping frame can only do hinged motion on the inner wall of the corresponding air pipe, so that the two groups of auxiliary clamping frames move towards the inner cavity of the corresponding air pipe, the two groups of auxiliary clamping frames drive the protruding blocks to be inserted into the receiving frame to form a buckling state, the clamping hook keeps the clamping state at the moment, the stamping part is prevented from shaking, the clamping position of the stamping part is further deviated, and the stamping part is placed to fall off;

3. the inside air current of protection hollow tube and annular gasbag is the circulation, because protection hollow tube and annular gasbag are sealed, the protection hollow tube promotes the thrust that presss from both sides the hook through inside air current and keeps unanimous, and the clip hook can be owing to the contact with the stamping workpiece curved surface, and at the inside concertina movement of protection hollow tube, and then redirecting, better centre gripping stamping workpiece, then four groups protection hollow tubes circulate the air current through the protection hollow tube, when realizing the stamping workpiece centre gripping, the clamping force of week side is more stable.

Drawings

Fig. 1 is a schematic structural diagram of a robot body according to the present invention.

FIG. 2 is an enlarged view of the portion A of FIG. 1 according to the present invention.

FIG. 3 is a schematic structural diagram of the supporting base of the present invention.

Fig. 4 is a schematic structural view of a second small gear of the present invention.

FIG. 5 is an enlarged view of the portion B of FIG. 4 according to the present invention.

Fig. 6 is a schematic structural view of the grasping and disposing member of the present invention.

FIG. 7 is an enlarged view of the structure of the portion C of FIG. 5 according to the present invention.

FIG. 8 is a schematic structural diagram of a corresponding rack of the present invention.

Fig. 9 is a schematic structural view of a corresponding trachea of the present invention.

FIG. 10 is an enlarged view of the structure of the portion D in FIG. 9 according to the present invention.

The reference signs are: 1. a robot main body; 2. an auxiliary rotating plate; 3. a placement frame; 4. a support base; 5. controlling the rotating rod; 6. a curved round rotating frame; 7. a robot arm; 8. a grasping configuration member; 9. freely rotating the frame; 10. a movable rotating rod; 11. an auxiliary screw rod; 12. a double-cavity clamping frame; 13. a speed regulating mechanism; 1301. a first medium gear; 1302. a first large gear; 1303. a first small gear; 14. a second large gear; 15. a second small gear; 16. a second medium gear; 17. a clamping cavity frame; 18. a movable runner frame; 19. a hollow mount; 20. an edge fixing plate; 21. inserting frames correspondingly; 22. a magnetic chuck; 23. an air pump; 24. clamping the small arm; 25. an annular air bag; 26. an air tube; 27. a protective hollow tube; 28. clamping a hook; 29. a skid frame; 30. positioning blocks; 31. an auxiliary spring; 32. a corresponding air pipe; 33. an auxiliary clamping frame; 34. a bump; 35. and (4) a receiving frame.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Referring to fig. 1 to 4, the embodiment provides a multi-degree-of-freedom punching robot, which includes a robot main body 1, an auxiliary rotating plate 2 fixedly connected to a bottom end of the robot main body 1, a movable rotating rod 10 rotatably connected to an inside of the auxiliary rotating plate 2, an inner wall of a free rotating frame 9 attached to the auxiliary rotating plate 2, the auxiliary rotating plate 2 can only rotate on the same position surface, the outer surface of the auxiliary rotating plate 2 is rotatably connected with a free rotating frame 9 through a movable rotating rod 10, a limiting lantern ring is sleeved at the joint of the movable rotating rod 10 and the free rotating frame 9, the movable rotating rod 10 can not slide in the free rotating frame 9 when rotating, the bottom end of the free rotating frame 9 is rotatably connected with a supporting base 4, the inside of the supporting base 4 is fixedly connected with a first motor, the output end of the first motor is electrically connected with the bottom end of the free rotating frame 9, the bottom end of the supporting base 4 is connected with a placing frame 3 through a bolt, one side of the robot main body 1 is rotatably connected with a control rotating rod 5, one end of the control rotating rod 5 is rotatably connected with a curved round rotating frame 6, the bottom end of the curved round rotating frame 6 is hinged with a mechanical arm 7, the bottom end of the mechanical arm 7 is fixedly connected with a grabbing configuration component 8, the configuration component 8 is used for grabbing stamping parts, a first motor is used for driving, which drives the free rotating frame 9 to rotate, the free rotating frame 9 drives the mechanical arm 7 to rotate along with the output end of the first motor, further the transverse operation direction of the mechanical arm 7 for grabbing the stamping part is transferred, the control rotating rod 5, the curved round rotating frame 6 and the mechanical arm 7 are hinged, in order to realize angle fine adjustment of a robot according to the transportation requirement of a stamping part in the prior art, the connection part of the control rotating rod 5 and the curved circular rotating frame 6 and the connection part of the mechanical arm 7 and the curved circular rotating frame 6 are electrically connected with a forward and reverse rotating motor;

one end of the movable rotating rod 10 penetrating through the free rotating frame 9 is rotatably connected with a speed regulating mechanism 13, an angular speed sensor is arranged on the speed regulating mechanism 13, and the angular speed sensor is used for monitoring the included angle between the robot main body 1 and the mechanical arm 7 in real time

(ii) a A third motor for adjusting the speed regulating mechanism 13 to move along the axial direction of the movable rotating rod 10 is arranged on the supporting base 4; the top end of the robot main body is provided with a height sensor for monitoring the vertical distance from the top end of the robot main body to the horizontal plane where the axis of the speed regulating mechanism is located in real time, the first motor, the second motor and the third motor are in wireless communication connection with the remote control single chip microcomputer, and the angular velocity sensor on the speed regulating mechanism and the height sensor on the top end of the robot main body are also in wireless communication connection with the remote control single chip microcomputer for transmitting the acquired data to the remote control single chip microcomputer; two groups of double-cavity clamping frames are sleeved on the surface of the speed regulating mechanism 1312, two groups of double-cavity holding frames 12 are fixedly arranged at the top end of the supporting base 4, a movable rotating rod 10 is positioned between the two groups of double-cavity holding frames 12 and is rotatably connected with a speed regulating mechanism 13, the top end of the supporting base 4 is connected with a fixed frame through a bolt, the top end of the supporting base 4 is fixedly connected with a second motor through the fixed frame, the output end of the second motor is electrically connected with an auxiliary screw rod 11, the outer surface of the auxiliary screw rod 11 is sequentially and rotatably connected with a second large gear 14, a second small gear 15 and a second medium gear 16, the auxiliary screw rod 11 is inserted in the cavity of the two groups of double-cavity holding frames 12, the second large gear 14, the second small gear 15 and the second medium gear 16 are respectively arranged in a meshing state with the speed regulating mechanism 13, the supporting base 4 is provided with the third motor for regulating the speed regulating mechanism 13 to move along the axial direction of the movable rotating rod 10, the top end of the robot main body 1 is provided with a height sensor, the device is used for monitoring the vertical distance from the top end of the robot main body 1 to the horizontal plane where the axis of the speed regulating mechanism 13 is located in real time, the second motor is used for driving the auxiliary screw rod 11 to rotate clockwise so as to drive the second large gear 14, the second small gear 15 and the second medium gear 16 to rotate synchronously, the joints of the second large gear 14, the second small gear 15 and the second medium gear 16 and the auxiliary screw rod 11 are limited, the second large gear 14, the second small gear 15 and the second medium gear 16 do rotary motion in situ, the diameters of the second large gear 14, the second small gear 15 and the second medium gear 16 are different, the relationship between the gear rotating speed and the torque is that the larger the gear diameter is, the gear diameter meshed with the gear is smaller, and the gear rotates for one circle under the driving of the same rotating speed, the gear engaged with the gear is smaller in diameter, so that the engaged gear can achieve torque of one rotation of a large gear at a higher speed in the same rotation time, the speed regulating mechanism 13 regulates the rotating speed of the movable rotating rod 10 rotating together with the speed regulating mechanism 13 through the engagement with the second large gear 14, the second small gear 15 and the second medium gear 16, then the movable rotating rod 10 regulates the rotating speed through the auxiliary rotating plate 2 with the robot main body 1, the grabbing configuration member 8 can be attached to the transportation condition of the stamping part to regulate the speed, and the safety of the stamping part during transportation is ensured.

The angular velocity sensor on the speed regulating mechanism 13 and the height sensor at the top end of the robot main body 1 are also in wireless communication connection with the remote control single chip microcomputer and used for transmitting the collected data to the remote control single chip microcomputer.

Example 2

Referring to fig. 3 to 6, the speed adjusting mechanism 13 includes a first middle gear 1301, a first large gear 1302, and a first small gear 1303, the first large gear 1302 is located between the first small gear 1303 and the first middle gear 1301, and is coaxially disposed on the outer surface of the movable rotating rod 10 in this order, the speed adjusting mechanism 13 is located between the second large gear 14 and the second middle gear 16, if the grasping and disposing member 8 needs to be moved quickly to the transportation position of the stamping part, and the grasping and disposing member 8 does not grasp the stamping part at this time, the moving speed of the grasping and disposing member 8 is faster, and since the volume of the second large gear 14 among the second large gear 14, the second small gear 15, and the second middle gear 16 is the largest, the speed adjusting mechanism 13 moves in the direction of the second large gear 14, the first small gear 1303 is engaged with the second large gear 14, and the diameter of the first small gear 1303 is the smallest, according to the above principle, at this time, the rotation speed of the first small gear 1303 is fastest, the first small gear 1303 drives the movable rotating rod 10 to rotate, the movable rotating rod 10 drives the robot main body 1 to rotate through the auxiliary rotating plate 2, the robot main body 1 drives the mechanical arm 7 to rapidly move to the surface of the stamping part through the control rotating rod 5 and the curved circular rotating frame 6, the mechanical arm 7 drives the stamping part to rapidly move upwards as the stamping part is just grabbed, the stamping part is more likely to fall off due to clamping force and transmission problems, through the arrangement of the second large gear 14, the second small gear 15 and the second medium gear 16 which are respectively meshed with the speed regulating mechanism 13, at this time, the speed regulating mechanism 13 moves from the state of being meshed with the second large gear 14 to the position of the second small gear 15, at this time, the first large gear 1302 is arranged in a meshed state with the second small gear 15, the first large gear 1302 is the largest gear in the speed regulating mechanism 13, after being meshed with the second small gear 15, the small gear is influenced by the diameter of the small gear and has a slow rotating speed;

similarly, if the robot main body 1 with the grasping and configuring member 8 ascends at a slower speed, the technical effect of ensuring the ascending safety of the stamping part can be achieved, when the grasping and configuring member 8 needs to place the stamping part on the PLC stamping device, and at this time, the PLC stamping device is matched to receive the placement of the stamping part, and the overall speed belongs to the normal transmission speed, the first large gear 1302 is disengaged from the engagement state with the second small gear 15, then the speed regulating mechanism 13 moves towards the direction of the second medium gear 16, and further the first medium gear 1301 is engaged with the second medium gear 16, so that the first medium gear 1301 drives the movable rotating rod 10 to rotate at the normal rotation speed, and further the robot main body 1 drives the mechanical arm 7 to place the stamping part on the PLC stamping device at a slower speed than when the stamping part is just grasped by the movable rotating rod 10, the first medium gear 1301, the first large gear 1302 and the first small gear 1303 are fixedly connected, and the speed regulating mechanism 13 is arranged on the surface of the movable rotating rod 10 in a sliding connection state, so as to be convenient for the adjustment between the second large gear 14, the second small gear 15 and the second medium gear 16 after the sliding of the speed regulating mechanism 13 slides;

the joints of the second large gear 14, the second small gear 15 and the second medium gear 16 and the auxiliary screw rod 11 are sleeved with limiting blocks, and the second large gear 14, the second small gear 15 and the second medium gear 16 are coaxially sleeved on the auxiliary screw rod 11, so that the second large gear 14, the second small gear 15 and the second medium gear 16 rotate at the same position relative to the surface of the auxiliary screw rod 11, the second small gear 15 is arranged in a meshed state with the first large gear 1302, the second large gear 14 is arranged in a meshed state with the first small gear 1303, the second medium gear 16 is arranged in a meshed state with the first medium gear 1301, when the auxiliary screw rod 11 rotates clockwise along the axial direction of the auxiliary screw rod 11, due to the meshing of the speed regulating mechanism 13 with the second large gear 14, the second small gear 15 and the second medium gear 16, the speed regulating mechanism 13 drives the movable rotating rod 10 to rotate counterclockwise along the axial direction of the movable rotating rod 10, and further drives the robot main body 1 to rotate counterclockwise by the counterclockwise direction of the movable rotating rod 10, and further drives the movable rotating rod 10 to rotate counterclockwise correspondingly, when the auxiliary screw rod 11 rotates clockwise;

meanwhile, a hollow fixed frame 19 is fixedly connected to the top end of the supporting base 4, an edge fixing plate 20 is fixedly connected to the outer side of the hollow fixed frame 19, a third motor is fixedly connected to one side of the edge fixing plate 20 close to the outer wall of the hollow fixed frame 19, an output end of the third motor is electrically connected with a movable rotating wheel frame 18, one end of the movable rotating wheel frame 18 is rotatably connected with a clamping cavity frame 17, the clamping cavity frame 17 is attached to the outer surface of the first small-sized gear 1303, the speed regulating mechanism 13 is arranged on the surface of the movable rotating rod 10 in a sliding state through rotation of the movable rotating wheel frame 18, the first motor, the second motor and the third motor are in wireless communication connection with a remote control single chip microcomputer, the clamping cavity frame 17 is closely attached to the surface of the first small-sized gear 1303 under the control of the single chip microcomputer to move the stamping workpiece (rotation of the robot main body and the mechanical arm and the movement in the three-dimensional direction under the geodetic coordinate system) to move the stamping workpiece to a required position, the third motor drives the movable rotating wheel frame 18 to rotate, the clamping cavity frame 17 to closely attach to the surface of the first small-sized gear 1303, the clamping cavity frame 13, the speed regulating mechanism 13 is an integral mechanism 13, when the output end of the third motor carries the movable rotating wheel frame 18 to rotate counterclockwise, the large-sized gear rack 18 and the large-sized gear clamp mechanism 18 moves to move clockwise, the large-sized gear clamp mechanism 18, the large-sized gear clamp mechanism 14, the large-sized gear clamp mechanism 18 and the large-sized gear clamp mechanism 1302, the large-sized gear clamp mechanism 14 moves clockwise, the large-sized gear clamp arm 14 and the large-sized gear clamp mechanism 14, the large-sized gear clamp arm 14, the large-sized gear clamp mechanism 14 moves clockwise, the large-sized gear clamp arm 14, and then the speed regulating mechanism 13 is driven to move to one side of the second medium gear 16, the first medium gear 1301 is meshed with the second medium gear 16, the stamping part is grabbed by the mechanical arm 7 through the clamping hook 28 and faces the position where the stamping part is arranged on the PLC stamping equipment, finally, the output end of the third motor drives the movable rotating wheel frame 18 to deflect clockwise, and the speed regulating mechanism 13 is restored to the original position.

Example 3

Referring to fig. 1, 4-8, the outer surface of the grasping and arranging member 8 is slidably connected with a corresponding inserting frame 21, and the grasping and arranging member8's bottom fixed connection has magnetic chuck 22, is provided with four sets of auxiliary spring 31 between corresponding formula is inserted frame 21 and magnetic chuck 22, and four sets of auxiliary spring 31 are fixed mounting respectively between the bottom of corresponding formula is inserted frame 21 and magnetic chuck 22's top, are provided with pressure sensor and gyroscope on the configuration component 8, and pressure sensor is used for detecting whether to grab the stamping workpiece, and the gyroscope is used for real-time supervision to configure component 8 in the ascending functioning rate of x axle, y axle and z axle direction under the geodetic coordinate system:

、

and

the pressure sensor and the gyroscope are also in wireless communication connection with the remote control single chip microcomputer and are used for transmitting acquired data to the remote control single chip microcomputer, when the magnetic suction disc 22 is adsorbed on the surface of a stamping part, the air pump 23 is used for driving the clamping small arm 24 to deflect towards the surface direction of the stamping part, the clamping small arm 24 is tightly attached to the surface of the stamping part, the clamping hook 28 is buckled at the curved surface of the stamping part, the clamping small arm 24 and the clamping hook 28 are extruded due to the mass of the stamping part, the positioning block 30 drives the corresponding inserting frame 21 to move downwards along the cylindrical structure of the grabbing configuration component 8 through the gravity borne by the clamping small arm 24, the corresponding inserting frame 21 is buffered through four groups of auxiliary springs 31, and then the swinging of the stamping part when being grabbed by the magnetic suction disc 22 is buffered, and the stability of the stamping part during transportation is ensured;

four groups of positioning blocks 30 are fixedly connected to the outer surface of the corresponding type inserting frame 21, two sides of each group of positioning blocks 30 are hinged to two J-shaped clamping small arms 24, each group of clamping small arms 24 are J-shaped, the clamping small arms 24 are easy to contact with a stamping part to form clamping, the transportation stability of the stamping part is improved, the number of each group of clamping small arms 24 is two, the bottom end of the grabbing configuration component 8 is fixedly connected with an air pump 23, the air pump 23 is fixedly installed between the two groups of clamping small arms 24, a protection hollow tube 27 is connected between the two groups of clamping small arms 24 through bolts, the air flow inside the protection hollow tube 27 and the annular air bag 25 is circulated, the protection hollow tube 27 and the annular air bag 25 are sealed, the thrust of the clamping hook 28 pushed by the internal air flow is kept consistent, the clamping hook 28 can make up and down telescopic movement around a space formed by the multiple groups of protection hollow tubes 27 due to contact with the curved surface of the stamping part, the direction is changed, the clamping is better, the air flow is circulated by the four groups of the protection hollow tubes 27, and the clamping force of the stamping part is more stable.

Example 4

Referring to fig. 6-10, the number of the hollow protective tubes 27 is the same as the number of the positioning blocks 30, the outer surfaces of the four groups of hollow protective tubes 27 are fixedly connected with annular air bags 25, the interiors of the annular air bags 25 and the hollow protective tubes 27 are arranged in a communicated state, air pipes 26 are inserted into the annular air bags 25, the air pipes 26 are fixedly arranged on one side of the robot main body 1, the air bags are fixedly arranged at the joints of the robot main body 1 and the air pipes 26, the air pipes 26 are inserted into the air bags, the air flow pressure between the groups of hollow protective tubes 27 and the annular air bags 25 is consistent due to the air flow of the external air bags, the stability of the clamping hooks 28 during clamping is improved, the corresponding type inserting frames 21 are arranged in a sliding state on the surface of the grabbing configuration members 8, the four groups of hollow protective tubes 27 and the clamping small arms 24 are arranged in an annular and sequentially equidistant state with respect to the outer walls of the corresponding type inserting frames 21, and the four groups of hollow protective tubes 27 and the clamping small arms 24 are sufficiently clamped on the peripheral sides of the stamping parts like octopus, so that the transmission stability of the stamping parts is improved;

the protection hollow tube 27 is internally provided with corresponding air tubes 32, the inner walls of the corresponding air tubes 32 are hinged with auxiliary clamping frames 33, one ends of the auxiliary clamping frames 33 are hinged with sliding frames 29, the sliding frames 29 are connected inside the corresponding air tubes 32 in a sliding mode through sliding grooves, the number of the auxiliary clamping frames 33 arranged in one corresponding air tube 32 is two, the inner parts of one group of the auxiliary clamping frames 33 are fixedly connected with lugs 34, the inner parts of the other group of the auxiliary clamping frames 33 are fixedly connected with receiving frames 35, the inner walls of the sliding frames 29 are fixedly connected with clamping hooks 28, the lugs 34 are matched with the receiving frames 35, insertion holes are formed in one side, facing the auxiliary clamping frames 33, of the corresponding air tubes 32, so that the auxiliary clamping frames 33 can move conveniently, if a stamping part shakes in the conveying process, the stamping part falls to one end, the pressure borne by the clamping hooks 28 facing the end is large, the clamping hooks 28 on the side move downwards through the sliding frames 29, the other ends of the auxiliary clamping frames 33 can only do hinged movement on the inner walls of the corresponding air tubes 32, and the two groups of the corresponding auxiliary clamping frames 33 can move to avoid the clamping hooks 33 from falling in a clamping state, and the clamping hooks 35 are inserted in the clamping frames 33, and the clamping frames 33, so that the stamping part is in the clamping hooks are in a clamping state, and the clamping hooks are kept in a clamping state, and the clamping hooks is prevented from shaking state.

The working principle is as follows: the third motor is used as a drive to drive the movable rotating wheel frame 18 to rotate, the clamping cavity frame 17 is tightly attached to the surface of the first small gear 1303, the speed regulation mechanism 13 is an integral mechanism, the output end of the third motor drives the movable rotating wheel frame 18 to deflect anticlockwise, the speed regulation mechanism 13 moves towards the position of the second large gear 14, the first small gear 1303 is meshed with the second large gear 14 and moves to the position of a stamping part corresponding to the mechanical arm 7, the first small gear drives the movable rotating rod 10 to rotate clockwise or anticlockwise along the axial direction of the movable rotating rod 10, the movable rotating rod 10 drives the robot main body 1 to rotate through the auxiliary rotating plate 2 so as to achieve the effect of moving up and down in the vertical direction, the robot main body 1 drives the mechanical arm 7 to rapidly move to the surface of the stamping part through controlling the rotating rod 5 and the curved rotating frame 6, the four groups of the protective hollow tubes 27 and the clamping small arms 24 are fully clamped on the stamping part like a octopus shape, the protective hollow tubes 27 and the protective hooks 27 are in contact with the annular air bag 25, the protective hooks 27 and can better keep the protective hooks in contact with the protective hooks by pushing force of the protective hooks 27 and clamp the protective hooks in the annular air bag 25, and the protective hooks in the same direction;

the output end of the third motor drives the movable rotating wheel frame 18 to deflect clockwise, the movable rotating wheel frame 18 drives the speed regulating mechanism 13 to move to one side of the second small gear 15, the first large gear 1302 is meshed with the second small gear 15, the first large gear corresponds to the position where the mechanical arm 7 grabs a stamping part through the clamping hook 28 and moves upwards to a position of the PLC stamping equipment, when the stamping part shakes in the transmission process, the stamping part is guided to one end, the pressure born by the clamping hook 28 towards the end is large and hangs downwards, the clamping hook 28 drives the sliding frame 29 to move downwards and downwards the clamping hook 28 through the sliding chute, as the other end of the auxiliary clamping frame 33 can only do hinged motion on the inner wall of the corresponding air pipe 32, the two groups of auxiliary clamping frames 33 move towards the inner cavity of the corresponding air pipe 32, the two groups of auxiliary clamping frames 33 drive the convex blocks 34 to be inserted into the receiving frame 35 to form a buckled state, and the clamping hook 28 keeps the clamping state at the moment;

then the movable wheel carrier 18 carries the speed regulating mechanism 13 to move towards one side of the second medium gear 16, the first medium gear 1301 is meshed with the second medium gear 16, and the first medium gear and the second medium gear move towards the position where the PLC punching equipment places the punching part corresponding to the position where the mechanical arm 7 grabs the punching part through the clamping hook 28 and the position where the PLC punching equipment places the punching part.

Example 5

The invention also provides a use method of the multi-degree-of-freedom stamping robot as provided in the embodiments 1 to 4, which comprises the following steps:

s1: remote control singlechip controls height sensor to monitor vertical distance between top end of robot body 1 and horizontal plane where axle center of speed regulating mechanism 13 is located in real time

And then calculates the angle of the plane deviation of the robot main body 1 along the vertical direction in real time

：

Wherein the content of the first and second substances,

is the length of the robot body 1;

s2: the remote control singlechip calculates the second motor to drive the auxiliary screw rod 11 according to the calculation result of the step S1, and then adjusts the torque T of the robot main body 1:

wherein the content of the first and second substances,

in order to be the mass of the speed regulating mechanism 13,

to configure the mass of the stamping gripped by the member 8,

angular acceleration of the robot body 1 out of plane in the vertical direction, i.e.

，

The total mass of the robot main body 1, the control rotating rod 5, the curved round rotating frame 6, the mechanical arm 7 and the configuration component 8,

in order to arrange the linear distance from the member 8 to the axis of the control turn lever 5, g is the acceleration of gravity, generally 9.81m/s,

for arranging the acceleration of the movement of the member 8 in real time in the direction of the y-axis, i.e. in real time

A first derivative of the real-time movement speed of the stamping part captured by the configuration component 8 in the y-axis direction with respect to time;

the included angle between the robot main body 1 and the mechanical arm 7 is obtained through real-time monitoring;

the moment generated by the stamping part in the vertical direction,

mass acceleration is the force generated by the mass of the stamping in the vertical direction,

the moment arm of the stamping part in the vertical direction is the force arm, and the force multiplied by the moment arm is the moment;

s3: real-time monitoring speed regulating mechanism 13 rotates real-time angular velocity

And then calculating the real-time rotation angular velocity of the second motor driving the movable rotating rod 10 driving the second large gear 14, the second small gear 15 or the second medium gear 16

：

Is the radius of a gear in the governor mechanism 13, i.e.

May be a radius of the first middle gear 1301

Can be the firstRadius of a large gear 1302

Or the radius of the first small gear 1303

，

Radius of gear rotatably connected to outer surface of auxiliary screw 11, i.e.

The radius of the second large gear 14 rotatably connected with the auxiliary screw rod 11, the radius of the second small gear 15, and the radius of the second medium gear 16 can be set;

s4: the included angle between the robot main body 1 and the mechanical arm 7 is obtained according to real-time monitoring

Further, the real-time movement speed of the stamping part captured by the configuration component 8 in the y-axis direction can be controlled

According to

The real-time control of the rotation of the movable rotating wheel frame 18 and thus the rotation direction of the third motor and the real-time angular velocity of the third motor driving the speed regulating mechanism 13 to rotate are different from each other

。

As a further preferred embodiment of the method provided by the invention, in step S4:

when in use

The remote control singlechip controls the thirdThe motor is started to control the movable wheel carrier 18 to rotate anticlockwise, further control the first small gear 1303 to be meshed with the second large gear 14, control the second motor to be started, drive the auxiliary screw rod 11 and the second large gear 14 to rotate anticlockwise, further drive the first small gear 1303 meshed with the second large gear 14 to rotate clockwise, enable the mechanical arm 7 to grab a stamping part downwards, and further enable the mechanical arm 7 to grab the stamping part downwards

When is coming into contact with

to configure the maximum movement speed of the member 8 in the y-axis direction;

when the stamping part needs to be stamped, the remote control single chip microcomputer controls the third motor to be started again, so that the movable rotating wheel frame 18 is controlled to rotate clockwise, the speed regulating mechanism 13 is controlled to move towards the second small gear 15, the first large gear 1302 is meshed with the second small gear 15, the second motor is controlled to be started, the auxiliary screw rod 11 and the second small gear 15 are driven to rotate clockwise, the second small gear 15 drives the first large gear 1302 to rotate anticlockwise, and then the real-time movement speed of the stamping part captured by the configuration component 8 in the y-axis direction is controlled

The moving direction of the mechanical arm 7 is controlled to lift the stamping part upwards, the overall speed is slowest, the stamping part is prevented from moving and falling by inertia, and after the stamping part is placed to a stamping position, the configuration component 8 is controlled to release the stamping part;

to configure the minimum movement speed of the member 8 in the y-axis direction;

after the punching is finished, the remote control single chip microcomputer controls the third motor to be started again, and then the movable rotary wheel frame 18 is controlled to be continuedThe clockwise rotation is continued, and the speed regulating mechanism 13 is controlled to move towards the second middle gear 16, so that the first small gear 1301 is meshed with the second middle gear 16, the second motor is controlled to be started, the auxiliary screw rod 11 and the second middle gear 16 are driven to rotate anticlockwise, and the second middle gear 16 drives the first small gear 1301 to rotate clockwise, so that the real-time movement speed of the stamping part captured by the configuration component 8 in the y-axis direction is controlled

And the mechanical arm 7 is controlled to move downwards to grab the punched stamping part to the position where the stamping part is arranged by the PLC stamping equipment.

The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;

secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;

and finally: the present invention is not limited to the above preferred embodiments, but rather, any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a multi freedom punching press robot, includes robot main part (1), its characterized in that: the bottom end of the robot main body (1) is fixedly connected with an auxiliary rotating plate (2), the interior of the auxiliary rotating plate (2) is rotatably connected with a movable rotating rod (10), the outer surface of the auxiliary rotating plate (2) is rotatably connected with a free rotating frame (9) through the movable rotating rod (10), the bottom end of the free rotating frame (9) is rotatably connected with a supporting base (4), the interior of the supporting base (4) is fixedly connected with a first motor, the output end of the first motor is electrically connected with the bottom end of the free rotating frame (9), the bottom end of the supporting base (4) is connected with a placing frame (3) through a bolt, one side of the robot main body (1) is rotatably connected with a control rotating rod (5), one end of the control rotating rod (5) is rotatably connected with a curved rotating frame (6), the bottom end of the curved rotating frame (6) is hinged with a mechanical arm (7), and the bottom end of the mechanical arm (7) is fixedly connected with a grabbing configuration component (8);

the adjustable-speed double-cavity gear transmission mechanism is characterized in that one end of a movable rotating rod (10) penetrating through a free rotating frame (9) is rotatably connected with a speed regulating mechanism (13), an angular speed sensor is arranged on the speed regulating mechanism (13), two groups of double-cavity clamping frames (12) are sleeved on the surface of the speed regulating mechanism (13), the two groups of double-cavity clamping frames (12) are fixedly mounted at the top end of a supporting base (4), the movable rotating rod (10) is positioned between the two groups of double-cavity clamping frames (12) and is rotatably connected with the speed regulating mechanism (13), the top end of the supporting base (4) is connected with a fixing frame through bolts, the top end of the supporting base (4) is fixedly connected with a second motor through the fixing frame, the output end of the second motor is electrically connected with an auxiliary screw rod (11), the outer surface of the auxiliary screw rod (11) is sequentially and rotatably connected with a second large gear (14), a second small gear (15) and a second medium gear (16), the auxiliary screw rod (11) is inserted into cavities of the two groups of the double-cavity clamping frames (12), and the second large gear (14), the second small gear (15) and the second medium gear (16) are respectively meshed with the speed regulating mechanism (13); a third motor used for adjusting the speed regulating mechanism (13) to move along the axial direction of the movable rotating rod (10) is arranged on the supporting base (4); the top end of the robot main body (1) is provided with a height sensor and an angle measuring sensor, and the height sensor is used for monitoring the vertical distance from the top end of the robot main body (1) to the horizontal plane where the axis of the speed regulating mechanism (13) is located in real time; the first motor, the second motor and the third motor are all in wireless communication connection with a remote control single chip microcomputer.

2. The multiple degree of freedom stamping robot of claim 1, wherein: the speed regulating mechanism (13) comprises a first medium gear (1301), a first large gear (1302) and a first small gear (1303), the first large gear (1302), the first small gear (1303) and the first medium gear (1301) are sequentially arranged on the outer surface of the movable rotating rod (10), the first medium gear (1301), the first large gear (1302) and the first small gear (1303) are fixedly connected, and the speed regulating mechanism (13) is arranged on the surface of the movable rotating rod (10) in a sliding connection state; the connecting parts of the second large gear (14), the second small gear (15) and the second medium gear (16) and the auxiliary screw rod (11) are sleeved with limit blocks, the second small gear (15) and the first large gear (1302) are arranged in a meshed state, the second large gear (14) and the first small gear (1303) are arranged in a meshed state, and the second medium gear (16) and the first medium gear (1301) are arranged in a meshed state.

3. The multiple degree of freedom stamping robot of claim 2, wherein: the utility model discloses a gear box, including support base (4), the top fixedly connected with cavity mount (19) of support base (4), the outside fixedly connected with edge fixed plate (20) of cavity mount (19), third motor fixed connection set up in edge fixed plate (20) are close to one side of cavity mount (19) outer wall, the output electric connection of third motor has movable runner frame (18), the one end of activity runner frame (18) is rotated and is connected with centre gripping chamber frame (17), centre gripping chamber frame (17) are laminated in the surface of first small-size gear (1303), rotation through activity runner frame (18) of speed adjusting mechanism (13) is the sliding state setting on the surface of activity bull stick (10).

4. The multiple degree of freedom stamping robot of claim 1, wherein: the outer surface of the grabbing configuration member (8) is connected with a corresponding type inserting frame (21) in a sliding mode, the bottom end of the grabbing configuration member (8) is fixedly connected with a magnetic sucker (22), four groups of auxiliary springs (31) are arranged between the corresponding type inserting frame (21) and the magnetic sucker (22), and the four groups of auxiliary springs (31) are fixedly installed between the bottom end of the corresponding type inserting frame (21) and the top end of the magnetic sucker (22) respectively; the configuration component (8) is provided with a pressure sensor and a gyroscope, the pressure sensor is used for detecting whether the stamping part is grabbed, and the gyroscope is used for monitoring the running speed of the configuration component (8) in the directions of an x axis, a y axis and a z axis under a geodetic coordinate system in real time.

5. The multiple degree of freedom stamping robot of claim 4, wherein: the outer fixed surface of corresponding formula is inserted frame (21) and is connected with four sets of locating pieces (30), four sets of the both sides of locating piece (30) are articulated to have centre gripping forearm (24) that are J-shaped, and each group the quantity of centre gripping forearm (24) is two, snatch bottom fixedly connected with air pump (23) that dispose component (8), air pump (23) fixed mounting is between two sets of centre gripping forearm (24), two there is protection hollow tube (27) through bolted connection between centre gripping forearm (24).

6. The multiple degree of freedom stamping robot of claim 5, wherein: the number of the protection hollow tubes (27) is consistent with that of the positioning blocks (30), the outer surfaces of the four groups of the protection hollow tubes (27) are fixedly connected with annular air bags (25), the interiors of the annular air bags (25) are communicated with the protection hollow tubes (27), air pipes (26) are inserted into the interiors of the annular air bags (25), the air pipes (26) are fixedly arranged on one side of the robot main body (1), the air bags are fixedly arranged at the connection positions of the robot main body (1) and the air pipes (26), and the air pipes (26) are inserted into the interiors of the air bags.

7. The multiple degree of freedom stamping robot of claim 6, wherein: the corresponding type inserting frame (21) is arranged on the surface of the grabbing configuration component (8) in a sliding state, and the four groups of the protection hollow pipes (27) and the clamping small arms (24) are arranged in an annular sequential equidistant state relative to the outer wall of the corresponding type inserting frame (21); the protection hollow pipe (27) is internally provided with a corresponding air pipe (32), the inner wall of the corresponding air pipe (32) is hinged with an auxiliary clamping frame (33), one end of the auxiliary clamping frame (33) is hinged with a sliding frame (29), and the sliding frame (29) is connected inside the corresponding air pipe (32) in a sliding mode through a sliding groove.

8. The multiple degree of freedom stamping robot of claim 7, wherein: the number of the auxiliary clamping frames (33) is two, one group of the auxiliary clamping frames (33) is fixedly connected with a convex block (34), the other group of the auxiliary clamping frames (33) is fixedly connected with a receiving frame (35), the inner wall of the sliding frame (29) is fixedly connected with a clamping hook (28), and the convex block (34) is matched with the receiving frame (35).

9. The use method of the multi-degree-of-freedom stamping robot as claimed in any one of claims 1 to 8, characterized by comprising the following steps:

s1: monitoring the vertical distance between the top end of the robot main body (1) and the horizontal plane where the axle center of the speed regulating mechanism (13) is located in real time

And then calculating the angle of the plane deviation of the robot main body (1) along the vertical direction in real time

：

Wherein the content of the first and second substances,

is the length of the robot body (1);

s2: according to the calculation result of the step S1, calculating the torque T of the robot main body (1) by driving the auxiliary screw rod (11) by the second motor:

wherein the content of the first and second substances,

is the mass of the speed regulating mechanism (13),

for the mass of the stamping gripped by the configuration member (8),

is the angular acceleration of the robot main body (1) deviated along the vertical direction plane,

the total mass of the robot main body (1), the control rotating rod (5), the curve round rotating frame (6), the mechanical arm (7) and the configuration component (8),

the linear distance from the configuration component (8) to the axis of the control rotating rod (5) is shown, g is the gravity acceleration,

real-time motion acceleration of the configuration member (8) in the y-axis direction;

an included angle between the robot main body (1) and the mechanical arm (7) is obtained through real-time monitoring;

s3: real-time monitoring the real-time angular speed of the rotation of the speed regulating mechanism (13)

And then calculating the real-time rotation angular speed of a second motor driving the auxiliary screw (11)

：

Wherein the content of the first and second substances,

is the radius of a gear in the speed regulating mechanism (13),

the radius of a gear rotationally connected with the outer surface of the auxiliary screw rod (11);

s4: according to the included angle between the robot main body (1) and the mechanical arm (7) obtained through real-time monitoring

Further, the real-time movement speed of the stamping part captured by the configuration component (8) in the y-axis direction can be controlled

According to

Is not requiredMeanwhile, the rotation of the movable rotary wheel frame (18) is controlled in real time, so that the rotation direction of a third motor and the real-time angular speed of the speed regulating mechanism (13) driven by the third motor are controlled

。

10. The method according to claim 9, wherein in the step S4:

when in use

When the stamping die is used, the third motor is controlled to be started, so that the mechanical arm (7) can grab the stamping part downwards, and further the stamping part can be grabbed downwards

When is coming into contact with

the maximum movement speed of the configuration component (8) in the y-axis direction;

when the stamping part needs to be stamped, the third motor is controlled to be started again, and then the real-time movement speed of the stamping part captured by the configuration component (8) in the y-axis direction is controlled

The moving direction of the mechanical arm (7) is controlled to lift the stamping part upwards, and after the stamping part is placed at a stamping position, the configuration component (8) is controlled to release the stamping part;

is the minimum movement speed of the configuration component (8) in the y-axis direction;

after the stamping is finished, controlling the third motor to be started again, and further controlling the real-time movement speed of the stamping part captured by the configuration component (8) in the y-axis direction

And controlling the moving direction of the mechanical arm (7) to grab the punched stamping part downwards to the position where the stamping part is arranged on the PLC stamping equipment.