A clamp for low-pressure casting motor casing

Abstract

The present invention provides a clamp for a low-pressure casting motor housing, which is used to be connected to the end of a manipulator, and includes a clamp finger, a transmission device, a transmission mechanism, and a forward and reverse motor; a first groove extending toward the other end face is provided on one end face of the clamp body, and the first groove is used to install the forward and reverse motor, and a fixing plate is provided on the notch of the first groove; the transmission device is installed on the clamp finger, and the transmission device is connected to the transmission mechanism on the clamp body, and the transmission mechanism is connected to the forward and reverse motor; the transmission mechanism is a bevel gear set and a gear shaft, and the bevel gear set includes three bevel gears, bevel gear one and bevel gear three are parallel to each other, and bevel gear one and bevel gear three are respectively vertically connected to bevel gear two, and one end of bevel gear one and bevel gear three is connected to the transmission device, and the other end is connected to bevel gear two, and the bevel gear is connected to the forward and reverse motor. The present invention has a reasonable structure, can accurately clamp a workpiece and will not damage the workpiece.

Description

Technical Field

[0001] The invention relates to the field of industrial manipulators, and in particular to a clamper for a low-pressure cast motor casing. Background Art

[0002] The robot can imitate certain movements of human hands and arms and is widely used in various processing industries, especially automated assembly lines, to partially replace manual operations and reduce labor intensity and labor risks. In the production process of die-casting machinery, it is generally necessary to place and retrieve the workpiece. The workpiece to be processed is placed in the processing station. After the processing is completed, the processed workpiece is taken out and enters the next processing step. The current manipulator's gripper generally adopts a finger shape for clamping, and the finger shape cannot guarantee the stability of clamping for some larger workpieces. In addition, in the prior art, such as CN201711332055.2, the publication date is 2019.06.21, which discloses a manipulator, specifically including a driving device on one side of the manipulator, a flange on the other side of the manipulator support, the output shaft of the driving device is connected to the flange axis, the flange is hinged with a flange connecting rod at a position offset from its axis, the flange connecting rod and the finger connecting rod are hinged through a protruding shaft, the connecting hand support is provided with a guide groove corresponding to the protruding shaft, the protruding shaft is slidably arranged in the guide groove, and the finger connecting rod is hingedly connected to the finger through an axis. The structure drives the flange to move through the driving device, and the flange drives the connecting rod to move in the guide groove to achieve the clamping operation. However, since the structure drives the flange to drive the connecting rod to move in the guide groove through the driving device, if the connecting rod deviates up and down in the guide groove, it is easy to cause inaccurate clamping, and the structure is relatively complicated. Summary of the invention

[0003] In order to solve the problems existing in the prior art, the present invention provides a clamp for a low-pressure casting motor casing which has a reasonable structure and can accurately clamp a workpiece.

[0004] To achieve the above object, a low-pressure cast motor housing clamp is used to connect to the end of a manipulator, and the clamp includes a clamp body, a clamp finger, a transmission device, a transmission mechanism, and a forward and reverse motor;

[0005] A first groove extending toward the other end face is provided on one end face of the clamp body, the first groove is used to install the forward and reverse motor, a fixing plate is provided on the notch of the first groove, the fixing plate is fixed to the notch of the first groove by means of screws, a through hole corresponding to the output shaft of the forward and reverse motor is provided on the fixing plate, the output shaft of the forward and reverse motor is connected to the transmission mechanism through the through hole, and two mounting plates extending away from one end face are provided on the other end face of the clamp body, mounting holes are provided on the two mounting plates, a transmission device is provided on the mounting plates, the transmission device is connected to the transmission mechanism, and the transmission mechanism is connected to the forward and reverse motor;

[0006] The transmission device is installed on the gripper finger, the transmission device is connected to the transmission mechanism on the body, and the transmission mechanism is connected to the forward and reverse motor; the transmission device includes a rotating shaft, a fixed shaft, and a connecting rod, the fixed shaft is fixed on the gripper finger, and the connecting rod connects the fixed shaft and the rotating shaft;

[0007] The transmission mechanism is a bevel gear set, including a first bevel gear. The first bevel gear and the third bevel gear are parallel to each other, and the first bevel gear and the third bevel gear are respectively vertically connected to the second bevel gear. One end of the first bevel gear and the third bevel gear are connected to the rotating shaft in the transmission device, the gear surfaces of the first bevel gear and the third bevel gear are respectively connected to the second bevel gear, and the second bevel gear is connected to the forward and reverse motor.

[0008] The above arrangement is that a first groove for installing a forward and reverse motor is provided on the clamp body, and then the forward and reverse motor is connected to the transmission mechanism, and the transmission mechanism is driven to move by the rotation of the forward and reverse motor, and the movement of the transmission mechanism drives the movement of the rotating shaft in the transmission device, and the rotating shaft drives the connecting rod to move to realize the opening and closing of the clamp fingers. The structure is simple, and the transmission mechanism adopts a bevel gear set, which is connected to the forward and reverse motor through the second bevel gear to drive the first bevel gear and the third bevel gear to move to realize the opening and closing of the clamp fingers, which can ensure that the workpiece is ready to be clamped.

[0009] Furthermore, a force sensor is provided on the forward and reverse motor of the clamp. By setting the force sensor on the forward and reverse motor of the clamp, the clamping force of the clamp is measured. When the clamping force of the clamp is greater than the required clamping force, the forward and reverse motor stops working, and the clamp can clamp the workpiece while preventing the clamp from damaging the workpiece.

[0010] Furthermore, the clamp body is installed at the end of the manipulator. The above arrangement facilitates the installation of the clamp at the end of the manipulator to realize lifting and retracting operations.

[0011] Furthermore, the clamp finger includes a first clamp finger portion and a second clamp finger portion, and the first clamp finger portion and the second clamp finger portion constitute a clamp hand type clamp. The above arrangement is formed by the clamp finger through two finger portions, which is convenient for clamping the workpiece.

[0012] Furthermore, the fixed shafts have two fixed shafts, which are fixedly connected, one fixed shaft is fixed at the tail of the clamp near the end of the clamp, and the other fixed shaft is fixed at the tail of the clamp near the tail. The above arrangement, by setting two fixed shafts, one fixed shaft is set at the tail of the clamp, and the other is set at the tail of the clamp near the end, prevents the problem of being unable to drive the clamp finger to move due to the use of one fixed shaft.

[0013] Furthermore, the transmission device also includes a rotating shaft connection seat and a fixed shaft connection seat, the side wall of the rotating shaft connection seat is provided with a first connecting rod fixing hole, the side wall of the fixed shaft connection seat is provided with a second connecting rod fixing hole, the lower end of the rotating shaft is connected to the first bevel gear or the third bevel gear, the rotating shaft connection seat is provided with a first fixing hole corresponding to the upper end of the rotating shaft, the upper end of the rotating shaft passes through the mounting hole to be rotatably connected with the first fixing hole and the connecting rod, the upper end of the fixed shaft is provided with a second fixed shaft, the fixed shaft connection seat is provided with a second fixing hole corresponding to the second fixed shaft, the second fixed shaft of the fixed shaft passes through the mounting hole to be fixedly connected with the second fixing hole and the connecting rod, and the lower end of the fixed shaft is fixed on the clamp finger. In the above arrangement, the rotating shaft is connected through the rotating shaft connection seat, the fixed shaft is connected through the fixed shaft connection seat, and the rotating shaft connection seat and the fixed shaft connection seat are provided with connecting rods, which makes the structure simple and facilitates the more reliable connection of the rotating shaft and the fixed shaft with the connecting rod.

[0014] Furthermore, a third fixing shaft is provided at the lower end of the fixing shaft, a third fixing hole is provided at a position corresponding to the third fixing shaft on the gripper finger, and the third fixing shaft passes through the third fixing hole and is fixedly connected by bolts. With the above arrangement, since the lower end of the fixing shaft is connected to the fixing shaft by bolts, the reliability of the fixing of the lower end of the fixing shaft is ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of the clamp structure.

[0016] Figure 2 Schematic diagram of the disassembled structure of the gripper.

[0017] Figure 3 It is a schematic diagram of the transmission mechanism structure. DETAILED DESCRIPTION

[0018] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] like Figure 1 and 3 As shown, a clamp for a low-pressure casting motor housing is used to be installed at the end of a manipulator, and the clamp includes a clamp finger 1, a transmission device 2, a transmission mechanism 3, a forward and reverse motor 4, and a clamp body 5;

[0020] A first groove 51 extending toward the other end face is provided on one end face of the clamp body 5, and the first groove 51 is used to install the forward and reverse motor 4. A fixing plate 52 is provided on the notch of the first groove 51, and the fixing plate 52 is fixed on the notch of the first groove 51 by screws. A through hole 521 corresponding to the output shaft of the forward and reverse motor is provided on the fixing plate 52, and the output shaft of the forward and reverse motor 4 is connected to the transmission mechanism through the through hole 521. Two mounting plates 53 extending away from one end face are provided on the other end face of the clamp body 5, and mounting holes 531 are provided on the two mounting plates 53, and a transmission device is provided on the mounting plate 531, and the transmission device 2 is connected to the transmission mechanism 3, and the transmission mechanism is connected to the forward and reverse motor 4;

[0021] The gripper finger 1 comprises a first gripper finger portion 11 and a second gripper finger portion 12, the first gripper finger portion and the second gripper finger portion constitute a clamp hand gripper, and the clamp hand gripper finger can grip workpieces in the shape of shafts, disks, and sleeves;

[0022] The transmission device 2 includes a rotating shaft 34, a fixed shaft 21, and a connecting rod 22. The fixed shaft 21 is fixed on the clamp finger 1, and the connecting rod 22 connects the fixed shaft 21 and the rotating shaft 34. In this embodiment, the transmission device 2 has two sets, and the number of fixed shafts 21 in each set of the transmission device 2 is two; the two fixed shafts 21 are connected by the connecting rod 22, and the rotating shafts 34 in the two sets of transmission devices 2 are respectively connected to the mounting holes on the two mounting plates, one fixed shaft is fixed at the tail of the clamp near the end of the clamp, and the other fixed shaft is fixed at the tail of the clamp near the tail.

[0023] The transmission device 2 also includes a rotating shaft connecting seat 341 and a fixed shaft connecting seat 211. The side wall of the rotating shaft connecting seat 341 is provided with a first connecting rod fixing hole 3411, and the side wall of the fixed shaft connecting seat 211 is provided with a second connecting rod fixing hole 2111. The lower end of the rotating shaft 34 is connected to the first bevel gear or the third bevel gear, and the rotating shaft connecting seat 341 is provided with a first fixing hole 3412 corresponding to the upper end of the rotating shaft 34. The upper end of the rotating shaft 34 passes through the mounting hole 531 and is rotatably connected to the first fixing hole 3412 and the connecting rod. In this embodiment, a groove is provided on the upper end of the rotating shaft, and a first fixing hole is provided correspondingly. There is a groove, and a key (not shown in the figure) is provided in the groove of the first fixing hole to realize the rotational connection; a second fixing shaft 212 is provided at the upper end of the fixed shaft 21, and a second fixing hole 2112 corresponding to the second fixed shaft 212 is provided on the fixed shaft connecting seat 211, and the second fixed shaft 212 of the fixed shaft passes through the mounting hole 341 and is fixedly connected to the second fixing hole 2112 and the connecting rod, and a third fixing shaft 213 is provided at the lower end of the fixed shaft 212, and a third fixing hole 11 is provided at a position corresponding to the third fixed shaft 213 on the clamper finger 1, and the third fixed shaft 213 passes through the third fixing hole 11 and is fixedly connected by bolts.

[0024] The transmission mechanism 3 is a bevel gear set 30, including a first bevel gear 31, a second bevel gear 32, and a third bevel gear 33. The first bevel gear 31 and the third bevel gear 33 are parallel to each other, and the first bevel gear 31 and the third bevel gear 33 are respectively vertically connected to the second bevel gear 32, one end of the first bevel gear 31 and the third bevel gear 33 are connected to the rotating shaft 34 in the transmission device 2, the gear surfaces of the first bevel gear 31 and the third bevel gear 33 are respectively connected to the second bevel gear 32, and the second bevel gear 32 is connected to the forward and reverse motor 4.

[0025] Working principle of the clamp: control the forward and reverse motor to move forward, the forward movement of the forward and reverse motor drives the second gear to rotate clockwise, since the first gear and the third gear are respectively connected to the second gear, the first gear and the third gear move in opposite directions, the movement of the first gear and the third gear drives the rotating shaft to rotate, and the finger part and the second clamp finger part are driven to open through the connecting rod, control the forward and reverse motor to move reversely, the reverse movement of the forward and reverse motor drives the second gear to rotate counterclockwise, since the first gear and the third gear are respectively connected to the second gear, the first gear and the third gear move in opposite directions, the movement of the first gear and the third gear drives the rotating shaft to rotate, and the finger part and the second clamp finger part are driven to close through the connecting rod.

Claims

1. A low-pressure cast motor housing holder, used to connect to the end of a manipulator, characterized in that: The gripper includes a gripper body, gripper fingers, a transmission device, a transmission mechanism, and a forward and reverse motor; A first groove extending toward the other end face is provided on one end face of the clamp body, the first groove is used to install the forward and reverse motor, a fixing plate is provided on the notch of the first groove, the fixing plate is fixed to the notch of the first groove by means of screws, a through hole corresponding to the output shaft of the forward and reverse motor is provided on the fixing plate, the output shaft of the forward and reverse motor is connected to the transmission mechanism through the through hole, and two mounting plates extending away from one end face are provided on the other end face of the clamp body, mounting holes are provided on the two mounting plates, a transmission device is provided on the mounting plates, the transmission device is connected to the transmission mechanism, and the transmission mechanism is connected to the forward and reverse motor; The transmission device is installed on the gripper finger, the transmission device is connected to the transmission mechanism, and the transmission mechanism is connected to the forward and reverse motor; the transmission device includes a rotating shaft, a fixed shaft, and a connecting rod, the fixed shaft is fixed on the gripper finger, the connecting rod connects the fixed shaft and the rotating shaft, there are two fixed shafts, the two fixed shafts are fixedly connected by the connecting rod, one fixed shaft is fixed at the tail of the gripper near the end of the gripper, and the other fixed shaft is fixed at the tail of the gripper near the tail; The transmission device also includes a rotating shaft connecting seat and a fixed shaft connecting seat, a first connecting rod fixing hole is provided on the side wall of the rotating shaft connecting seat, a second connecting rod fixing hole is provided on the side wall of the fixed shaft connecting seat, the lower end of the rotating shaft is connected to the first bevel gear or the third bevel gear, the rotating shaft connecting seat is provided with a first fixing hole corresponding to the upper end of the rotating shaft, the upper end of the rotating shaft passes through the mounting hole and is rotatably connected to the first fixing hole and the connecting rod, the upper end of the fixed shaft is provided with a second fixed shaft, the fixed shaft connecting seat is provided with a second fixing hole corresponding to the second fixed shaft, the second fixed shaft of the fixed shaft passes through the mounting hole and is fixedly connected to the second fixing hole and the connecting rod, and the lower end of the fixed shaft is fixed on the clamp finger; The transmission mechanism is a bevel gear set, including a first bevel gear. The first bevel gear and the third bevel gear are parallel to each other, and the first bevel gear and the third bevel gear are respectively vertically connected to the second bevel gear. One end of the first bevel gear and the third bevel gear are connected to the rotating shaft in the transmission device, the gear surfaces of the first bevel gear and the third bevel gear are respectively connected to the second bevel gear, and the second bevel gear is connected to the forward and reverse motor.

2. The clamp for a low-pressure casting motor housing according to claim 1, characterized in that: A force sensor is provided on the forward and reverse motor of the clamp.

3. The holder for a low-pressure casting motor housing according to claim 1, characterized in that: The gripper body is installed at the end of the manipulator.

4. The holder for a low-pressure cast motor housing according to claim 1, characterized in that: The gripper finger comprises a first gripper finger portion and a second gripper finger portion, and the first gripper finger portion and the second gripper finger portion constitute a clamp hand type gripper.

5. The holder for a low-pressure cast motor housing according to claim 1, characterized in that: A third fixing shaft is arranged at the lower end of the fixing shaft, a third fixing hole is arranged at a position corresponding to the third fixing shaft on the clamp finger, and the third fixing shaft passes through the third fixing hole and is fixedly connected with the third fixing hole by bolts.

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