Aluminum alloy hub gripping device

Abstract

The utility model relates to an aluminum alloy hub gripping device which comprises a gripping device base (1), the gripping device base (1) is connected with the tail end of a mechanical arm through a rotating shaft and a support, an annular track (2) is installed on the gripping device base (1) through a rotating platform, grooves are formed in the upper surface and the lower surface of the annular track (2), the section of the annular track (2) is in an I shape, and the section of the annular track (2) is in an I shape. Toothed belts are arranged in grooves in the upper surface and the lower surface of the annular track (2), the observation device (4) is installed on the surface of the rotating platform at the circle center of the annular track (2), and the four grabbing arms (3) move on the annular track (2). According to the hub grabbing device, hub grabbing work of all working procedures can be completed through one grabbing device, and funds and manpower occupied when a production line is maintained can be effectively reduced.

Description

Technical Field

[0001] The utility model relates to a mechanical arm, in particular to an aluminum alloy wheel hub grabbing device. Background Art

[0002] During the production process, the wheel hub needs to go through multiple processing steps and be transported from the conveyor belt to multiple corresponding processing positions. However, each processing position needs to be equipped with a specific robot to grab the wheel hub, which results in a wheel hub production line containing multiple different types of robots. These robots have clear division of labor and are only used for grabbing in specific processes. Arranging multiple different types of robots on a production line will require the factory maintenance department to maintain multiple sets of completely different grabbing devices. Each robot needs to prepare spare parts, and the structure of each robot is different, which requires the factory to occupy a large amount of funds on robot spare parts and greatly increases the cost of training qualified maintenance technicians.

[0003] At present, the utility model with patent number CN207142283U discloses a grabbing type conveying device for wheel hub production, including a driving motor, a manipulator, and a chain. The driving motor is arranged in the middle of the frame, and a belt is installed on the output shaft of the driving motor. One side of the belt is connected to a driving wheel, a conveyor belt is arranged on the driving wheel, and a driven wheel is arranged at one end of the conveyor belt. A stepper motor is arranged at the rightmost end of the frame, and the manipulator is arranged on the stepper motor. The manipulator is arranged just above the conveyor belt, and the chain is arranged on the front and rear sides of the frame, and the chain is arranged between the driving wheel and the driven wheel. Its beneficial effect is that through the design of the grabbing type conveying device, the grabbing efficiency is higher and the safety performance is better when grabbing the wheel hub. However, the manipulator of this application scheme is still a traditional manipulator, and cannot effectively cope with a variety of grabbing working environments. Summary of the invention

[0004] In view of the problems existing in the above-mentioned prior art, the utility model provides an aluminum alloy wheel hub grasping device, which can complete the wheel hub grasping work of all processes with one grasping device, and can effectively reduce the funds and manpower occupied in maintaining the production line.

[0005] In order to achieve the above-mentioned purpose, the utility model, an aluminum alloy wheel hub grabbing device, includes a grabbing device base, an annular track, a grabbing arm, a belt tensioning front plate, a front fork, a telescopic rod, a front plate body, a rear fork, a belt, an elastic plate, a middle plate, a grabbing arm pitch control rod, a control rod base, a grabbing arm platform, a track groove, a base plate, a belt driving wheel, a pitch control rod connecting protrusion, a pulley and an observation device, the grabbing device base is connected to the end of the mechanical arm through a rotating shaft and a bracket, the grabbing device base is installed with an annular track through a rotating platform, grooves are provided on the upper and lower surfaces of the annular track, the cross-section of the annular track is I-shaped, toothed belts are provided in the grooves on the upper and lower surfaces of the annular track, an observation device is installed on the surface of the rotating platform at the center of the annular track, and four grabbing arms move on the annular track; the grabbing arm platform of the grabbing arm is opened toward the inner side of the annular track Track groove, the protrusion in the track groove is embedded in the groove on the side of the I-shaped circular track, and a groove is opened on the inner side of the track groove to install the ball bearing. The motor built into the grabbing arm platform engages the toothed belt in the groove on the side of the circular track through the gear in the track groove. The control rod base is fixedly installed on the outside of the grabbing arm platform. The grabbing arm platform is connected to two base plates through a rotating shaft. The top of the base plate is fixedly connected to the middle plate, and the middle plate is fixedly connected to the elastic plate. The middle section of the belt tensioning front plate is fixedly installed on the top of the elastic plate. There is a forty-five-degree angle between the belt tensioning front plate and the elastic plate. A belt driving wheel is installed between the two base plates through a rotating shaft, and a pitch control rod connecting protrusion is fixedly installed on the surface of the middle plate. The pitch control rod connecting protrusion and the control rod base are respectively hinged at both ends of the pitch control rod of the grabbing arm. The front and rear ends of the belt tensioning front plate are both installed with pulleys through the rotating shaft, and the belt rotates on the surfaces of the two pulleys and the belt driving wheel.

[0006] In addition, the aluminum alloy wheel hub grabbing device according to the above embodiment of the utility model may also have the following additional technical features:

[0007] As a further improvement scheme of the utility model, the belt tensioning front plate includes a front fork, a telescopic rod, a front plate body and a rear fork, the rear fork is fixedly installed at one end of the front plate body, the rear fork is installed with a pulley through a rotating shaft, the other end of the front plate body is opened with a groove, the telescopic rod is installed in the groove, the end of the telescopic rod is fixedly connected to the front fork, the front fork is installed with a pulley through a rotating shaft, and the middle section of the front plate body is fixedly connected to the top of the elastic plate.

[0008] As a further improvement of the utility model, the belt drive wheel has a built-in stepping motor.

[0009] As a further improvement of the utility model, the belt is made of soft rubber, fiber cloth and soft rubber from outside to inside, and anti-slip patterns are provided on both the inside and outside.

[0010] As a further improvement of the utility model, the base of the grabbing device has a built-in gyroscope, and the observation device includes a laser rangefinder and a camera.

[0011] Through the above scheme, the utility model has at least the following advantages: compared with conventional multi-robot arms, through four grabbing arms that can change the angle on the circular track, one grabbing device can meet the grabbing requirements of all processes, and then one grabbing device can be used to complete the wheel hub grabbing work of all processes, which can effectively reduce the funds and manpower occupied in maintaining the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a three-dimensional schematic diagram of the aluminum alloy wheel hub grabbing device;

[0013] Figure 2 It is a three-dimensional diagram of the grabbing arm of the aluminum alloy wheel grabbing device;

[0014] Figure 3 It is a three-dimensional picture of the grab arm of the aluminum alloy wheel grab device removing the belt;

[0015] Figure 4 It is a schematic diagram of the belt tensioning front plate structure of the aluminum alloy wheel hub grabbing device;

[0016] Figure 5 It is a schematic diagram of the grabbing arm of the aluminum alloy wheel grabbing device after adjusting the angle;

[0017] In the figure: 1. grabbing device base, 2. annular track, 3. grabbing arm, 3-1. belt tensioning front plate, 3-1-1. front fork, 3-1-2. telescopic rod, 3-1-3. front plate body, 3-1-4. rear fork, 3-2. belt, 3-3. elastic plate, 3-4. middle plate, 3-5. grabbing arm pitch control rod, 3-6. control rod base, 3-7. grabbing arm platform, 3-8. track groove, 3-9. base plate, 3-10. belt driving wheel, 3-11. pitch control rod connecting protrusion, 3-12. pulley, 4. observation device. DETAILED DESCRIPTION

[0018] The aluminum alloy wheel hub grabbing device of the present invention is described below with reference to the accompanying drawings.

[0019] In the first embodiment of the present application, Figures 1 to 3As shown, the aluminum alloy wheel hub grasping device (hereinafter referred to as "this patent") includes a grasping device base 1 and an observation device 4. The grasping device base 1 is connected to the end of the mechanical arm through a rotating shaft and a bracket. The grasping device base 1 is installed with a circular track 2 through a rotating platform. The upper and lower surfaces of the circular track 2 are provided with grooves. The cross-section of the circular track 2 is I-shaped. Toothed belts are arranged in the grooves on the upper and lower surfaces of the circular track 2. The observation device 4 is installed on the surface of the rotating platform at the center of the circular track 2. Four grasping arms 3 move on the circular track 2; the grasping arm platform 3-7 of the grasping arm 3 is provided with a track groove 3-8 toward the inner side of the circular track 2, the protrusion in the track groove 3-8 is embedded in the groove on the side of the I-shaped circular track 2, the inner side of the track groove 3-8 is provided with a groove for installing a ball bearing, and the motor built into the grasping arm platform 3-7 engages the side of the circular track 2 through the gear in the track groove 3-8. The toothed belt in the groove on the edge, the control rod base 3-6 is fixedly installed on the outside of the grabbing arm platform 3-7, the grabbing arm platform 3-7 is connected to two base plates 3-9 through a rotating shaft, the top of the base plate 3-9 is fixedly connected to the middle plate 3-4, the middle plate 3-4 is fixedly connected to the elastic plate 3-3, the top of the elastic plate 3-3 is fixedly installed with the middle section of the belt tensioning front plate 3-1, there is a forty-five degree angle between the belt tensioning front plate 3-1 and the elastic plate 3-3, the belt driving wheel 3-10 is installed between the two base plates 3-9 through a rotating shaft, the pitch control rod connecting protrusion 3-11 is fixedly installed on the surface of the middle plate 3-4, the pitch control rod connecting protrusion 3-11 and the control rod base 3-6 are hinged at both ends of the grabbing arm pitch control rod 3-5, the front and rear ends of the belt tensioning front plate 3-1 are both installed with pulleys 3-12 through rotating shafts, and the belt 3-2 rotates on the surfaces of the two pulleys 3-12 and the belt driving wheel 3-10.

[0020] The utility model announcement number is CN207142283U, which is a grabbing and conveying device for wheel hub production (hereinafter referred to as "this patent"). The manipulator of this patent is still a traditional manipulator and cannot effectively cope with various grabbing working environments. This patent uses a grabbing arm 3 that can change its angle on a circular track 2 to grab the wheel hub. It can automatically adjust the angle of the grabbing arm 3 according to the relative position of the wheel hub when the wheel hub is standing, lying or hanging, so that the grabbing arm 3 can complete the grabbing action at one time under any circumstances, effectively reducing the types of grabbing devices used in the production line, reducing spare parts costs and personnel training costs.

[0021] The structure of the second embodiment is basically the same as that of the first embodiment, except that Figure 4As shown, the belt tensioning front plate 3-1 comprises a front fork 3-1-1, a telescopic rod 3-1-2, a front plate body 3-1-3 and a rear fork 3-1-4, one end of the front plate body 3-1-3 is fixedly mounted with the rear fork 3-1-4, the rear fork 3-1-4 is mounted with a pulley 3-12 via a rotating shaft, the other end of the front plate body 3-1-3 is provided with a groove, the telescopic rod 3-1-2 is mounted in the groove, the end of the telescopic rod 3-1-2 is fixedly connected to the front fork 3-1-1, the front fork 3-1-1 is mounted with the pulley 3-12 via a rotating shaft, and the middle section of the front plate body 3-1-3 is fixedly connected to the top of the elastic plate 3-3. The distance between the two pulleys 3-12 on the belt tensioning front plate 3-1 is controlled by the telescopic rod 3-1-2, so that the belt 3-2 is kept tight, thereby better grasping the wheel hub.

[0022] In order to further optimize the working efficiency of the present application, the belt 3-2 can accurately assist the grasping arm 3 in grasping, and the belt drive wheel 3-10 has a built-in stepper motor. In order to increase the service life of the belt 3-2, the belt 3-2 is made of soft rubber, fiber cloth and soft rubber from the outside to the inside, and anti-slip grooves are provided on both the inside and the outside. In order to allow the present patent to better sense its own state and align with the wheel hub, the grasping device base 1 has a built-in gyroscope, and the observation device 4 includes a laser rangefinder and a camera.

[0023] When in use, install the aluminum alloy wheel hub grabbing device on the robotic arm and connect the corresponding lines, and the equipment can be put into use.

[0024] When the utility model is in use, the specific operations are as follows:

[0025] During use, when grabbing a lying wheel hub, the grabbing arm platform 3-7 of the grabbing arm 3 is driven by the built-in motor to move the four grabbing arms 3 along the circular track 2 to form a cross shape, and the robotic arm moves the grabbing device base 1 to directly above the wheel hub with the help of the observation device 4, and the grabbing arm pitch control rod 3-5 contracts to allow the elastic plate 3-3, middle plate 3-4 and base plate 3-9 of the grabbing arm 3 to unfold, and then the robotic arm descends to allow the wheel hub to enter the grabbing range of the grabbing arm 3, and finally, the grabbing arm pitch control rod 3-5 extends to allow the elastic plate 3-3, middle plate 3-4 and base plate 3-9 of the grabbing arm 3 to close, thereby grabbing the lying wheel hub.

[0026] When the present invention works in a machining center, the grabbing arm platform 3-7 of the grabbing arm 3 first drives the four grabbing arms 3 along the circular track 2 under the drive of the built-in motor. Figure 5As shown, two symmetrical grasping assemblies are formed. With the help of the observation device 4, the robot arm moves the grasping device base 1 to the top of the wheel hub. The grasping arm pitch control rod 3-5 contracts to allow the elastic plates 3-3, middle plates 3-4 and base plates 3-9 of the two groups of grasping arms 3 to unfold. Then the robot arm extends forward to allow the wheel hub to enter the grasping range of the grasping arm 3. Finally, the grasping arm pitch control rod 3-5 extends to allow the elastic plates 3-3, middle plates 3-4 and base plates 3-9 of the two groups of grasping arms 3 to close, grasp the wheel hub outside the machining center, and then send it into the machining center. The internal space of the processing center is small, and the grab arm pitch control rod 3-5 can continue to extend, so that the elastic plate 3-3 is deformed, thereby reducing the space occupied by the two groups of grab arms 3. When the hub is in place, the belt drive wheel 3-10 drives the belt 3-2 to rotate, and it can be separated from the grab arm 3. When the separated hub leaves the grab arm 3, it further squeezes the elastic plate 3-3 to deform, which not only ensures the smooth placement of the hub, but also ensures that it can be used in a confined space. When the belt 3-2 allows the hub to be separated from the grab arm 3, the mechanical arm will synchronously retreat to prevent damage to the hub and the processing center. After the processing of the processing center is completed, the closed grab arm 3 is extended into the processing center under the action of the mechanical arm. When extending, the belt drive wheel 3-10 drives the belt 3-2 to flip, and cooperates with the push of the mechanical arm to allow the hub to squeeze the elastic plate 3-3 again and enter the grasp of the grab arm 3. After the grasping is completed, the mechanical arm is lifted up a distance to take out the hub.

[0027] When grabbing the lying wheel hub from the side, firstly, the grabbing arm platform 3-7 of the grabbing arm 3 is driven by the built-in motor to move the four grabbing arms 3 along the annular track 2, as shown in FIG. Figure 5 As shown, two symmetrical grasping components are formed, and the robot arm moves the grasping device base 1 to the side of the wheel hub with the help of the observation device 4, and the grasping arm pitch control rod 3-5 contracts to allow the elastic plates 3-3, middle plates 3-4 and base plates 3-9 of the two groups of grasping arms 3 to unfold, and then the robot arm extends forward to allow the wheel hub to enter the range of the grasping arm 3, and the grasping arm pitch control rod 3-5 contracts and extends to allow the elastic plates 3-3, middle plates 3-4 and base plates 3-9 of the two groups of grasping arms 3 to close, thereby grasping the wheel hub from the side, and after being transported to a suitable position, the grasping arm pitch control rod 3-5 contracts to allow the elastic plates 3-3, middle plates 3-4 and base plates 3-9 of the two groups of grasping arms 3 to unfold and release the wheel hub.

[0028] In summary, the aluminum alloy wheel hub grabbing device of the embodiment of the utility model can flexibly set the grabbing arms 3 as needed through the four grabbing arms 3 that can change the angle on the circular track 2, and with the help of the elastic plate 3-3 and the rolling belt 3-2, the patent can better adapt to a variety of workstations and effectively improve the versatility, so that one grabbing device can meet the grabbing needs of all processes, thereby effectively reducing the funds and manpower occupied in maintaining the production line.

[0029] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An aluminum alloy wheel hub gripping device, comprising a gripping device base (1), the gripping device base (1) being connected to the end of a mechanical arm via a rotating shaft and a bracket, the gripping device base (1) being mounted on a circular track (2) via a rotating platform, characterized in that: The upper and lower surfaces of the annular track (2) are provided with grooves, the cross section of the annular track (2) is I-shaped, toothed belts are provided in the grooves on the upper and lower surfaces of the annular track (2), an observation device (4) is installed on the surface of the rotating platform at the center of the annular track (2), and four grabbing arms (3) move on the annular track (2); a grabbing arm platform (3-7) of the grabbing arm (3) is provided with a track groove (3-8) facing the inner side of the annular track (2), a protrusion in the track groove (3-8) is embedded in the groove on the side of the I-shaped annular track (2), a groove is provided on the inner side of the track groove (3-8) to install a ball bearing, a motor built into the grabbing arm platform (3-7) engages the toothed belt in the groove on the side of the annular track (2) through a gear in the track groove (3-8), a control rod base (3-6) is fixedly installed on the outer side of the grabbing arm platform (3-7), and the grabbing arm platform (3-7) is connected to the annular track (2) by a rotating shaft. Two base plates (3-9) are connected, the top of the base plate (3-9) is fixedly connected to the middle plate (3-4), the middle plate (3-4) is fixedly connected to the elastic plate (3-3), the top of the elastic plate (3-3) is fixedly installed with the middle section of the belt tensioning front plate (3-1), there is a forty-five degree angle between the belt tensioning front plate (3-1) and the elastic plate (3-3), a belt driving wheel (3-10) is installed between the two base plates (3-9) via a rotating shaft, a pitch control rod connecting protrusion (3-11) is fixedly installed on the surface of the middle plate (3-4), the two ends of the grabbing arm pitch control rod (3-5) are respectively hinged to the pitch control rod connecting protrusion (3-11) and the control rod base (3-6), the front and rear ends of the belt tensioning front plate (3-1) are both installed with pulleys (3-12) via a rotating shaft, and the belt (3-2) rotates on the surfaces of the two pulleys (3-12) and the belt driving wheel (3-10).

2. The aluminum alloy wheel hub grabbing device according to claim 1, characterized in that: The belt tensioning front plate (3-1) comprises a front fork (3-1-1) and a telescopic rod (3-1-2); a rear fork (3-1-4) is fixedly mounted on one end of the front plate body (3-1-3); a belt pulley (3-12) is mounted on the rear fork (3-1-4) via a rotating shaft; a groove is formed at the other end of the front plate body (3-1-3); the telescopic rod (3-1-2) is mounted in the groove; an end of the telescopic rod (3-1-2) is fixedly connected to the front fork (3-1-1); the front fork (3-1-1) is mounted on the belt pulley (3-12) via a rotating shaft; and a middle section of the front plate body (3-1-3) is fixedly connected to the top of the elastic plate (3-3).

3. The aluminum alloy wheel hub grabbing device according to claim 2, characterized in that: The belt drive wheel (3-10) has a built-in stepping motor.

4. The aluminum alloy wheel hub grabbing device according to claim 1, characterized in that: The belt (3-2) is made of soft rubber, fiber cloth and soft rubber from the outside to the inside, and anti-slip grooves are provided on both the inside and the outside.

5. The aluminum alloy wheel hub grabbing device according to claim 4, characterized in that: The gripping device base (1) has a built-in gyroscope, and the observation device (4) includes a laser rangefinder and a camera.

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