Drive axle housing gripper device

Abstract

A driving axle housing gripper device relates to a robot auxiliary device, including a clamping device, a flattening device, and a protective device. The clamping device includes a clamping cylinder, a clamping gripper, a crossbeam, a clamping cylinder base, and an anti-skid device; the crossbeam is connected to a handling robot via a flange mounted thereon; the clamping cylinder base is fixedly connected to the crossbeam; the clamping cylinder is fastened to the bottom of the clamping cylinder base, and the clamping gripper is mounted on the clamping cylinder; and the anti-skid device is mounted on the inner clamping surface of the clamping gripper. The present invention adopts an anti-skid device, i.e., friction clamping instead of hook clamping, which can reduce the length of the bent hook at the end of the clamping gripper, so that the bent hook at the end does not extend inward to occupy the opening space, and the clamping cylinder can open the maximum space within the effective stroke, so that various sizes of axle housing half shafts can be clamped, which effectively improves the versatility. The present invention also has the characteristics of high production efficiency, high stability and safety, reliable structure, low production cost, etc., and is easy to promote and use.

Description

Technical Field

[0001] The invention relates to a robot auxiliary device, in particular to a drive axle housing gripper device for carrying the drive axle housing on an automobile drive axle automated production line. Background Art

[0002] At present, in the production process of automobile drive axles, the two halves of the drive axle housing are first stamped and formed, and then the two halves are welded together. After the drive axle half shell is stamped and formed, the volume and weight are large. In production, the axle housing usually needs to be moved to the corresponding process fixture for processing. (1) Since the axle housing is not allowed to have process positioning holes, the axle housing is usually moved to each process manually or by using a gantry hook; this working method is inefficient and dangerous, and is not conducive to large-scale production. (2) A handling robot is used for handling, but due to the large variety of drive axle housings (more than 100 types) and large differences in parts, the structural height of different models of drive axle housings is different (108mm~170mm), the material thickness of the axle housing is also different (8mm~16mm), and the diameter of the half shaft is also inconsistent. This results in the use of multiple grippers to clamp different models of workpieces. The grippers must be frequently replaced according to the workpiece model, which is not conducive to automated production. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a driving axle housing gripper device to solve the shortcomings of the prior art that a single gripper cannot grip axle housings of different sizes, has low production efficiency and high risk.

[0004] The technical solution to solve the above technical problems is: a drive axle housing gripper device, including a clamping device, the clamping device includes a clamping cylinder and a clamp, the output end of the clamping cylinder is connected to the clamp, and the clamping device also includes a crossbeam, a clamping cylinder base, and an anti-slip device; the crossbeam is connected to the handling robot through a flange installed thereon; the clamping cylinder base is fixedly connected to the crossbeam; the clamping cylinder is fastened to the bottom of the clamping cylinder base, and the clamp is installed on the output end of the clamping cylinder; the anti-slip device is installed on the inner clamping surface of the clamp.

[0005] A further technical solution of the present invention is: the anti-slip device is an anti-slip pad with a countersunk hole, which is installed on the inner clamping surface of the clamp through a fastener located in the countersunk hole, and the working end surface of the anti-slip pad is flush with the end surface of the terminal hook of the clamp, and the length of the terminal hook is K = 15~20mm.

[0006] A further technical solution of the present invention is: the clamping device also includes a laser bracket and a laser emitter for sensing whether there is a workpiece, the laser bracket is an "L" block, and the laser bracket is fastened to the bottom of the beam; the laser emitter is installed on the laser bracket.

[0007] A further technical solution of the present invention is: the clamping device also includes a sensor for sensing whether the workpiece is clamped, and the sensor is installed on the inner clamping surface of the clamp.

[0008] A further technical solution of the present invention is that the drive axle housing gripper device also includes a flattening device, which includes a bottom plate, a flattening cylinder base, a horizontal push block, a vertical push block, a clamping block, and a flattening cylinder; the bottom plate is an "H" block, which is installed at the bottom of the clamping cylinder; the flattening cylinder base has continuous depressions and protrusions, and the flattening cylinder base is provided with a vertical push block through groove in the longitudinal direction and a horizontal push block through groove in the horizontal direction at the protruding part, and the vertical push block through groove and the horizontal push block through groove intersect each other The flattening cylinder base is installed on the bottom plate; a trapezoidal hole is processed in the longitudinal push block, and the longitudinal push block passes through the longitudinal push block through the groove of the flattening cylinder base and is fixedly connected with the clamping block; the flattening cylinder is installed on the transverse end face of the flattening cylinder base; one end of the transverse push block is connected to the connecting rod of the flattening cylinder, and the other end of the transverse push block is a wedge tongue with an inclined surface, which passes through the transverse push block through the groove of the flattening cylinder base and cooperates with the inclined surface of the trapezoidal hole of the longitudinal push block to realize the longitudinal movement of the longitudinal push block.

[0009] A further technical solution of the present invention is: the horizontal push block is a square block, one end of which is processed with a "convex" shaped groove for fixed connection with the connecting rod of the flattening cylinder, and the other end is the wedge tongue with a bevel, and the middle part of the horizontal push block is provided with a through groove that cooperates with the longitudinal push block.

[0010] A further technical solution of the present invention is: the longitudinal push block is a "T"-shaped block integrally connected by a horizontal block and a vertical block, the bottom end of the horizontal block is respectively installed with a coil spring I on both sides of the vertical block, and the vertical block is processed with the trapezoidal hole at the upper end; the flattening cylinder base is also provided with a spring mounting hole I along the longitudinal direction on both sides of the groove through which the longitudinal push block passes, and the coil spring I is installed in the spring mounting hole I to realize the resetting of the longitudinal push block.

[0011] A further technical solution of the present invention is: the vertical block of the longitudinal push block is also processed with a bolt through hole in the middle along the longitudinal direction; the bottom of the vertical block is also processed with a threaded hole; the clamping block is a cylindrical block with a magnet inlaid inside, the middle of the clamping block is processed with a bolt countersunk hole, and a screw countersunk hole is processed at the position of the threaded hole corresponding to the vertical block; the screw passes through the screw countersunk hole and is threadedly connected with the threaded hole at the bottom of the vertical block so as to fasten the clamping block to the vertical block; the bolt passes through the bolt through hole of the vertical block and the bolt countersunk hole of the clamping block in turn and is connected with the magnet to prevent the magnet from falling off.

[0012] A further technical solution of the present invention is: the drive axle housing gripping device also includes a protective device, which includes a protective hook and a cylindrical pin; the protective hook is a bent plate with the middle part bent into a U-shaped groove, the lower end of the protective hook is the hook end, the width of the U-shaped groove of the protective hook is the same as the width of the clamping end of the clamp, and a cylindrical pin hole is provided on the clamp, the protective hook is connected to the clamp located in the U-shaped groove through the cylindrical pin, and can rotate around the cylindrical pin.

[0013] A further technical solution of the present invention is: the protective device also includes a guide bolt and a coil spring II, and a waist hole for installing the guide bolt and the coil spring II is also processed on the bottom end surface of the U-shaped groove of the protective hook; the inner clamping surface of the clamp is also provided with a bolt hole, and the outer side surface of the clamp is provided with a spring mounting hole II coaxial with the bolt hole, the guide bolt passes through the coil spring II, and the end is connected to the bolt hole of the clamp, so as to restrict the coil spring II between the protective hook and the clamp, and at the same time, the coil spring II is restricted in the spring mounting hole II.

[0014] Due to the above structure, the drive axle housing gripper device of the present invention has the following beneficial effects compared with the prior art:

[0015] 1. High versatility

[0016] Since the present invention includes a clamping device, the clamping device includes a crossbeam, a clamping cylinder base, a clamping cylinder, a clamping grip, and an anti-skid device; wherein the anti-skid device is installed on the inner clamping surface of the clamping grip. Since the present invention adopts an anti-skid device, i.e., friction clamping, instead of mechanical hook clamping, such a design can reduce the length of the bent hook at the end of the clamping grip so as to increase the space width of the two clamping grips, i.e., the length K of the bent hook at the end is only 15 to 20 mm, which is relatively short and does not extend inward to occupy the opening space, so that the clamping grip cylinder can open the maximum space within the effective stroke, so that various sizes of axle housing half shafts can pass through the clamping grip without obstacles, so that they can clamp or release the axle housing, effectively improving the versatility.

[0017] In addition, one end of the transverse push block in the flattening device of the present invention is a wedge tongue with an outer bevel, and a trapezoidal hole with an inner bevel is processed on the longitudinal push block. The outer bevel of the wedge tongue and the inner bevel of the trapezoidal hole of the longitudinal push block cooperate with each other to push the longitudinal push block to make longitudinal movement. By designing the outer bevel of the wedge tongue and the inner bevel of the trapezoidal hole with different inclination angles, different lifting heights can be obtained, so it can meet the needs of compacting drive axle housings of various heights, further improving the universal performance.

[0018] 2. High production efficiency

[0019] Since the present invention can cooperate with a transport robot to automatically transport drive axle housings of various sizes without manual transport, the production efficiency is high.

[0020] 3. High stability and safety

[0021] Since the present invention includes a flattening device, the drive axle housing can be flattened before clamping, to prevent the two halves of the bridge housing from being misaligned and flipped into the center of the bridge housing due to the thin thickness of the overlapping material edges (the overlapping material edges of the two halves of the bridge housing are milled with grooves, and the remaining overlapping parts are relatively thin, about 2 mm) during clamping, which causes clamping failure or misalignment of clamping parts, thereby effectively improving stability and safety.

[0022] Furthermore, since the end surface of the pressing block of the flattening device of the present invention is designed with a magnet, when the drive axle housing is pressed, the magnet also attracts the drive axle housing, so that the positioning of the drive axle housing is more stable.

[0023] Furthermore, since the present invention also includes a protective device, it is always in a clamping (closed) state when there is a workpiece, that is, the hook end is always extended. In the event of equipment failure or insufficient air pressure or accidental disconnection of the air circuit, the self-pressure maintenance of the air circuit cannot meet the clamping force, the clamping force becomes smaller, and the workpiece will automatically slide in the direction of gravity. At this time, the protective device will hook the workpiece to prevent it from falling, effectively protecting the workpiece, protecting equipment and personnel, and improving production safety performance.

[0024] 4. Reliable structure

[0025] Since the spiral spring I is installed on the longitudinal push block of the flattening device of the present invention, the spiral spring I can make the longitudinal push block quickly reset, and its reliability is relatively high.

[0026] In addition, since the protective device of the present invention includes a coil spring II, when there is no clamped workpiece, the coil spring II will keep the protective hook in an open state at all times, making it convenient for the clamp to clamp drive axle housings of various sizes; when the drive axle housing extends into the interior of the clamp, it contacts the contact end of the upper end of the protective hook, supports the contact end of the protective hook, overcomes the force of the coil spring II, and causes the protective hook to flip along the cylindrical pin, and the hook end of the protective hook extends into the clamping space of the clamp to prevent the axle housing from slipping. It has a high degree of mechanization and relatively high reliability.

[0027] 5. Simple processing technology and low production cost

[0028] The invention has the advantages of scientific design, simple structure, economy and practicality. The driving force is cylinder driven, spring reset, quiet and stable working environment, quick connection and sensor control. All parts of the device are connected by screws, which is not only convenient for disassembly, but also simplifies the processing technology and saves production costs.

[0029] The technical features of the drive axle housing gripping device of the present invention will be further described below in conjunction with the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1: A schematic diagram of the structure of the drive axle housing gripper device of the present invention (the state of clamping the workpiece),

[0031] Figure 2 : A front view of the clamping device described in Example 1,

[0032] Figure 3 : Figure 2 A top view of

[0033] Figure 4 : Figure 2 The left view of

[0034] Figure 5 : Figure 4 AA section view,

[0035] Figure 6 : A schematic diagram of the three-dimensional structure of the clamping device described in Example 1,

[0036] Figure 7 : A front view of the connection structure between the clamp, the anti-slip pad and the sensor described in Example 1,

[0037] Figure 8 : Figure 7 A top view of

[0038] Fig. 9 : Figure 7 The left view of

[0039] Fig.10 : Figure 7 Right view of

[0040] Fig.11 : A three-dimensional diagram of the connection structure between the clamp, the anti-slip pad and the sensor described in Example 1;

[0041] Fig.12 : A front view of the flattening device described in Example 1,

[0042] Fig.13 : Fig.12 A top view of

[0043] Fig.14 : Fig.12 BB cross-sectional view,

[0044] Fig.15 : Fig.13 CC cross-sectional view,

[0045] Fig.16 : A three-dimensional diagram of the flattening device described in Example 1,

[0046] Fig.17 : A front view of the flattening cylinder base described in Example 1,

[0047] Fig.18 : Fig.17 A top view of

[0048] Fig.19 : Fig.17 Right view of

[0049] Fig. 20 : Fig.18 DD cross-sectional view,

[0050] Fig.21 : Fig.18 EE cross-sectional view,

[0051] Fig. 22 : A three-dimensional diagram of the flattened cylinder base according to the first embodiment,

[0052] Fig.23 : A front cross-sectional view of the horizontal push block described in Example 1,

[0053] Fig.24 : Fig.23 A top view of

[0054] Fig.25 : A three-dimensional diagram of the horizontal push block described in Example 1,

[0055] Fig.26 : A front view of the longitudinal push block described in Example 1,

[0056] Fig. 27 : Fig.26 FF cross-sectional view,

[0057] Fig.28 : A three-dimensional diagram of the longitudinal push block described in Example 1,

[0058] Fig.29 : A front view of the protective device described in Example 1,

[0059] Fig.30 : Fig.29 The left view of

[0060] Fig.31 : Fig.29 Right view of

[0061] Fig.32 : Fig.29 A top view of

[0062] Fig.33 : A three-dimensional diagram of the protective device described in Example 1,

[0063] Fig.34 : Workpiece - main view of the drive axle housing,

[0064] Fig.35 : Fig.34 The left view of

[0065] Fig.36 : Fig.35 The enlarged schematic diagram of the G part of

[0066] Fig.37 : Workpiece - three-dimensional view of the drive axle housing.

[0067] 1- Handling robot,

[0068] 2-clamping device, 21-crossbeam, 22-flange, 23-clamping cylinder base, 24-clamping cylinder,

[0069] 25-claw, 251-end hook, 252-cylindrical pin hole, 253-bolt hole, 254-spring mounting hole Ⅱ,

[0070] 26-Laser bracket, 27-Laser transmitter,

[0071] 28-anti-slip device, 281-countersunk hole, 29-sensor, 210-clamping space,

[0072] 3-flattening device, 31-bottom plate, 311-avoidance groove,

[0073] 32-flatten the cylinder base, 321-longitudinal push block passes through the slot, 322-horizontal push block passes through the slot, 323-spring mounting hole Ⅰ,

[0074] 33-transverse push block, 331-convex groove, 332-wedge tongue, 3321-outer slope, 333-through groove,

[0075] 34-vertical push block, 341-horizontal block, 342-vertical block, 3421-trapezoidal hole, 34211-inner bevel,

[0076] 3422-bolt through hole, 3423-threaded hole,

[0077] 35-clamping block, 351-magnet, 352-bolt countersunk hole, 353-screw countersunk hole,

[0078] 36-flattening cylinder, 37-coil spring Ⅰ,

[0079] 4- Protective devices,

[0080] 41-protective hook, 411-U-shaped groove, 412-contact end, 413-hook end, 414-waist hole,

[0081] 42-cylindrical pin, 43-guide bolt, 44-helical spring II.

[0082] 5-workpiece, 51-groove,

[0083] 6- Workpiece placement table. DETAILED DESCRIPTION

[0084] Embodiment 1:

[0085] A drive axle housing gripper device, comprising a clamping device 2, a flattening device 3, and a protective device 4:

[0086] The clamping device 2 includes a crossbeam 21, a gripping cylinder base 23, a gripping cylinder 24, a gripping 25, a laser bracket 26, a laser emitter 27, an anti-slip device 28, and a sensor 29, wherein: the crossbeam 21 is used to carry the entire gripping device, and the crossbeam 21 is connected to the handling robot 1 through a flange 22 installed in the middle thereof; the gripping cylinder base 23 is fixedly connected to both ends of the crossbeam 21; the gripping cylinder 24 is fastened to the bottom of the gripping cylinder base 23, and a pair of gripping 25 (i.e., grippers) facing each other are installed on the output end of the gripping cylinder 24 (i.e., the movable mechanism of the gripping cylinder 24); the gripping The end of the clamp 25 is provided with an end hook 251, and a cylindrical pin hole 252 is provided on the side of the clamp 25, a bolt hole 253 is provided on the inner clamping surface of the clamp 25, and a spring mounting hole II 254 coaxial with the bolt hole 253 is provided on the outer side of the clamp 25; a clamping space 210 is formed between the two facing clamps 25; the anti-skid device 28 is an anti-skid pad processed with a countersunk hole 281, which is installed on the inner clamping surface of the clamp 25 through a screw located in the countersunk hole 281, and the working end face of the anti-skid pad is flush with the end face of the end hook 251 of the clamp 25, and the length of the end hook 251 is K=15~20mm. Since the end hook 251 of the clamp 25 is relatively short and does not extend inward to occupy the opening space, the clamp cylinder can open the maximum space within the effective stroke, so that various axle housing half shafts of different sizes can be inserted into the clamp for clamping, thereby improving the versatility of the device. The laser bracket 26 is an "L" block, which is fastened to the bottom of the beam 21; the laser emitter 27 is installed on the laser bracket 26 to sense whether there is a workpiece on the workpiece placement table 6. The sensor 29 is installed on the inner clamping surface of the clamp 25 to sense whether the workpiece is clamped.

[0087] The flattening device 3 comprises a bottom plate 31, a flattening cylinder base 32, a horizontal push block 33, a vertical push block 34, a pressing block 35, and a flattening cylinder 36; wherein,

[0088] The bottom plate 31 is an "H" block, which is installed at the bottom of the clamping cylinder 24; the bottom plate 31 is processed into an "H" block with avoidance grooves 311 at both ends to avoid the activity space of the clamping;

[0089] The flattening cylinder base 32 has continuous depressions and protrusions. The flattening cylinder base 32 is provided with a longitudinal push block through groove 321 in the longitudinal direction and a transverse push block through groove 322 in the transverse direction at the protruding part. The longitudinal push block through groove 321 and the transverse push block through groove 322 are mutually connected. The flattening cylinder base 32 is also provided with spring mounting holes Ⅰ 323 in the longitudinal direction on both sides of the longitudinal push block through groove 321. The depression of the flattening cylinder base 32 is used for reducing weight and avoiding the movement space of the transverse push block. The flattening cylinder base 32 is installed on the bottom plate 31.

[0090] The longitudinal push block 34 is a "T"-shaped block formed by a horizontal block 341 and a vertical block 342. The bottom end of the horizontal block 341 is respectively installed with coil springs I37 on both sides of the vertical block 342. The coil spring I37 is located in the spring installation hole I323 of the flattening cylinder base 32 to achieve the reset of the longitudinal push block 34. The vertical block 342 of the longitudinal push block 34 is processed with a trapezoidal hole 3421 with an inner bevel 34211 at the upper end. The vertical block 342 passes through the longitudinal push block through groove 321 of the flattening cylinder base 32. The vertical block 342 of the longitudinal push block is also processed with a bolt through hole 3422 in the middle along the longitudinal direction. A threaded hole 3423 is also machined at the bottom of the block 342; the clamping block 35 is a cylindrical block with a magnet 351 embedded inside, a bolt countersunk hole 352 is machined at the middle of the clamping block 35, and a screw countersunk hole 353 is machined at the position corresponding to the threaded hole 3423 of the vertical block 342; the screw passes through the screw countersunk hole 353 and is threadedly connected with the threaded hole 3423 at the bottom of the vertical block 342, so as to fasten the clamping block 35 to the vertical block 342; the bolt passes through the bolt through hole 3422 of the vertical block 342, the bolt countersunk hole 352 of the clamping block 35 and is connected with the magnet 351 in turn, so as to prevent the magnet 351 from falling off.

[0091] The flattening cylinder 36 is mounted on the transverse end face of the flattening cylinder base 32; the transverse push block 33 is a square block, one end of which is processed with a "convex"-shaped groove 331, and the other end is a wedge tongue 332 with an outer inclined surface 3321, and the middle part of the transverse push block 33 is also provided with a through groove 333 that cooperates with the longitudinal push block; one end of the transverse push block 33 is fixedly connected with the connecting rod of the flattening cylinder 36 through the "convex"-shaped groove 331 by bolts, the wedge tongue of the transverse push block 33 passes through the transverse push block through groove 322 of the flattening cylinder base 32, and the outer inclined surface of the wedge tongue 332 cooperates with the inner inclined surface of the trapezoidal hole 3421 of the longitudinal push block to push the longitudinal push block 34 to move longitudinally. By designing the outer inclined surface of the wedge tongue and the inner inclined surface of the trapezoidal hole with different inclination angles, different lifting heights can be obtained, so that the drive axle housings of various heights can be pressed.

[0092] The protective device 4 includes a protective hook 41, a cylindrical pin 42, a guide bolt 43, and a coil spring II 44; the protective hook 41 is a bent plate with the middle part bent into a U-shaped groove, the upper end of the protective hook 41 is the contact end 412, and the lower end of the protective hook 41 is the hook end 413. The width of the U-shaped groove 411 of the protective hook 41 is the same as the width of the clamping end of the clamp, and a cylindrical pin hole 252 is provided on the clamp 25 for passing the cylindrical pin 42. The protective hook 41 is connected to the clamp 25 located in the U-shaped groove through the cylindrical pin 42, and the protective hook 41 can rotate around the cylindrical pin 42. The U-shaped groove bottom end surface of the protection hook 41 is also processed with a waist hole 414 for installing the guide bolt 43 and the coil spring II 44; the guide bolt 43 passes through the coil spring II 44, and the end is connected to the bolt hole 253 of the clamp 25, so as to limit the coil spring II 44 between the protection hook 41 and the clamp 25, and at the same time, the coil spring II 44 is limited in the spring installation hole II 254 to prevent the spring from moving. In the state without a workpiece, due to the elastic force of the coil spring II 44, the protection hook 41 is in an open state, that is, the contact end 412 of the protection hook 41 extends between the two clamps, and the hook end 413 is turned to the outside of the clamp.

[0093] Working principle of the present invention:

[0094] The handling robot 1 drives the entire gripper device to the top of the workpiece placement table 6, and the laser emitter 27 senses whether there is a workpiece 5-driving axle housing placed on the workpiece placement table 6. If not, the handling robot 1 stops above the workpiece placement table 6 and waits for the workpiece; if so, the handling robot 1 drives the gripper device to continue to move forward, so that the two clamps 25 are clamped into the two half shafts of the workpiece 5; the flattening cylinder 36 pushes the horizontal push block 33 forward, and the wedge tongue of the horizontal push block 33 passes through the horizontal push block through groove 322 of the flattening cylinder base 32 and the trapezoidal hole 3421 of the longitudinal push block 34 in turn, and the outer inclined surface of the wedge tongue contacts the inner inclined surface of the trapezoidal hole 3421 of the longitudinal push block 34 (in the initial position, the longitudinal push block 34 is pressed against the bottom plate 31 under the action of the coil spring I 37) and moves relatively along the inclined surface. The horizontal thrust is converted into a vertical thrust, so that the longitudinal push block 34 moves downward until the clamping block 35 contacts the plane of the workpiece 5 - the half-axle of the drive axle housing, and the half-axle plane is clamped. At the same time, the magnet in the clamping block 35 attracts the drive axle housing (because the drive axle housing is pre-assembled and placed in two half-shells, it is not connected as a fixed whole, and the fitting edges of the two pairs of half-axle housings are milled with grooves 51, leaving only a matching edge of nearly 2mm. The drive axle housing is pressed before clamping to prevent the axle housings from being misaligned when clamping). The clamping device 2 is clamped, and at the same time, the workpiece 5 contacts the contact end 412 on the protective hook 41 (in the initial state, due to the elastic force of the coil spring II 44, the protective hook 41 is in an open state, that is, the contact end 412 extends to the two clamping claws. The hook end 413 flips toward the outside of the clamping grasp and is flush with the end of the clamping grasp 25) and overcomes the force of the coil spring II 44, so that the protective hook 41 rotates clockwise around the cylindrical pin 42, and the contact end 412 moves toward the outside of the clamping grasp 25 until the contact end 412 is flush with the inner wall of the clamping grasp 25, and the hook end 413 moves toward the clamping space formed by the two grasps 25. At this time, the protective hook 41 is in a self-locking state (because as long as there is a workpiece 5 in the clamping space, the workpiece 5 will always press against the contact end 412, and the hook end 413 will always extend into the clamping space to prevent the workpiece from slipping. Even if the workpiece slips to the hook end 413, the protective device 4 cannot be opened because the workpiece still presses against the contact end 412, thereby realizing the self-locking function of the workpiece and effectively preventing the workpiece from slipping. To prevent production accidents caused by the workpiece slipping due to insufficient friction caused by wear of the anti-slip pad or insufficient air pressure); the sensor 29 senses the presence of a workpiece in the clamping space, and the control signal continues to be transmitted; the handling robot 1 carries the workpiece 5—the drive axle housing—to the next station, and the flattening cylinder 36 drives the horizontal push block 33 to reset, and the longitudinal push block 34 drives the clamping block 35 to reset under the action of the coil spring Ⅰ 37; the clamping cylinder 24 drives the clamping gripper 25 to reset (i.e., open); after the clamping gripper 25 is opened, the contact end 412 is away from the workpiece 5, and the protective hook 41 rotates counterclockwise around the cylindrical pin 42 under the action of the coil spring Ⅱ 44, and the hook end 413 is away from the clamping space (i.e., open), and the protective effect is released; the handling robot 1 drives the entire gripper device to reset; the work is completed.

Claims

1. A drive axle housing gripper device, comprising a clamping device (2), the clamping device (2) comprising a clamping cylinder (24) and a clamp (25), the output end of the clamping cylinder (24) being connected to the clamp (25), characterized in that: The clamping device (2) further comprises a crossbeam (21), a gripping cylinder base (23), and an anti-slip device (28); the crossbeam (21) is connected to the handling robot (1) via a flange (22) mounted thereon; the gripping cylinder base (23) is fixedly connected to the crossbeam (21); the gripping cylinder (24) is fastened to the bottom of the gripping cylinder base (23), The gripper (25) is mounted on the output end of the gripper cylinder (24); the anti-skid device (28) is mounted on the inner clamping surface of the gripper (25); the drive axle housing gripper device further comprises a flattening device (3), the flattening device (3) comprising a bottom plate (31), a flattening cylinder base (32), a transverse push block (33), a longitudinal push block (34), a clamping block (35), and a flattening cylinder (36); the bottom plate (31) is an "H" block, mounted on the bottom of the gripper cylinder (24); the flattening cylinder base (32) has continuous depressions and protrusions, the flattening cylinder base (32) is provided with a longitudinal push block through groove (321) in the longitudinal direction and a transverse push block through groove (322) in the transverse direction at the protruding portion, and the longitudinal push block through groove (321) is provided with a longitudinal push block through groove (322) in the transverse direction. ) and the transverse push block through groove (322) are mutually connected, and the flattening cylinder base (32) is installed on the bottom plate (31); the longitudinal push block (34) is processed with a trapezoidal hole, and the longitudinal push block (34) passes through the longitudinal push block through groove (321) of the flattening cylinder base (32) and is fixedly connected with the pressing block (35); the flattening cylinder (36) is installed on the transverse end surface of the flattening cylinder base (32); one end of the transverse push block (33) is connected to the connecting rod of the flattening cylinder (36), and the other end of the transverse push block (33) is a wedge tongue (332) with an inclined surface, and the wedge tongue of the transverse push block (33) passes through the transverse push block through groove (322) of the flattening cylinder base (32) and cooperates with the inclined surface of the trapezoidal hole of the longitudinal push block to realize the longitudinal movement of the longitudinal push block (34).

2. The drive axle housing gripper device according to claim 1, characterized in that: The anti-slip device (28) is an anti-slip pad with a countersunk hole (281). The anti-slip pad is installed on the inner clamping surface of the clamp (25) through a fastener located in the countersunk hole (281). The working end surface of the anti-slip pad is flush with the end surface of the terminal hook (251) of the clamp (25). The length K of the terminal hook (251) is 15 to 20 mm.

3. The drive axle housing gripper device according to claim 1, characterized in that: The clamping device (2) further comprises a laser bracket (26) and a laser emitter (27) for sensing whether a workpiece is present. The laser bracket (26) is an "L" block. The laser bracket (26) is fastened to the bottom of the crossbeam (21); the laser emitter (27) is mounted on the laser bracket (26).

4. The drive axle housing gripper device according to claim 1, characterized in that: The clamping device (2) further comprises a sensor (29) for sensing whether the workpiece is clamped, and the sensor (29) is mounted on the inner clamping surface of the clamp (25).

5. The drive axle housing gripper device according to claim 1, characterized in that: The horizontal push block (33) is a square block. One end of the horizontal push block (33) is processed with a "convex" shaped groove (331) for fixed connection with the connecting rod of the flattening cylinder (36), and the other end is the wedge tongue (332) with an inclined surface. The middle part of the horizontal push block (33) is provided with a through groove (333) that cooperates with the longitudinal push block.

6. The drive axle housing gripping device according to claim 5, characterized in that: The longitudinal push block (34) is a "T"-shaped block formed by a horizontal block (341) and a vertical block (342) connected as one body. The bottom end of the horizontal block (341) is respectively provided with a coil spring I (37) on both sides of the vertical block (342). The vertical block (342) is processed with the trapezoidal hole (3421) on the upper end. The flattening cylinder base (32) is also provided with a spring mounting hole I (323) along the longitudinal direction on both sides of the longitudinal push block through the groove (321). The coil spring I (37) is installed in the spring mounting hole I (323) to realize the resetting of the longitudinal push block (34).

7. The drive axle housing gripping device according to claim 6, characterized in that: The vertical block (342) of the longitudinal push block is also processed with a bolt through hole (3422) in the middle along the longitudinal direction; the bottom of the vertical block (342) is also processed with a threaded hole (3423); the clamping block (35) is a cylindrical block with a magnet (351) embedded inside, the middle of the clamping block (35) is processed with a bolt countersunk hole (352), and a screw countersunk hole (353) is processed at the position corresponding to the threaded hole (3423) of the vertical block (342); the screw passes through the screw countersunk hole (353) and is threadedly connected with the threaded hole (3423) at the bottom of the vertical block (342), so as to fasten the clamping block (35) to the vertical block (342); the bolt passes through the bolt through hole (3422) of the vertical block (342), the bolt countersunk hole (352) of the clamping block (35) in sequence, and is connected with the magnet (351), so as to prevent the magnet (351) from falling off.

8. The drive axle housing gripper device according to claim 1, characterized in that: The drive axle housing gripping device further comprises a protective device (4), the protective device (4) comprising a protective hook (41) and a cylindrical pin (42); the protective hook (41) is a bent plate with a middle portion bent into a U-shaped groove, the lower end of the protective hook (41) is a hook end (413), the width of the U-shaped groove (411) of the protective hook (41) is the same as the width of the clamping end of the clamping grip, and a cylindrical pin hole (252) is provided on the clamping grip (25), the protective hook (41) is connected to the clamping grip (25) located in the U-shaped groove via the cylindrical pin (42), and can rotate around the cylindrical pin (42).

9. The drive axle housing gripping device according to claim 8, characterized in that: The protective device (4) further comprises a guide bolt (43) and a coil spring II (44); a waist hole (414) for mounting the guide bolt (43) and the coil spring II (44) is further processed on the bottom end surface of the U-shaped groove of the protective hook (41); a bolt hole (253) is further provided on the inner clamping surface of the clamp (25); a spring mounting hole II (254) coaxial with the bolt hole (253) is provided on the outer side surface of the clamp (25); the guide bolt (43) passes through the coil spring II (44) and the end thereof is connected to the bolt hole (253) of the clamp (25) so as to confine the coil spring II (44) between the protective hook (41) and the clamp (25), and at the same time, the coil spring II (44) is confined in the spring mounting hole II (254).

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