CN108422438A - Wheel detection clamp and manipulator with it - Google Patents
Wheel detection clamp and manipulator with it Download PDFInfo
- Publication number
- CN108422438A CN108422438A CN201810442283.3A CN201810442283A CN108422438A CN 108422438 A CN108422438 A CN 108422438A CN 201810442283 A CN201810442283 A CN 201810442283A CN 108422438 A CN108422438 A CN 108422438A
- Authority
- CN
- China
- Prior art keywords
- clamp
- wheel
- wheel detection
- bottom plate
- folder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
Abstract
The invention discloses a kind of wheel detection clamps, including bottom plate and it is located at the relatively-movable a pair of clamp for being used for clamping wheel in bottom plate lower part, the inside of the clamp, which is equipped with, embraces folder, described armful of folder is located at by rotary shaft on clamp, and the clamp is equipped with for driving the driving structure for embracing folder rotation.Manipulator, including link block and the column for lifting, further include the wheel detection clamp, and the lower end of the column is connected by link block with the top of bottom plate.Mechanical-hand clamp can freely overturn wheel, improve wheel detection efficiency；It is simple in structure, it is light-weight, securely and reliably.
Description
Technical field
The present invention relates to wheel detection technical fields, more particularly, to a kind of wheel detection clamp and with its machinery
Hand.
Background technology
In the epoch of high ferro rapid development at present, the requirement to the quality of train wheel is higher and higher, and the efficiency of production is more next
Higher, the detection of China's finished wheel carries out in detection line, and the wheel detection of different size is required for by static balance, printing
Machine typewriting, hardness tester survey hardness, super spy machine flaw detection, magnetic spy machine flaw detection, be put in storage each process all in a detection line, wheel and
Transport transmission between wheel is transported with manipulator by detecting, and manipulator horizontal or vertical can move, to make wheel
It is transported by the crawl of manipulator, realizes that wheel flows in detection line each process, be frequently necessary to wheel in detection process
Tow sides are detected, and manipulator during the motion only include decline, capture, rising, be translatable several motor patterns.
Under this operating mode, there are problems with：1, robot movement working efficiency is low；2, manipulator cannot turn over wheel
Turn, the turning machine on conveyer belt, detection efficiency can only be leaned on low.
Invention content
In view of the shortcomings of the prior art, technical problem to be solved by the invention is to provide a kind of wheel detection clamp and tools
The manipulator for having it, to achieve the purpose that freely overturn wheel.
In order to solve the above-mentioned technical problem, the technical solution adopted in the present invention is：
The wheel detection clamp, including bottom plate are used for clamping wheel with the relatively-movable a pair in bottom plate lower part is located at
Clamp, the inside of the clamp, which is equipped with, embraces folder, and described armful of folder is located at by rotary shaft on clamp, and the clamp is equipped with for driving
The dynamic driving structure for embracing folder rotation.
The driving structure includes motor and gear set, and the rotary shaft is connected to the motor by gear set.
The clamp includes holder arms and the pedestal that is located at the top of holder arms, and bottom plate lower part passes through screw body and pedestal phase
Even driving pedestal is moved along lead screw.
The inside of described armful of folder is equipped with for contacting the clamp ring clamped with wheel, and clamp ring is located at by shaft and is embraced on folder.
The rotary shaft is located at clamp lower part by bearing.
The outside of the holder arms is equipped with the baffle for preventing sundries from entering.
The holder arms are riser, and the outside of riser is equipped with groove, and gear set is in the grooves.
Sliding rail is equipped at the top of the holder arms between bottom plate lower part.
A kind of manipulator, including link block and the column for lifting further include the wheel detection clamp, described vertical
The lower end of column is connected by link block with the top of bottom plate.
The link block is elastic buffer block.
Compared with prior art, the present invention haing the following advantages：
The wheel detection clamp and with its manipulator design it is reasonable, mechanical-hand clamp can freely overturn wheel, carry
High wheel detection efficiency；Simultaneously can meet the needs such as transport, the overturning of more specification wheels, improve work efficiency, reduction at
This；It is simple in structure, it is light-weight, securely and reliably.
Description of the drawings
The content expressed by each width attached drawing of this specification and the label in figure are briefly described below：
Fig. 1 is robot manipulator structure schematic diagram of the present invention.
Fig. 2 is clamp structure schematic diagram of the present invention.
In figure：
1, vertical shaft；2, link block；3, bottom plate；4, clamp rail；5, guide groove；6, leading screw；7, bolt；8, feed screw nut；9, axis
Hold I；10, bearing block；11, pedestal；12, holder arms；13, pinion stand；14, gear wheel I；15, gear wheel II；16, gear wheel III；
17, pinion gear；18, bearing II；19, rotary shaft；20, folder is embraced；21, clamp ring；22, baffle；23, motor.
Specific implementation mode
Below against attached drawing, by the description of the embodiment, making to the specific implementation mode of the present invention further details of
Explanation.
As depicted in figs. 1 and 2, a kind of wheel detection mechanical-hand clamp is arranged in vertical shaft lower end, by link block 2 and stands
1 lower end of axis connects.Specifically include up-down mechanism, contracting mechanism, rotating mechanism.Up-down mechanism and contracting mechanism and rotation
Rotation mechanism is connected with each other, and is formed unified whole.Up-down mechanism is made of vertical shaft, clamp, and vertical shaft can drive mechanical-hand clamp
It realizes and moves up and down.
Link block 2 is elastic buffer block.The damage that manipulator accident collision is brought can be efficiently reduced, once it anticipates
Outer collision, buffer stopper have certain cushioning effect and are protected.
Wheel detection gripper floor is used for the clamp of clamping wheel with the relatively-movable a pair in 3 lower part of bottom plate is located at,
The inside of clamp, which is equipped with, embraces folder 20, embraces folder 20 and is located on clamp by rotary shaft, and clamp is equipped with embraces folder rotation for driving
Driving structure；Driving structure includes motor 23 and gear set, and rotary shaft 19 is connected to the motor by gear set.
Clamp includes holder arms 12 and the pedestal 11 that is located at the top of holder arms, and bottom plate lower part passes through screw body and pedestal phase
Even driving pedestal is moved along lead screw.Sliding rail is equipped at the top of holder arms between bottom plate lower part.
Rotary shaft 19 is located at clamp lower part by bearing.The inside for embracing folder 20 is equipped with for contacting the clamp ring clamped with wheel
21, clamp ring 21 is located at by shaft and is embraced on folder 20.Holder arms 12 are riser, and the outside of riser is equipped with groove, and gear set is located at recessed
In slot.The outside of holder arms is equipped with the baffle 22 for preventing sundries from entering.
Preferred specific examples are：
Contracting mechanism includes clamp rail 4, guide groove 5, leading screw 6, holder arms 12；Bottom plate 3 is arranged in contracting mechanism upper end, on bottom plate
Portion is connect with link block, two parts above and below reliable and stable connection；Bottom plate lower end stationary clamp rail 4；Leading screw 6 connects with holder arms
It connects, leading screw is driven by motor, can control guide groove opposed jaws rail translation, it is more to adapt to which adjustable clamp opens a grade size
Specification wheel realizes expansion contractile motion, implements release and gripping function to wheel；Leading screw both ends include bolt 7 and feed screw nut
8, and supported by bearing block 10 and bearing I 9；Bearing block 10 is fixed on pedestal, and pedestal is connected with clamp.Clamp can pass through contraction
Mechanism discharges wheel and is gripped function.
Rotating mechanism includes three gear wheels, a pinion gear and embraces folder, respectively gear wheel I 14, gear wheel II 15, big
Gear III 16 and pinion gear 17.Three gear wheels are installed on three pinion stands 13, are arranged inside holder arms 12；Canine tooth
Wheel can be driven by the motor being set under pedestal, and eventually by the transmission of movement, three gear wheels pass motor pattern
Pass the pinion gear；Pinion gear is connected by rotary shaft with folder is embraced；Rotary shaft passes through the bearing being arranged on the holder arms
II 18, with the function of rotation；Clamp ring 21 is arranged with wheel contact position in described armful of folder.
The setting of holder arms 12 can be transmitted to by movement and embrace folder there are three gear wheel and pinion gear, made to embrace and be clipped in clamping trolley
It realizes and rotates freely when wheel, shorten action time when wheel overturning, it is efficient.
It above are only and preferred embodiments of the present invention are illustrated, above-mentioned technical characteristic can form multiple hairs in any combination
Bright example scheme.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as use the present invention design and technical solution carry out various unsubstantialities improvement, or it is not improved will
The design and technical solution of the present invention directly applies to other occasions, within protection scope of the present invention.
Claims (10)
1. a kind of wheel detection clamp, including bottom plate are used for clamping wheel with the relatively-movable a pair in bottom plate lower part is located at
Clamp, the inside of the clamp, which is equipped with, embraces folder, it is characterised in that：Described armful of folder is located at by rotary shaft on clamp, the clamp
It is equipped with for driving the driving structure for embracing folder rotation.
2. wheel detection clamp as described in claim 1, it is characterised in that：The driving structure includes motor and gear set,
The rotary shaft is connected to the motor by gear set.
3. wheel detection clamp as claimed in claim 2, it is characterised in that：The clamp includes holder arms and is located at holder arms
The pedestal at top, bottom plate lower part, which is connected by screw body with pedestal, drives pedestal to be moved along lead screw.
4. wheel detection clamp as described in claim 1, it is characterised in that：The inside of described armful of folder is equipped with for being connect with wheel
The clamp ring clamped is touched, clamp ring is located at by shaft and is embraced on folder.
5. wheel detection clamp as claimed in claim 2, it is characterised in that：The rotary shaft is located at by bearing under clamp
Portion.
6. wheel detection clamp as claimed in claim 3, it is characterised in that：The outside of the holder arms is equipped with miscellaneous for preventing
The baffle that object enters.
7. wheel detection clamp as claimed in claim 3, it is characterised in that：The holder arms are riser, are set on the outside of riser
Fluted, gear set is in the grooves.
8. wheel detection clamp as claimed in claim 3, it is characterised in that：It is set between bottom plate lower part at the top of the holder arms
There is sliding rail.
9. a kind of manipulator, including link block and the column for lifting, it is characterised in that：Further include such as claim 1 to 8 times
The lower end of one wheel detection clamp, the column is connected by link block with the top of bottom plate.
10. manipulator as claimed in claim 9, it is characterised in that：The link block is elastic buffer block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810442283.3A CN108422438A (en) | 2018-05-10 | 2018-05-10 | Wheel detection clamp and manipulator with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810442283.3A CN108422438A (en) | 2018-05-10 | 2018-05-10 | Wheel detection clamp and manipulator with it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108422438A true CN108422438A (en) | 2018-08-21 |
Family
ID=63162687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810442283.3A Pending CN108422438A (en) | 2018-05-10 | 2018-05-10 | Wheel detection clamp and manipulator with it |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108422438A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109368249A (en) * | 2018-11-07 | 2019-02-22 | 天津中环领先材料技术有限公司 | A kind of grinding cleaning machine automatic charging device |
| CN111469148A (en) * | 2020-03-17 | 2020-07-31 | 大族激光科技产业集团股份有限公司 | Battery module turning device and battery module production system |
| CN112222702A (en) * | 2020-09-27 | 2021-01-15 | 苏州品超智能设备有限公司 | Robot cutting arm device and using method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06329399A (en) * | 1993-05-18 | 1994-11-29 | Hanshin Sharyo Kk | Sandwiching conveying device for conveyance material |
| CA2953963A1 (en) * | 2014-07-01 | 2016-01-07 | Arkk Engineering | Robotic wheel gripper with a tpm sensor |
| US20160346887A1 (en) * | 2015-06-01 | 2016-12-01 | Citic Dicastal Co., Ltd | Vehicle wheel positioning device |
| CN206465101U (en) * | 2017-01-09 | 2017-09-05 | 潍柴动力股份有限公司 | Clamp turning device |
| CN107351071A (en) * | 2017-08-31 | 2017-11-17 | 马鞍山马钢表面工程技术有限公司 | A kind of heavy-duty machinery hand holding-wheel switching mechanism |
| CN208179569U (en) * | 2018-05-10 | 2018-12-04 | 马鞍山钢铁股份有限公司 | A kind of wheel detection clamp and the manipulator with it |
-
2018
- 2018-05-10 CN CN201810442283.3A patent/CN108422438A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06329399A (en) * | 1993-05-18 | 1994-11-29 | Hanshin Sharyo Kk | Sandwiching conveying device for conveyance material |
| CA2953963A1 (en) * | 2014-07-01 | 2016-01-07 | Arkk Engineering | Robotic wheel gripper with a tpm sensor |
| US20160346887A1 (en) * | 2015-06-01 | 2016-12-01 | Citic Dicastal Co., Ltd | Vehicle wheel positioning device |
| CN206465101U (en) * | 2017-01-09 | 2017-09-05 | 潍柴动力股份有限公司 | Clamp turning device |
| CN107351071A (en) * | 2017-08-31 | 2017-11-17 | 马鞍山马钢表面工程技术有限公司 | A kind of heavy-duty machinery hand holding-wheel switching mechanism |
| CN208179569U (en) * | 2018-05-10 | 2018-12-04 | 马鞍山钢铁股份有限公司 | A kind of wheel detection clamp and the manipulator with it |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109368249A (en) * | 2018-11-07 | 2019-02-22 | 天津中环领先材料技术有限公司 | A kind of grinding cleaning machine automatic charging device |
| CN111469148A (en) * | 2020-03-17 | 2020-07-31 | 大族激光科技产业集团股份有限公司 | Battery module turning device and battery module production system |
| CN112222702A (en) * | 2020-09-27 | 2021-01-15 | 苏州品超智能设备有限公司 | Robot cutting arm device and using method |
| CN112222702B (en) * | 2020-09-27 | 2023-12-05 | 苏州品超智能设备有限公司 | Robot cutting arm device and use method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 243003 8 Jiuhua Road, Yushan, Ma'anshan, Anhui Applicant after: Ma'anshan Iron and Steel Co., Ltd. Address before: 243003 Intellectual Property Department, Technical Center No. 8, Hunan West Road, Yushan District, Ma'anshan City, Anhui Province Applicant before: Ma'anshan Iron and Steel Co., Ltd. |
|
| CB02 | Change of applicant information |