CN219075710U

CN219075710U - Axle housing flexible carrying gripper and robot thereof

Info

Publication number: CN219075710U
Application number: CN202223458405.9U
Authority: CN
Inventors: 简玉山
Original assignee: Shanghai Xingyan Industrial Intelligence Technology Co ltd
Current assignee: Shanghai Xingyan Industrial Intelligence Technology Co ltd
Priority date: 2022-12-23
Filing date: 2022-12-23
Publication date: 2023-05-26
Anticipated expiration: 2032-12-23

Abstract

The utility model provides an axle housing flexible carrying gripper and a robot thereof. The robot uses the axle housing flexible carrying gripper, the supporting piece is a robot interface board, and the robot interface board is connected with a mechanical arm of the robot. The utility model has flexible structure, strong compatibility and reliable performance, and can meet the requirement of automatic production.

Description

Axle housing flexible carrying gripper and robot thereof

Technical Field

The utility model relates to the technical field of axle housing conveying, in particular to an axle housing flexible conveying gripper and a robot thereof.

Background

At present, the axle housing machine tool is processed and is fed and discharged in a forklift or driving mode, a large bottleneck exists in improving production efficiency, and secondly, the quality of feeding and discharging of the forklift or driving is deviated due to different operation proficiency and responsibility of workers, and the overall quality consistency of finished products is poor. Moreover, the axle housing has more dimension specifications, and the blank adopts a casting mode, has inconsistent dimension and rough surface, and has higher requirements on the grabbing flexibility in the automatic process.

The utility model patent number 201821879912.0 discloses a rear axle housing self-locking carrying gripper, and discloses an axle housing carrying gripper which utilizes a self-locking cylinder to drive a gripper mechanism; the utility model patent number 201920352712.8 discloses a carrying robot gripper for intelligent manufacturing, and discloses an axle housing carrying gripper using a screw driving gripper mechanism. Although the axle housing carrying grippers are disclosed in the prior art, the problems of low automation degree, poor flexibility, poor compatibility, low reliability and the like exist.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present utility model aims to provide a flexible handling gripper for axle housing and a robot thereof, which are used for solving the technical problems of low automation degree, poor flexibility and poor compatibility in the prior art.

To achieve the above and other related objects, the present utility model provides an axle housing flexible handling gripper, which comprises a support member, a first gripper mechanism, a second gripper mechanism, a first lateral movement mechanism, a lifting mechanism and a second lateral movement mechanism, wherein the first lateral movement mechanism and the second lateral movement mechanism are installed on the support member at a lateral interval, the lifting mechanism is installed on the first lateral movement mechanism and driven to move laterally by the first lateral movement mechanism, the first gripper mechanism is installed on the lifting mechanism and driven to move up and down by the lifting mechanism, and the second gripper mechanism is installed on the second lateral movement mechanism and driven to move laterally by the second lateral movement mechanism.

In an embodiment of the present utility model, the first lateral movement mechanism includes a first ball screw, a first screw nut, a lateral rail assembly, a first lateral sliding plate, and a hand wheel, where the first ball screw is transversely mounted on the support member, the first screw nut is in threaded connection with the first ball screw, the lateral rail assembly is transversely mounted on the support member, the first lateral sliding plate is slidably mounted on the lateral rail assembly and connected with the first screw nut, and the hand wheel is connected with the first ball screw.

In an embodiment of the present utility model, a locking seat is installed on the support member, the first ball screw passes through the locking seat, and a locking handle for locking the first ball screw is provided on the locking seat.

In an embodiment of the present utility model, the lifting mechanism includes a vertical rail assembly, a lifting cylinder, and a lifting slide plate, where the vertical rail assembly is vertically installed on the first transverse slide plate, and the lifting slide plate is slidably installed on the vertical rail assembly and driven by the lifting cylinder to perform lifting movement.

In an embodiment of the present utility model, the second lateral movement mechanism includes a second ball screw, a second screw nut, a lateral rail assembly, a second lateral sliding plate, and a servo motor, where the second ball screw is transversely mounted on the support, the second screw nut is in threaded connection with the second ball screw, the lateral rail assembly is transversely mounted on the support, the second lateral sliding plate is slidably mounted on the lateral rail assembly and connected with the second screw nut, and the second ball screw is driven to rotate by the servo motor.

In an embodiment of the present utility model, the servo motor is connected with a planetary reducer, and the planetary reducer is connected with the second ball screw through a coupling.

In an embodiment of the utility model, the first gripper mechanism includes a first two-finger parallel opening and closing cylinder and a parallel clamping finger mounted on the first two-finger parallel opening and closing cylinder, and the first two-finger parallel opening and closing cylinder is mounted on the lifting mechanism; the second handle mechanism comprises a second two-finger parallel opening and closing cylinder and an arc-shaped clamping finger arranged on the first two-finger parallel opening and closing cylinder, and the second two-finger parallel opening and closing cylinder is arranged on the second transverse movement mechanism.

In an embodiment of the present utility model, opposite sides of the parallel finger and/or the arc finger are provided with saw-tooth structures.

In an embodiment of the utility model, the first gripper mechanism and the second gripper mechanism are respectively provided with a safety mechanism, the safety mechanism comprises a compression cylinder, a movable toothed plate and a fixed toothed plate, the compression cylinder is fixedly arranged on the first two-finger parallel opening and closing cylinder and the second two-finger parallel opening and closing cylinder, the fixed toothed plate is fixedly arranged on the parallel clamping finger and the arc clamping finger, the movable toothed plate is driven to lift by the compression cylinder, and the movable toothed plate and the fixed toothed plate can be mutually meshed to form locking fit.

In order to achieve the above and other related objects, the present utility model further provides a robot, which uses the axle housing flexible handling gripper according to any one of the above embodiments, wherein the support member is a robot interface board, and the robot interface board is connected with a mechanical arm of the robot.

As described above, the axle housing flexible carrying gripper and the robot thereof have the following beneficial effects:

firstly, in the utility model, a structure with flexibly adjustable space between the grippers is adopted, and accurate adjustment can be realized, so that on one hand, the compatibility of the grippers to axle housings with different lengths can be improved, and on the other hand, the uniformity of grabbing and placing can be ensured, the consistency of batch product processing can be improved, and automatic feeding and discharging can be facilitated.

Secondly, in the utility model, the first hand-grabbing mechanism can also realize lifting movement through the driving of the lifting mechanism, and can be matched with axle housings of different height types or avoid obstacles, so that single-claw grabbing and carrying operations can be realized, the flexibility is high, and the automation degree and the compatibility are further improved.

Thirdly, in the utility model, the safety mechanism is additionally arranged in the gripper, so that the gripper can be effectively prevented from being opened or closed accidentally in the use process, the anti-falling effect can be realized, and the structural stability and the safety are improved. And the structure that movable toothed plate and fixed toothed plate meshed has the characteristics that error matching nature is good to preventing the clamp finger of tongs from producing the movement of opening and shutting, has good practicality.

Fourth, the flexible handling gripper for the axle housing can be used for robots, and is beneficial to improving the automation degree of loading and unloading of the axle housing.

Drawings

Fig. 1 is a schematic structural view of the axle housing flexible handling grip of the present utility model.

Fig. 2 is a schematic structural view of a safety mechanism in the axle housing flexible handling grip of the present utility model.

Figure 3 is a view of the working state of the axle housing flexible handling grip of the present utility model.

Detailed Description

The utility model will be further illustrated with reference to specific examples. It is to be understood that these examples are merely illustrative of the principles of the present utility model and its effectiveness, and are not intended to limit the utility model. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the utility model. Accordingly, it is intended that all equivalent modifications and variations of the utility model be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Referring to fig. 1, the present utility model provides an axle housing flexible handling gripper, which generally includes a support member 1, a first lateral movement mechanism 2, a lifting mechanism 3, a first gripper mechanism 4, a safety mechanism 5, a second lateral movement mechanism 6, and a second gripper mechanism 7. Wherein, first lateral movement mechanism 2 and second lateral movement mechanism 6 transversely interval install on support 1, and elevating system 3 installs on first lateral movement mechanism 2 to can drive through first lateral movement mechanism 2 and carry out lateral movement, first gripper mechanism 4 installs on elevating system 3, and can drive through elevating system 3 and go up and down to remove, second gripper mechanism 7 installs on second lateral movement mechanism 6, and can drive through second lateral movement mechanism 6 and carry out lateral movement. The safety mechanism 5 is mounted on the first grip mechanism 4 and the second grip mechanism 7.

As shown in fig. 1, the first lateral movement mechanism 2 includes a first ball screw 21, a first front screw seat 22, a first rear screw seat 23, a first screw nut 24, a lateral guide rail assembly 25, a first lateral slide plate 26, a hand wheel 27, and a locking handle 28. The first ball screw 21 is transversely mounted above the support 1 by a first front screw seat 22 and a second rear screw seat 23, and a first screw nut 24 is screwed at one end to the first ball screw 21 and at the other end to a first transverse slide plate 26. The transverse guide assembly 25 is parallel to the first ball screw 21, is mounted at the bottom of the support 1, and guides the first ball screw 21 when the first screw nut 24 moves transversely. The first transverse sliding plate 26 is installed on the transverse guide rail assembly 25 and is used for driving the first gripper mechanism 4 to realize transverse direction movement, so that the position of the first gripper mechanism 4 in the horizontal direction is matched, and the grabbing and carrying operations of axle housings with different lengths are realized. The hand wheel 27 is installed at one end of the first ball screw 21, and is used for manually rotating the hand wheel 27 to drive the first ball screw 21 to rotate, so as to drive the first screw nut 24 to move transversely, and under the guiding action of the transverse guide rail assembly 25, the first gripper mechanism 4 is driven to move in the horizontal direction. The locking seat is installed at support piece 1 top, and first ball screw 21 passes the locking seat, is equipped with the locking handle 28 that is used for locking first ball screw 21 on the locking seat, and after first tongs mechanism 4 adjusted suitable position through hand wheel 27, rotatory locking handle 28 is used for locking first ball screw 21, prevents first ball screw 21 rotation, and then prevents that first tongs mechanism 4 from moving in the horizontal direction.

As shown in fig. 1, the lifting mechanism 3 includes a vertical guide rail assembly 31, a lifting cylinder 32 and a lifting slide plate 33, and the lifting mechanism 3 is used for driving the first gripper mechanism 4 to move in the vertical direction, so as to match axle housings of different height types to grip, or is used for the first gripper mechanism 4 to avoid an obstacle, thereby realizing single-claw gripping of the second gripper mechanism 7. The vertical rail assembly 31 is vertically mounted on the first lateral slide 26 for vertical lifting guiding of the lifting mechanism 3. The lifting cylinder 32 is a power source for lifting movement, one end of the lifting cylinder 32 is installed on the first transverse sliding plate 26, and the rod end of the lifting cylinder 32 is connected with the lifting sliding plate 33. The elevating slide 33 is slidably mounted on the vertical rail assembly 31 to be movable in a vertical direction.

As shown in fig. 1, the first gripper mechanism 4 includes a first two-finger parallel opening and closing cylinder 41 and parallel gripper fingers 42. The first two-finger parallel opening and closing cylinder 41 is installed on the lifting slide plate 33, lifting can be achieved under the vertical movement effect of the lifting slide plate 33, and the first two-finger parallel opening and closing cylinder 41 can achieve opening and closing of the parallel clamping fingers 42 under the gas control effect, so that the axle housing can be loosened and clamped. The parallel clamping fingers 42 are mounted on the fingers of the first two-finger parallel opening and closing cylinder 41, and are designed in parallel, so as to clamp the rectangular section of the axle housing, and referring to fig. 3, the opposite sides of the parallel clamping fingers 42 and the contact part of the axle housing are designed in a saw-tooth shape, so as to increase the friction coefficient and further increase the clamping force.

As shown in fig. 1, the second traverse mechanism 6 includes a second ball screw 61, a second front screw seat 62, a second rear screw seat 63, a second screw nut 64, a second traverse slide 65, a coupling 66, a planetary reducer 67, and a servo motor 68. The second ball screw 61 is mounted laterally above the support 1 by a second front screw seat 62 and a second rear screw seat 63. A second screw nut 64 is screwed at one end to the second ball screw 61 and at the other end to a second transverse slide 65. The second transverse sliding plate 65 is installed on the transverse guide rail assembly 25 and is used for driving the second gripper mechanism 7 to realize transverse movement, so that the position of the second gripper mechanism 7 in the horizontal direction is matched, and the grabbing and carrying operations of axle housings with different lengths are realized. The coupling 66 is installed between the second ball screw 61 and the planetary reducer 67 for transmitting torque, and eliminates the influence of the second ball screw 61 and the planetary reducer 67 not being coaxial. The planetary reducer 67 is installed between the servo motor 68 and the coupling 66, and is used for reducing speed and increasing torque. The servo motor 68 is a power source of the second transverse movement mechanism 6, and can accurately control the horizontal position of the second gripper mechanism 7, so that the gripping and carrying of axle housings with different lengths can be accurately realized.

As shown in fig. 1, the second gripper mechanism 7 includes a second two-finger parallel opening and closing cylinder 71 and an arc-shaped gripping finger 72. The second two-finger parallel opening and closing cylinder 71 is mounted on the second transverse slide plate 65, and the second two-finger parallel opening and closing cylinder 71 can open and close the arc-shaped clamping finger 72 under the gas control effect, so that the axle housing can be loosened and clamped. The arc-shaped clamping finger 72 is mounted on the finger of the air cylinder, and is of a circular design, so as to clamp the shape of the circular section of the axle housing, and referring to fig. 3, the opposite side surfaces of the arc-shaped clamping finger 72 and the contact part of the axle housing are of a saw-tooth design, so as to increase the friction coefficient and further increase the clamping force.

The first gripper mechanism 4 and the second gripper mechanism 7 are respectively provided with a safety mechanism 5. As shown in fig. 1 and 2, the safety mechanism 5 includes a pressing cylinder 51, a cylinder mount 52, a movable toothed plate 53, and a fixed toothed plate 54. The pressing cylinder 51 is mounted on a cylinder mounting seat 52, and the cylinder rod can move up and down under the action of gas. The cylinder mounting seat 52 is mounted on the first two-finger parallel opening and closing cylinder 41 and the second two-finger parallel opening and closing cylinder 71, so as to realize the relative fixation of the cylinder block. The movable toothed plate 53 is made of wear-resistant materials, the lower end face of the movable toothed plate 53 is machined into inclined teeth, after the pressing cylinder 51 drives the movable toothed plate 53 to move downwards, the inclined teeth on the lower end face of the movable toothed plate 53 are meshed with the inclined teeth on the upper end face of the fixed toothed plate 54, and the teeth are meshed with the teeth to prevent accidental opening and closing of fingers of the first two-finger parallel opening and closing cylinder 41 and the second two-finger parallel opening and closing cylinder 71, so that the anti-falling purpose is achieved. The fixed toothed plate 54 is arranged on the parallel clamping finger 42 and the arc clamping finger 72, the upper end surface of the fixed toothed plate 54 is processed into helical teeth, and the helical teeth are matched with the lower end surface of the movable toothed plate 53 to form an anti-falling safety mechanism together.

The utility model also provides a robot, wherein the axle housing flexible carrying gripper is used, the supporting piece 1 is a robot interface board, the robot interface board is formed by welding carbon steel plates, a mechanical interface connected with a mechanical arm of the robot is reserved at the top, and the robot interface board is connected with the mechanical arm of the robot.

The process of grabbing the axle housing by the robot gripper is as follows:

in the initial state, the movable toothed plates 53 of the two-side safety mechanisms 5 are driven by the compression cylinder 51 to leave the fixed toothed plates 54, the parallel clamping fingers 42 of the first gripper mechanism 4 are in an open state in the open state of the first two-finger parallel opening and closing cylinder 41, and the arc clamping fingers 72 of the second gripper mechanism 7 are in an open state in the open state of the second two-finger parallel opening and closing cylinder 71;

when grabbing an axle housing, manually rotating the hand wheel 27 to a proper position, ensuring that the first gripper mechanism 4 is matched to a proper position, grabbing a rectangular section of the axle housing, and locking the first ball screw 21 by using the locking handle 28 as a reference point for the gripper to match the length of the axle housing;

the robot drives the axle housing gripper to be positioned above the axle housing, the servo motor 68 of the second transverse movement mechanism 6 is started, the second ball screw 61 is rotated to drive the second gripper mechanism 7 to move to a proper position, the length of the axle housing to be gripped is matched, the second gripper mechanism 7 is ensured to be capable of gripping the round section of the axle housing, then the gripper descends and moves to the position where the axle housing is to be gripped;

the first two-finger parallel opening and closing cylinder 41 of the first hand grasping mechanism 4 is closed to drive the parallel clamping fingers 42 to clamp the rectangular section of the axle housing; the second two-finger parallel opening and closing cylinder 71 of the second hand grasping mechanism 7 is simultaneously closed to drive the arc-shaped clamping finger 72 to clamp the axle housing circular section;

the compression cylinder 51 of the safety mechanism 5 on the two sides extends out to drive the movable toothed plate 53 to descend and is meshed with the fixed toothed plate 54 to finish the anti-falling action;

and finally, carrying the axle housing by the carrying gripper under the drive of the robot to run in space, so as to carry the axle housing.

In conclusion, the clamping jaw can be transversely and vertically adjusted, and the safety mechanism is additionally arranged, so that the clamping jaw is flexible in structure, high in compatibility and reliable in performance, and can meet the requirement of automatic production. Therefore, the utility model effectively overcomes various defects in the prior art and has high industrial utilization value.

Claims

1. The utility model provides a flexible transport tongs of axle housing, includes support piece (1), first tongs mechanism (4) and second tongs mechanism (7), its characterized in that: still include first lateral movement mechanism (2), elevating system (3) and second lateral movement mechanism (6), first lateral movement mechanism (2) and second lateral movement mechanism (6) are transversely installed on support piece (1) at the interval, elevating system (3) are installed on first lateral movement mechanism (2) and are passed through first lateral movement mechanism (2) drive carries out lateral shifting, first tongs mechanism (4) are installed on elevating system (3) and are passed through elevating system (3) drive carries out elevating movement, second tongs mechanism (7) are installed on second lateral movement mechanism (6) and are passed through second lateral movement mechanism (6) drive carries out lateral shifting.

2. The axle housing flexible handling grip of claim 1, wherein: the first transverse movement mechanism (2) comprises a first ball screw (21), a first screw nut (24), a transverse guide rail assembly (25), a first transverse sliding plate (26) and a hand wheel (27), wherein the first ball screw (21) is transversely arranged on the supporting piece (1), the first screw nut (24) is in threaded connection with the first ball screw (21), the transverse guide rail assembly (25) is transversely arranged on the supporting piece (1), and the first transverse sliding plate (26) is slidably arranged on the transverse guide rail assembly (25) and is connected with the first screw nut (24), and the hand wheel (27) is connected with the first ball screw (21).

3. The axle housing flexible handling grip of claim 2, wherein: the support piece (1) is provided with a locking seat, the first ball screw (21) penetrates through the locking seat, and the locking seat is provided with a locking handle (28) for locking the first ball screw (21).

4. The axle housing flexible handling grip of claim 2, wherein: the lifting mechanism (3) comprises a vertical guide rail assembly (31), a lifting cylinder (32) and a lifting slide plate (33), wherein the vertical guide rail assembly (31) is vertically arranged on the first transverse slide plate (26), and the lifting slide plate (33) is slidably arranged on the vertical guide rail assembly (31) and driven to lift through the lifting cylinder (32).

5. The axle housing flexible handling grip of claim 1, wherein: the second transverse movement mechanism (6) comprises a second ball screw (62), a second screw nut (64), a transverse guide rail assembly (25), a second transverse sliding plate (65) and a servo motor (68), wherein the second ball screw (62) is transversely mounted on the support (1), the second screw nut (64) is in threaded connection with the second ball screw (62), the transverse guide rail assembly (25) is transversely mounted on the support (1), and the second transverse sliding plate (65) is slidably mounted on the transverse guide rail assembly (25) and is connected with the second screw nut (64), and the second ball screw (62) is driven to rotate by the servo motor (68).

6. The axle housing flexible handling grip of claim 5, wherein: the servo motor (68) is connected with the planetary reducer (67), and the planetary reducer (67) is connected with the second ball screw (62) through the coupler (66).

7. The axle housing flexible handling grip of claim 1, wherein: the first gripper mechanism (4) comprises a first two-finger parallel opening and closing cylinder (41) and parallel clamping fingers (42) arranged on the first two-finger parallel opening and closing cylinder (41), and the first two-finger parallel opening and closing cylinder (41) is arranged on the lifting mechanism (3); the second hand grabbing mechanism (7) comprises a second two-finger parallel opening and closing cylinder (71) and an arc-shaped clamping finger (72) arranged on the second two-finger parallel opening and closing cylinder (71), and the second two-finger parallel opening and closing cylinder (71) is arranged on the second transverse movement mechanism (6).

8. The axle housing flexible handling grip of claim 7, wherein: the opposite sides of the parallel clamping fingers (42) and/or the arc-shaped clamping fingers (72) are provided with saw-tooth structures.

9. The axle housing flexible handling grip of claim 7, wherein: the novel multifunctional hand-held safety device is characterized in that a safety mechanism (5) is arranged on the first hand-held mechanism (4) and the second hand-held mechanism (7) respectively, the safety mechanism (5) comprises a pressing cylinder (51), a movable toothed plate (53) and a fixed toothed plate (54), the pressing cylinder (51) is fixedly arranged on a first two-finger parallel opening and closing cylinder (41) and a second two-finger parallel opening and closing cylinder (71), the fixed toothed plate (54) is fixedly arranged on a parallel clamping finger (42) and an arc clamping finger (72), the movable toothed plate (53) is driven to lift through the pressing cylinder (51), and the movable toothed plate (53) and the fixed toothed plate (54) can be mutually meshed to form locking fit.

10. A robot, characterized in that: use of an axle housing flexible handling grip according to any one of claims 1-9, said support (1) being a robot interface board, said robot interface board being connected to a robot arm.