WO2022148012A1

WO2022148012A1 - Mechanical arm for gripping workpiece requiring reinforced grinding

Info

Publication number: WO2022148012A1
Application number: PCT/CN2021/109602
Authority: WO
Inventors: 梁忠伟; 黄珊珊; 莫尊群; 刘晓初; 古亮亮; 萧金瑞
Original assignee: 广州大学
Priority date: 2021-01-11
Filing date: 2021-07-30
Publication date: 2022-07-14
Also published as: CN112873192A; LU502774B1

Abstract

Disclosed in the present invention is a mechanical arm for gripping a workpiece requiring reinforced grinding, comprising a base module, a waist rotation module, a shoulder rotation module, an elbow rotation module, a wrist rotation module and a gripping module; the waist rotation module is rotatably connected to the base module, the lower end of the shoulder rotation module is rotatably connected to the waist rotation module, the lower end of the elbow rotation module is rotatably connected to the upper end of the shoulder rotation module, the lower end of the wrist rotation module is rotatably connected to the upper end of the elbow rotation module, and the gripping module is mounted on the wrist rotation module; the gripping module comprises a connecting seat, a gripping driving mechanism and a plurality of grippers uniformly distributed on the connecting seat, the upper end of each gripper being hinged on the connecting seat; and a telescopic rod of the gripping driving mechanism is connected to a gripper by means of a rocking bar, the upper end of the rocking bar is hinged to the gripper, and the lower end thereof is hinged to the lower end of the telescopic rod. The mechanical arm for gripping a workpiece requiring reinforced grinding of the present invention not only can replace a manual gripping action that is mechanically repeated, but also has a high working efficiency, and is suitable for mass production.

Description

A reinforced grinding workpiece clamping manipulator

technical field

The invention relates to an automatic device, in particular to a gripping mechanical arm for strengthening grinding workpieces.

Background technique

At present, in the production process of large batches of workpieces, the workpiece can be transported to the bottom of the reinforced grinding machine through the assembly line before the grinding process. Both the clamping of the workpiece and the intensive grinding process can already be achieved by artificial intelligence. However, workers need to complete the process of clamping workpieces all the time, which not only has low work efficiency, but also with the mass production of parts, for lighter parts, the manual clamping method is obviously not advisable, and it will only waste manpower and material resources. . For parts with heavier quality, manual clamping will greatly increase the workload of workers. In addition, due to the high noise in the place where the workpiece is reinforced and processed, and some inhalable dust will be generated during the reinforced grinding process, which is very harmful to the health of the staff.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies of the prior art, and to provide a reinforced grinding workpiece clamping mechanical arm, which can not only replace the repetitive clamping action of manual machines, but also has high work efficiency and is suitable for large-scale Production.

The technical scheme that the present invention solves the above-mentioned technical problems is:

A reinforced grinding workpiece gripping mechanical arm, comprising a base module for supporting and fixing, a waist rotation module for realizing rotation on a horizontal plane, a shoulder rotation module for selecting a specified direction and position of a workpiece in cooperation with the waist rotation module, An elbow rotation module, a wrist rotation module that cooperates with the elbow rotation module to further control the spatial position of the workpiece, and a gripping module for clamping workpieces, wherein the waist rotation module is rotatably connected to the base module, and the shoulder rotation module is rotatably connected to the base module. The lower end of the turning module is rotatably connected to the waist turning module, the lower end of the elbow turning module is rotatably connected to the upper end of the shoulder turning module, and the lower end of the wrist turning module is rotatably connected to the upper end of the elbow turning module, The gripping module is installed on the wrist rotation module; the gripping module includes a connecting seat, a gripping driving mechanism and a plurality of mechanical claws evenly distributed on the connecting seat, and the upper end of the mechanical claws is hinged on the connecting seat. on the connecting seat; the telescopic rod of the clamping drive mechanism is connected with the mechanical claw through a rocker, the upper end of the rocker is hinged with the mechanical claw, and the lower end is hinged with the lower end of the telescopic rod.

The working principle of the above-mentioned enhanced grinding workpiece clamping robot arm is as follows:

When using the manipulator, according to the reinforced grinding process of the workpiece, place the manipulator at the position where the workpiece needs to be clamped, and fix the entire manipulator structure by fixing the base module; the workpiece that needs to be reinforced before the grinding process. , transported to the bottom of the intensified grinding machine through the conveying assembly line; during the movement of the workpiece on the conveying assembly line, when the workpiece reaches the set position, the sensor is triggered, so that the mechanical arm starts the operation; The module drives the elbow rotation module to adjust the spatial position of the workpiece, so that the wrist rotation module drives the clamping module to reach the position of the workpiece, the clamping module starts, and the clamping drive mechanism drives the telescopic rod to move downward, so that the telescopic rod drags down rocker, thereby dragging the mechanical claw downward; since the upper end of the mechanical claw is hinged on the connecting seat, when the mechanical claw is pulled downward, the mechanical claw rotates in the direction of the axis of the telescopic rod to complete the closing action, thereby Clamp the workpiece; after clamping the workpiece, according to the position of the clamped workpiece and the position of the grinding machine, the waist rotation module rotates, and at the same time, the shoulder rotation module drives the elbow rotation module to rotate, so that the mobile wrist rotation structure drives the workpiece to the grinding machine. position, the gripping module continues to start, the gripping drive mechanism drives the telescopic rod to move upward, and the telescopic rod pushes the rocker up, thereby pushing the mechanical claw upward, so that the mechanical claw rotates in the direction away from the axis of the telescopic rod to complete the tension The open action loosens the workpiece, thereby placing the workpiece on the grinding station on the grinding machine, and completing the process of transporting the workpiece to the grinding machine; after the workpiece is placed on the grinding station, the enhanced grinding machine will be triggered to automatically clamp the workpiece. , start the process of strengthening grinding.

In a preferred solution of the present invention, the bottom of the telescopic rod is provided with a pressing plate, and the lower end of the mechanical claw is provided with a supporting hook. When the telescopic rod drives the mechanical claw to close and clamp the workpiece, the supporting hook is opposite to the workpiece. The bottom plays a supporting role, and the pressing plate presses against the top of the workpiece. With the clamping module of the above structure, on the one hand, when the telescopic rod moves downward, the telescopic rod exerts a downward force on the mechanical claw through the rocker, so that the mechanical claw rotates in the direction of the axis of the telescopic rod, thereby completing the folding action , to clamp the workpiece; on the other hand, when the mechanical claws are closed, the supporting hook supports the bottom of the workpiece, the pressing plate presses against the top of the workpiece, and the supporting hook and the pressing plate interact to form a The upward supporting force plays a supporting role on the workpiece; by setting the supporting hook and the pressing plate, when the supporting hook and the pressing plate act, there will be no radial force on the workpiece, which can avoid The deformation problem of the workpiece caused by the radial pressure can also play a supporting role on the workpiece, with clever design and powerful functions.

In a preferred solution of the present invention, the clamping drive mechanism includes a push rod motor, and a telescopic shaft of the push rod motor is connected to the telescopic rod. When the push rod motor starts to work, the telescopic shaft of the push rod motor moves downward or upward. Since the telescopic shaft is connected to the telescopic rod, the push rod motor drives the telescopic rod to move upward or downward, thereby making the mechanical claw move upward or downward. Do the action of opening or closing.

In a preferred solution of the present invention, the base module includes a base bracket, the base frame includes a base plate and a base cylinder installed on the base plate; the base plate is provided with four fixing means for fixing the mechanical arm. Mounting holes. By arranging the base module of the above structure, after the installation position of the robot arm is selected, the installation screw passes through the fixed installation hole to lock the base plate on the installation position, so that the fixed installation of the robot arm can be realized.

Preferably, four tendons are arranged between the bottom of the base cylinder and the bottom plate. The above-mentioned tendons are evenly distributed along the circumferential direction of the base cylinder, which greatly increases the connection strength between the base cylinder and the bottom plate, and makes the entire base structure more stable and reliable.

In a preferred solution of the present invention, the waist turning module includes a waist turning body disc and a waist turning body connecting plate for installing the shoulder turning module; the waist turning body disc includes an upper disc body and a In the lower plate body below the upper plate body, the waist swivel connecting plate is arranged on the top of the upper plate body. By arranging the waist turning module of the above structure, the waist turning body disc is rotatably connected to the base module, so that the waist turning module can be flexibly rotated on the base module; the waist turning body connecting plate is used to install the shoulder turning module, and the waist turning body The rotating body connecting plate is installed on the upper plate body, and plays the role of connection and installation.

In a preferred solution of the present invention, the waist-turning module is rotatably connected to the base module through an installation structure, and the installation structure includes a sealing plate arranged on the top of the base cylinder, and a convex plate arranged on the sealing plate. The lifting ring and the non-standard bearing, the center of the sealing plate is provided with an escape hole for avoiding the lower plate body, and the escape hole is arranged inside the raised ring; the non-standard bearing is installed in the The outer ring of the non-standard bearing on the sealing plate is in close contact with the inner ring of the raised ring, and the lower disc body is matched with the inner ring of the non-standard bearing. With the above installation structure, the lower disc body is installed on the inner ring of the non-standard bearing, and the bottom surface of the upper disc body is pressed against the top surface of the non-standard bearing, so that the lower disc body can rotate freely relative to the inner ring of the non-standard bearing, so as to realize the waist The flexible rotation of the transfer module on the base module.

In a preferred solution of the present invention, the waist rotation module is rotated by a waist rotation driving mechanism, and the waist rotation driving mechanism includes a driving bevel gear, a driving bevel gear shaft for installing the driving bevel gear, a driven bevel gear and A driven bevel gear shaft for installing the driven bevel gear; a mounting through hole for mounting the driving bevel gear shaft is provided on the side wall of the base cylinder, and one end of the driven bevel gear shaft is installed At the bottom of the lower disc body, the other end extends downward; the driving bevel gear and the driven bevel gear are in mesh with each other. By arranging the above-mentioned waist-rotating drive mechanism, the driving bevel gear shaft is assembled on the installation through hole, and the driven bevel gear shaft is mounted on the bottom of the lower disc body, so that the driving bevel gear shaft and the driven bevel gear shaft are arranged perpendicular to each other, which is suitable for bevel gears. The structure realizes transmission; the driving bevel gear and the driven bevel gear mesh with each other, when the driving bevel gear rotates, it drives the driven bevel gear to rotate, thereby realizing the rotation of the driven bevel gear shaft, because the driven bevel gear shaft is installed at the bottom of the lower disc body. , so the rotation of the driven gear shaft makes the waist rotation module rotate.

Preferably, the waist rotation drive mechanism further comprises a waist rotation drive motor, the waist rotation drive motor is connected with the drive bevel gear shaft through a gear transmission mechanism; the waist rotation drive motor is installed on the bottom plate through a bottom mounting frame superior. The waist rotation drive motor is installed on the floor of the base module, a gear is installed on the shaft of the waist rotation drive motor, and a corresponding gear is installed on the driving bevel gear shaft, the waist rotation driving motor rotates, and the driving bevel gear shaft is driven to rotate through the gear transmission mechanism .

In a preferred solution of the present invention, the shoulder rotation module includes a shoulder rotation link and a shoulder rotation shaft for rotatably connecting with the waist rotation module; the shoulder rotation link is provided with a connecting through hole, and the connecting through hole It includes a shoulder connection bottom hole arranged at the lower end of the shoulder rotation link for connecting the waist rotation module and a shoulder connection top hole arranged at the upper end of the shoulder rotation link for connecting the elbow rotation module; the shoulder rotation shaft is fixedly installed on the On the shoulder connecting bottom hole, both ends of the shoulder rotating shaft are mounted on the lumbar rotating body connecting plate through bearings. The shoulder rotation module of the above-mentioned structure is provided, and both ends of the shoulder rotation shaft are installed on the waist rotation body connecting plate through bearings, so that the shoulder rotation shaft is rotated and connected on the waist rotation body connection plate. Because the shoulder rotation shaft is fixedly connected with the shoulder rotation link, therefore The shoulder rotation connecting rod is connected to the waist rotation body connecting plate through the rotation of the shoulder rotation shaft, so as to realize the rotation action of the shoulder rotation module on the waist rotation module.

Preferably, the shoulder rotation module is rotated by a shoulder rotation drive mechanism, and the shoulder rotation drive mechanism includes a shoulder rotation drive motor, a shoulder rotation driving gear and a shoulder rotation driven gear installed on the main shaft of the shoulder rotation drive motor; The shoulder rotation drive motor is installed on the waist rotation body connecting plate, and the shoulder rotation driven gear is fixedly installed on the shoulder rotation shaft. After the shoulder rotation drive mechanism is activated, the shoulder rotation drive motor rotates, thereby driving the shoulder rotation driving gear to rotate, and the shoulder rotation driving gear and the shoulder rotation driven gear mesh with each other, so that the shoulder rotation driven gear rotates. Since the shoulder rotation driven gear is fixed It is installed on the shoulder rotation shaft, so the rotation of the shoulder rotation driven gear makes the shoulder rotation shaft rotate, and finally realizes the rotation of the shoulder rotation module.

In a preferred solution of the present invention, the toggle module includes a toggle link and a toggle shaft for rotationally connecting with the shoulder module; the toggle link is provided with a connecting through hole, and the connecting through hole It includes an elbow connection bottom hole arranged at the lower end of the toggle link for connecting the shoulder rotation module and an elbow connection top hole arranged at the upper end of the elbow rotation link for connecting the wrist rotation module; the elbow rotation shaft is fixedly installed on the elbow. On the elbow connecting bottom hole, both ends of the elbow rotating shaft are mounted on the upper end of the shoulder rotating connecting rod through bearings. The elbow rotation module of the above structure is provided, and both ends of the elbow rotation shaft are mounted on the shoulder connection top holes through bearings, so that the elbow rotation shaft is rotatably connected to the upper end of the shoulder rotation connecting rod, because the elbow rotation shaft is fixedly connected with the elbow rotation rod, Therefore, the toggle connecting rod is rotatably connected to the upper end of the shoulder pivot link through the toggle shaft, so that the rotation action of the toggle module on the shoulder pivot module is realized.

Preferably, the toggle module is rotated by a toggle drive mechanism, and the toggle drive mechanism includes a toggle drive motor, a toggle drive gear mounted on the main shaft of the toggle drive motor, and a toggle driven gear; the toggle drive The toggle drive motor is mounted on the upper end of the shoulder pivot link, and the toggle driven gear is fixedly mounted on the toggle shaft. After the toggle drive mechanism is activated, the toggle drive motor rotates, thereby driving the toggle drive gear to rotate, and the toggle drive gear and the toggle driven gear mesh with each other, so that the toggle driven gear rotates. Since the toggle driven gear is fixed It is installed on the toggle shaft, so the rotation of the toggle driven gear makes the toggle shaft rotate, and finally realizes the rotation of the toggle module.

In a preferred solution of the present invention, the wrist rotation module includes a mechanical wrist and a wrist rotation shaft; the mechanical wrist is provided with a wrist connection hole for connecting the elbow rotation module, and the wrist rotation shaft is fixedly installed in the wrist connection hole The two ends of the wrist rotating shaft are mounted on the upper end of the wrist rotating connecting rod through bearings. The wrist rotation module of the above structure is provided, and both ends of the wrist rotation shaft are mounted on the elbow connecting top hole through bearings. In this way, the wrist rotation shaft is rotatably connected to the upper end of the elbow connecting rod. Since the wrist rotation shaft is fixedly connected with the mechanical wrist, the mechanical wrist The wrist rotating shaft is rotatably connected to the upper end of the elbow connecting rod, so as to realize the rotating action of the wrist rotating module on the elbow rotating module.

In a preferred solution of the present invention, the wrist rotation module is rotated by a wrist rotation driving mechanism, and the wrist rotation driving mechanism includes a wrist rotation driving motor, a wrist rotation driving gear installed on the main shaft of the wrist rotation driving motor, and a wrist rotation driven gear. gear; the wrist rotation drive motor is installed on the upper end of the wrist rotation link, and the wrist rotation driven gear is fixedly installed on the wrist rotation shaft. After the wrist rotation drive mechanism is activated, the wrist rotation drive motor rotates, thereby driving the wrist rotation driving gear to rotate, and the wrist rotation driving gear and the wrist rotation driven gear mesh with each other, so that the wrist rotation driven gear rotates. Since the wrist rotation driven gear is fixed It is installed on the wrist rotation shaft, so the rotation of the wrist rotation driven gear makes the wrist rotation shaft rotate, and finally realizes the rotation of the wrist rotation module.

Compared with the prior art, the present invention has the following beneficial effects:

1. The reinforced grinding workpiece gripping robot arm of the present invention includes a base module, a waist turning module, a shoulder turning module, an elbow turning module and a wrist turning module, which can automatically transport the workpiece to the grinding station on the reinforced grinding machine, not only can replace the The manual and mechanical repetitive clamping action has high working efficiency and is suitable for large-scale production.

2. The reinforced grinding workpiece gripping mechanical arm of the present invention has simple mechanism, low manufacturing cost and convenient later maintenance.

Description of drawings

FIG. 1 is a perspective view of the reinforced grinding workpiece clamping robot arm of the present invention.

FIG. 2 is a perspective view of the base bracket.

Figure 3 is a physical diagram of the waist rotation module.

FIG. 4 is a perspective view of a shoulder-rotating link.

5 is a perspective view of a toggle link.

FIG. 6 is a perspective view of the mechanical wrist.

FIG. 7 is a perspective view of the gripping module.

FIG. 8 is a schematic diagram of the interaction between the pressing plate and the supporting hook to support the workpiece when the mechanical claws are closed.

Detailed ways

The present invention will be described in further detail below with reference to the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

Referring to FIGS. 1-8 , a reinforced grinding workpiece gripping robot arm of the present invention includes a base module 1 for supporting and fixing, a waist rotation module 2 for rotating on a horizontal plane, and the waist rotation module 2 Cooperate with the shoulder rotation module 3, the elbow rotation module 4 for selecting the specified direction position of the workpiece, the wrist rotation module 5 for further controlling the spatial position of the workpiece in cooperation with the elbow rotation module 4, and the clamping module 6 for clamping the workpiece, wherein , the waist rotation module 2 is rotatably connected to the base module 1, the lower end of the shoulder rotation module 3 is rotatably connected to the waist rotation module 2, and the lower end of the elbow rotation module 4 is rotatably connected to the shoulder rotation The upper end of the rotation module 3, the lower end of the wrist rotation module 5 is rotatably connected to the upper end of the elbow rotation module 4, and the gripping module 6 is installed on the wrist rotation module 5; the gripping module 6 includes a connection A seat 6-1, a clamping drive mechanism and a plurality of mechanical claws 6-3 evenly distributed on the connecting seat 6-1, the upper ends of the mechanical claws 6-3 are hinged on the connecting seat 6-1; The telescopic rod 6-2 of the clamping drive mechanism is connected to the mechanical claw 6-3 through a rocker 6-4, the upper end of the rocker 6-4 is hinged with the mechanical claw 6-3, and the lower end is The lower end of the telescopic rod 6-2 is hinged.

7 and 8, the bottom of the telescopic rod 6-2 is provided with a pressing plate 6-2-1, and the lower end of the mechanical claw 6-3 is provided with a support hook 6-3-1. 6-2 When the mechanical claw 6-3 is driven to close and clamp the workpiece, the supporting hook 6-3-1 supports the bottom of the workpiece, and the pressing plate 6-2-1 presses against the top of the workpiece . The clamping module 6 with the above structure is provided. On the one hand, when the telescopic rod 6-2 moves downward, the telescopic rod 6-2 exerts a downward force on the mechanical claw 6-3 through the rocker 6-4, so that the mechanical claw 6-3 acts a downward force. 6-3 rotates along the direction of the axis of the telescopic rod 6-2, so as to complete the closing action and clamp the workpiece; on the other hand, when the mechanical claw 6-3 is closed, the supporting hook 6-3-1 supports Hold the bottom of the workpiece, the pressing plate 6-2-1 presses against the top of the workpiece, and the supporting hook 6-3-1 interacts with the pressing plate 6-2-1 to form an upward supporting force on the workpiece, thereby forming an upward supporting force on the workpiece. Play a supporting role; by setting the supporting hook 6-3-1 and the pressing plate 6-2-1, when the supporting hook 6-3-1 and the pressing plate 6-2-1 function, they will not The workpiece generates a force along the radial direction, which can not only avoid the deformation problem of the workpiece due to radial pressure, but also play a supporting role on the workpiece. The design is ingenious and the function is powerful.

Referring to FIG. 1 , FIG. 7 and FIG. 8 , the clamping driving mechanism includes a push rod motor, and the telescopic shaft of the push rod motor is connected with the telescopic rod 6 - 2 . When the push rod motor starts to work, the telescopic shaft of the push rod motor moves downward or upward. Since the telescopic shaft is connected with the telescopic rod 6-2, the push rod motor drives the telescopic rod 6-2 upward or downward. movement, so as to make the mechanical claw 6-3 perform the action of opening or closing.

1-2, the base module 1 includes a base bracket, the base frame includes a base plate 1-1 and a base cylinder 1-2 mounted on the base plate 1-1; the base plate 1-1 There are four fixed mounting holes for fixing the mechanical arm. By arranging the base module 1 with the above structure, after the installation position of the robot arm is selected, the installation screws pass through the fixed installation holes to lock the base plate 1-1 on the installation position, so that the fixed installation of the robot arm can be realized.

Referring to Figures 1-2, four tendons are provided between the bottom of the base cylinder 1-2 and the bottom plate 1-1. The above-mentioned tendons are evenly distributed along the circumferential direction of the base cylinder 1-2, which greatly increases the connection strength between the base cylinder 1-2 and the bottom plate 1-1, and makes the entire base structure more stable and reliable.

1 and 3, the waist turning module 2 includes a waist turning body disc and a waist turning body connecting plate 2-3 for installing the shoulder turning module 3; the waist turning body disc includes an upper disc body 2-1 and the lower plate body 2-2 arranged below the upper plate body 2-1, and the waist swivel body connecting plate 2-3 is arranged on the top of the upper plate body 2-1. By arranging the waist turning module 2 with the above structure, the waist turning body disc is rotatably connected to the base module 1, so that the waist turning module 2 can be flexibly rotated on the base module 1; the waist turning body connecting plate 2-3 is used for installing the The shoulder rotation module 3, and the waist rotation body connecting plate 2-3 is installed on the upper plate body 2-1, and plays the role of connection and installation.

Referring to FIGS. 1 and 3 , the waist turning module 2 is rotatably connected to the base module 1 through an installation structure. The raised ring 1-4 and the non-standard bearing on the sealing plate 1-3, the center of the sealing plate 1-3 is provided with an escape hole for avoiding the lower plate body 2-2. The empty hole is arranged inside the raised ring 1-4; the non-standard bearing is installed on the sealing plate 1-3 and the outer ring of the non-standard bearing is close to the inner ring of the raised ring 1-4 , the lower disc body 2-2 is matched with the inner ring of the non-standard bearing. With the above installation structure, the lower disc body 2-2 is installed on the inner ring of the non-standard bearing, and the bottom surface of the upper disc body 2-1 is pressed against the top surface of the non-standard bearing, so that the lower disc body 2-2 can be relative to the non-standard bearing. The inner ring rotates freely, so as to realize the flexible rotation of the waist rotation module 2 on the base module 1.

Referring to FIGS. 1-3 , the waist rotation module 2 is rotated through a waist rotation drive mechanism, and the waist rotation drive mechanism includes a driving bevel gear, a driving bevel gear shaft 7 for installing the driving bevel gear, and a driven cone A gear and a driven bevel gear shaft 8 for installing the driven bevel gear; the side wall of the base cylinder 1-2 is provided with mounting through holes 1-5 for mounting the driving bevel gear shaft 7, One end of the driven bevel gear shaft 8 is mounted on the bottom of the lower disc body 2-2, and the other end extends downward; the driving bevel gear and the driven bevel gear are meshed with each other. By arranging the above-mentioned waist drive mechanism, the driving bevel gear shaft 7 is assembled on the installation through holes 1-5, and the driven bevel gear shaft 8 is mounted on the bottom of the lower disc body 2-2, so that the driving bevel gear shaft 7 and the driven bevel gear The shafts 8 are arranged perpendicular to each other, which is suitable for realizing the transmission with the bevel gear structure; the driving bevel gear and the driven bevel gear are meshed with each other, and when the driving bevel gear rotates, the driven bevel gear is driven to rotate, thereby realizing the rotation of the driven bevel gear shaft 8. The driven bevel gear shaft 8 is installed on the bottom of the lower disc body 2-2, so the rotation of the driven gear shaft makes the waist rotation module 2 rotate.

In this embodiment, the waist rotation drive mechanism further includes a waist rotation drive motor, and the waist rotation drive motor is connected to the drive bevel gear shaft 7 through a gear transmission mechanism; the waist rotation drive motor is installed on the on the bottom plate 1-1. The waist rotation drive motor is installed on the base plate 1-1 of the base module 1, the rotation shaft of the waist rotation drive motor is installed with a gear, and the driving bevel gear shaft 7 is equipped with a corresponding gear. The drive bevel gear shaft 7 rotates.

1 and 4, the shoulder rotation module 3 includes a shoulder rotation link 3-1 and a shoulder rotation shaft 3-2 for rotatably connecting with the waist rotation module 2; on the shoulder rotation link 3-1 A connection through hole is provided, and the connection through hole includes a shoulder connection bottom hole 3-1-1 arranged at the lower end of the shoulder rotation link 3-1 for connecting the waist rotation module 2 and a shoulder connection bottom hole 3-1-1 arranged at the shoulder rotation link 3-1. 1. The shoulder connection top hole 3-1-2 at the upper end is used to connect the elbow rotation module 4; the shoulder rotation shaft 3-2 is fixedly installed on the shoulder connection bottom hole 3-1-1, and the shoulder rotation shaft 3 Both ends of -2 are mounted on the lumbar swivel connecting plate 2-3 through bearings. The shoulder rotating module 3 of the above-mentioned structure is provided, and the two ends of the shoulder rotating shaft 3-2 are mounted on the waist rotating body connecting plate 2-3 through bearings, so that the shoulder rotating shaft 3-2 is rotated and connected on the waist rotating body connecting plate 2-3 , because the shoulder rotating shaft 3-2 is fixedly connected with the shoulder rotating connecting rod 3-1, the shoulder rotating connecting rod is connected to the waist rotating body connecting plate 2-3 through the shoulder rotating shaft 3-2, so that the shoulder rotating module 3 is connected to the waist rotating body connecting plate 2-3. Rotation action on rotation module 2.

In this embodiment, the shoulder rotation module 3 is rotated by a shoulder rotation driving mechanism, and the shoulder rotation driving mechanism includes a shoulder rotation driving motor, a shoulder rotation driving gear and a shoulder rotation driven gear installed on the main shaft of the shoulder rotation driving motor. ; The shoulder rotation drive motor is installed on the waist rotation body connecting plate 2-3, and the shoulder rotation driven gear is fixedly installed on the shoulder rotation shaft 3-2. After the shoulder rotation drive mechanism is activated, the shoulder rotation drive motor rotates, thereby driving the shoulder rotation driving gear to rotate, and the shoulder rotation driving gear and the shoulder rotation driven gear mesh with each other, so that the shoulder rotation driven gear rotates. Since the shoulder rotation driven gear is fixed It is installed on the shoulder rotation shaft 3-2, so the rotation of the shoulder rotation driven gear makes the shoulder rotation shaft 3-2 rotate, and finally realizes the rotation of the shoulder rotation module 3.

Referring to FIGS. 1 and 5 , the toggle module 4 includes a toggle link 4-1 and a toggle shaft 4-2 that is rotatably connected to the shoulder module 3; the toggle link 4-1 is on the A connecting through hole is provided, and the connecting through hole includes an elbow connecting bottom hole 4-1-1 arranged at the lower end of the toggle connecting rod 4-1 for connecting the shoulder rotating module 3, and an elbow connecting bottom hole 4-1-1 arranged on the toggle connecting rod 4-1. 1. The elbow connecting top hole 4-1-2 at the upper end is used to connect the wrist rotating module 5; the elbow rotating shaft 4-2 is fixedly installed on the elbow connecting bottom hole 4-1-1, and the elbow rotating shaft 4 Both ends of -2 are mounted on the upper end of the shoulder-rotating connecting rod 3-1 through bearings. The elbow rotation module 4 of the above-mentioned structure is provided, and both ends of the elbow rotation shaft 4-2 are mounted on the shoulder connection top hole 3-1-2 through bearings, so that the elbow rotation shaft 4-2 is rotatably connected to the shoulder rotation link 3- At the upper end of 1, since the elbow rotation shaft 4-2 is fixedly connected with the elbow rotation link 4-1, the elbow rotation connecting rod is connected to the upper end of the shoulder rotation link 3-1 through the elbow rotation shaft 4-2, so as to realize the elbow rotation module. 4 Rotation action on shoulder rotation module 3.

In this embodiment, the toggle module 4 is rotated through a toggle drive mechanism, which includes a toggle drive motor, a toggle drive gear mounted on the main shaft of the toggle drive motor, and a toggle driven gear ; The toggle drive motor is mounted on the upper end of the shoulder pivot link 3-1, and the toggle driven gear is fixedly mounted on the toggle pivot shaft 4-2. After the toggle drive mechanism is activated, the toggle drive motor rotates, thereby driving the toggle drive gear to rotate, and the toggle drive gear and the toggle driven gear mesh with each other, so that the toggle driven gear rotates. Since the toggle driven gear is fixed It is installed on the toggle shaft 4-2, so the rotation of the toggle driven gear makes the toggle shaft 4-2 rotate, and finally realizes the rotation of the toggle module 4.

1 and 6, the wrist rotation module 5 includes a mechanical wrist 5-1 and a wrist rotation shaft 5-2; the mechanical wrist 5-1 is provided with a wrist connection hole 5- 1-1, the wrist rotating shaft 5-2 is fixedly installed on the wrist connecting hole 5-1-1, and both ends of the wrist rotating shaft 5-2 are mounted on the elbow connecting rod 4-1 through bearings. upper end. The wrist rotation module 5 of the above structure is provided, and both ends of the wrist rotation shaft 5-2 are mounted on the elbow connecting top hole 4-1-2 through bearings, so that the wrist rotation shaft 5-2 is rotatably connected to the upper end of the elbow connecting rod, Since the wrist rotating shaft 5-2 is fixedly connected with the mechanical wrist 5-1, the mechanical wrist 5-1 is connected to the upper end of the elbow connecting rod through the wrist rotating shaft 5-2, so as to realize the rotation of the wrist rotating module 5 on the elbow rotating module 4 action.

In this embodiment, the wrist rotation module 5 is rotated by a wrist rotation driving mechanism, and the wrist rotation driving mechanism includes a wrist rotation driving motor, a wrist rotation driving gear and a wrist rotation driven gear installed on the main shaft of the wrist rotation driving motor. ; The wrist rotation drive motor is installed on the upper end of the elbow rotation link 4-1, and the wrist rotation driven gear is fixedly installed on the wrist rotation shaft 5-2. After the wrist rotation drive mechanism is activated, the wrist rotation drive motor rotates, thereby driving the wrist rotation driving gear to rotate, and the wrist rotation driving gear and the wrist rotation driven gear mesh with each other, so that the wrist rotation driven gear rotates. Since the wrist rotation driven gear is fixed It is installed on the wrist rotating shaft 5-2, so the rotation of the wrist rotating driven gear makes the wrist rotating shaft 5-2 rotate, and finally realizes the rotation of the wrist rotating module 5.

In this embodiment, an auxiliary module is also included. The auxiliary module is divided into two categories. The first is the limit structure. The limit structure can precisely control and limit the movement of each joint of the robotic arm. The second is to install limiters at the joints to control the rotation angle of each joint, and combine with the PLC control of the motor to jointly control the trajectory of the mechanical arm for strengthening the grinding workpiece clamping. The third is overload protection. Overload protection is an important part that every mechanical equipment must have. It can effectively prevent the mechanical or circuit damage caused by the machinery exceeding its own carrying capacity and cause unpredictable losses. Here is the air switch. When the working time of the robot arm is too long or the load is too large, the rated load that the equipment can bear has exceeded the rated load that the equipment can bear, causing the electrical equipment to heat up. At this time, the air switch will automatically disconnect and stop the power supply to ensure that the machine is not damaged. damage.

When using the robotic arm, according to the enhanced grinding process of the workpiece, place the robotic arm at the position where the workpiece needs to be clamped, and fix the entire robotic arm structure by fixing the base module 1; Before, it was transported to the bottom of the intensified grinding machine through the conveying assembly line; during the movement of the workpiece on the conveying assembly line, when the workpiece reached the set position, the sensor was triggered, so that the robot arm started the operation; The shoulder rotation module 3 drives the elbow rotation module 4 to adjust the spatial position of the workpiece, so that the wrist rotation module 5 drives the gripping module 6 to reach the position of the workpiece, the gripping module 6 is activated, and the gripping drive mechanism drives the telescopic rod 6-2 to move. The downward movement makes the telescopic rod 6-2 drag the rocker 6-4 downward, thereby dragging the mechanical claw 6-3 downward; since the upper end of the mechanical claw 6-3 is hinged on the When the claw 6-3 is pulled downward, the mechanical claw 6-3 rotates along the axis of the telescopic rod 6-2 to complete the closing action, thereby clamping the workpiece; The relationship between the position and the position of the grinding machine, the waist rotation module 2 rotates, and the shoulder rotation module 3 drives the elbow rotation module 4 to rotate, so that the mobile wrist rotation structure drives the workpiece to the position of the grinding machine, the clamping module 6 continues to start, and the clamping drive The mechanism drives the telescopic rod 6-2 to move upward, and the telescopic rod 6-2 pushes the rocker 6-4 upward, thereby pushing the mechanical claw 6-3 upward, so that the mechanical claw 6-3 moves along the axis away from the telescopic rod 6-2 Rotate in the direction of the machine to complete the opening action and release the workpiece, thereby placing the workpiece on the grinding station on the grinding machine, and completing the process of transporting the workpiece to the grinding machine; after the workpiece is placed on the grinding station, it will trigger the strengthening The grinding machine automatically clamps the workpiece and starts the process of strengthening grinding.

The above are the preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above-mentioned contents, and any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention are all Should be equivalent replacement manners, all are included within the protection scope of the present invention.

Claims

An enhanced grinding workpiece gripping mechanical arm, characterized in that it includes a base module for supporting and fixing, a waist-turning module for rotating on a horizontal plane, and a waist-turning module for selecting a specified direction and position of the workpiece in cooperation with the waist-turning module. A shoulder rotation module, an elbow rotation module, a wrist rotation module that cooperates with the elbow rotation module to further control the spatial position of the workpiece, and a clamping module for gripping the workpiece, wherein the waist rotation module is rotatably connected to the base module The lower end of the shoulder rotation module is rotatably connected to the waist rotation module, the lower end of the elbow rotation module is rotatably connected to the upper end of the shoulder rotation module, and the lower end of the wrist rotation module is rotatably connected to the elbow rotation module. The upper end of the module, the gripping module is installed on the wrist rotation module; the gripping module includes a connecting seat, a gripping drive mechanism and a plurality of mechanical claws evenly distributed on the connecting seat, the mechanical claws The upper end of the lever is hinged on the connecting seat; the telescopic rod of the clamping drive mechanism is connected with the mechanical claw through a rocker, the upper end of the rocker is hinged with the mechanical claw, and the lower end is hinged with the lower end of the telescopic rod .
The reinforced grinding workpiece clamping mechanical arm according to claim 1, wherein a pressing plate is provided at the bottom of the telescopic rod, and a support hook is provided at the lower end of the mechanical claw, and the telescopic rod drives the mechanical arm. When the claws are closed to clamp the workpiece, the support hook supports the bottom of the workpiece, and the pressing plate presses against the top of the workpiece.
The reinforced grinding workpiece clamping mechanical arm according to claim 2, wherein the clamping driving mechanism comprises a push rod motor, and the telescopic shaft of the push rod motor is connected with the telescopic rod.
The reinforced grinding workpiece clamping robot arm according to claim 1, wherein the base module comprises a base bracket, the base frame comprises a base plate and a base cylinder mounted on the base plate; the There are four fixed mounting holes on the bottom plate for fixing the mechanical arm.
The reinforced grinding workpiece clamping robot arm according to claim 4, wherein the waist turning module comprises a waist turning body disc and a waist turning body connecting plate for installing the shoulder turning module; The lumbar swivel disc includes an upper disc body and a lower disc body arranged below the upper disc body, and the lumbar swivel body connecting plate is arranged on the top of the upper disc body.
The reinforced grinding workpiece clamping mechanical arm according to claim 5, wherein the waist rotation module is rotated by a waist rotation driving mechanism, and the waist rotation driving mechanism includes a driving bevel gear for installing the waist rotation The drive bevel gear shaft of the drive bevel gear, the driven bevel gear, and the driven bevel gear shaft for installing the driven bevel gear; the side wall of the base cylinder is provided with a drive for installing the drive bevel gear shaft. A through hole is installed, one end of the driven bevel gear shaft is mounted on the bottom of the lower disc body, and the other end extends downward; the driving bevel gear and the driven bevel gear are meshed with each other.
The reinforced grinding workpiece clamping manipulator according to claim 5, wherein the shoulder rotation module comprises a shoulder rotation link and a shoulder rotation shaft for rotatably connecting with the waist rotation module; The connecting rod is provided with a connecting through hole, and the connecting through hole includes a shoulder connecting bottom hole disposed at the lower end of the shoulder rotating connecting rod for connecting the waist rotating module and a shoulder connecting bottom hole disposed on the upper end of the shoulder rotating connecting rod for connecting the elbow rotating connecting rod. The shoulder of the module is connected to the top hole; the shoulder rotating shaft is fixedly mounted on the shoulder connecting bottom hole, and both ends of the shoulder rotating shaft are mounted on the waist swivel connecting plate through bearings.
The reinforced grinding workpiece clamping mechanical arm according to claim 7, wherein the shoulder rotation module is rotated by a shoulder rotation drive mechanism, and the shoulder rotation drive mechanism comprises a shoulder rotation drive motor, which is installed on the shoulder rotation drive mechanism. The shoulder-rotating driving gear and the shoulder-rotating driven gear on the main shaft of the drive motor are mounted; the shoulder-rotating driving motor is mounted on the waist-rotating body connecting plate, and the shoulder-rotating driven gear is fixedly mounted on the shoulder rotating shaft.
The reinforced grinding workpiece clamping manipulator according to claim 7, wherein the toggle module comprises a toggle link and a toggle shaft for rotatably connecting with the shoulder module; the toggle module comprises a toggle link; The connecting rod is provided with a connecting through hole, and the connecting through hole includes an elbow connecting bottom hole disposed at the lower end of the toggle connecting rod for connecting the shoulder rotating module, and an elbow connecting bottom hole disposed at the upper end of the toggle connecting rod for connecting the wrist rotating The elbow of the module is connected to the top hole; the elbow rotating shaft is fixedly mounted on the elbow connecting bottom hole, and both ends of the elbow rotating shaft are mounted on the upper end of the shoulder-rotating connecting rod through bearings.
The reinforced grinding workpiece clamping mechanical arm according to claim 1, wherein the wrist rotation module comprises a mechanical wrist and a wrist rotation shaft; and a wrist connection for connecting the elbow rotation module is provided on the mechanical wrist. The wrist rotating shaft is fixedly mounted on the wrist connecting hole, and both ends of the wrist rotating shaft are mounted on the upper end of the toggle connecting rod through bearings.