Robotic hand jaw

Abstract

The application provides a mechanical hand claw, comprising a clamping wheel mechanism and a clamping wheel support, wherein the clamping wheel mechanism is arranged at the end of the clamping wheel support, the clamping wheel support is arranged on the inner side of the clamping arm of the mechanical hand and is rotationally connected with the clamping arm, and the outer side of the clamping wheel mechanism has a part matched with a workpiece. The mechanical hand claw of the application is rotationally connected with the clamping arm of the mechanical hand, cooperates with the clamping device and the overturning power mechanism of the mechanical hand, and realizes the grabbing and overturning of the workpiece through the cooperation between the outer side of the clamping wheel mechanism and the workpiece, so as to reduce the labor intensity of workers, eliminate the safety hazards, improve the transfer efficiency, and improve the professional health status of operators.

Description

Technical Field

[0001] This invention relates to the field of railway locomotive wheel repair production technology, specifically to a robotic gripper. Background Technology

[0002] For a long time, the Cangzhou branch of Guoneng Railway Equipment Company and other railway locomotive maintenance units in China have relied on manual operation of cantilever hooks to lift wheels or wheel hubs onto machine tools and other equipment during the repair of DC and AC locomotive wheels. The wheels are then manually rotated on the ground. Furthermore, the repair of integral wheels, hubs, wheel hubs, gears, brake discs, and other workpieces at the Cangzhou branch of Guoneng Railway Equipment Company requires multiple processes, including turning, flaw detection, cleaning, and oiling, all coordinated with rotation. The lifting and transportation of workpieces between various pieces of equipment is entirely done manually using cantilever hooks. This involves manually placing the hook on the workpiece, then manually operating the cantilever hook to lift it onto the required equipment, and finally manually removing the hook. This work mode is time-consuming and labor-intensive, requiring regular maintenance and replacement of the hooks, adding extra manual lifting time. The large weight of the workpieces also increases safety hazards and the labor intensity for workers.

[0003] Therefore, a transfer robot is needed to automate the process of transferring locomotive wheels during repair. The transfer robot needs to use grippers to grasp and flip the workpieces of railway DC and AC locomotive wheels during the process of transferring them during repair. There are no robotic grippers in the existing technology that are suitable for grasping and flipping locomotive wheels during the process of transferring them during repair. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a robotic gripper that can cooperate with the clamping device and the flipping power mechanism of the transfer robotic arm to grasp and flip locomotive wheel workpieces, thereby reducing the labor intensity of workers, eliminating safety hazards, improving transfer efficiency, and improving the occupational health of operators.

[0005] To solve the above-mentioned technical problems, the technical solution proposed by this invention is as follows:

[0006] A robotic gripper includes a gripper wheel mechanism and a gripper wheel bracket, wherein the gripper wheel mechanism is arranged at the end of the gripper wheel bracket, the gripper wheel bracket is arranged inside the gripper arm of the robotic arm and is rotatably connected to the gripper arm, and the outer side of the gripper wheel mechanism has a part that mates with the workpiece.

[0007] According to the present invention, the gripper is rotatably connected to the gripping arm of the robot arm, cooperates with the clamping device and the flipping power mechanism of the robot arm, and achieves the gripping and flipping of the workpiece through the cooperation of the outer side of the gripper wheel mechanism with the workpiece, thereby reducing the labor intensity of workers, eliminating safety hazards, improving transfer efficiency, and improving the occupational health of operators.

[0008] The above technical solution can be further improved as described below.

[0009] In a preferred embodiment of the robotic gripper according to the present invention, the gripper wheel bracket is a V-shaped bracket, and the gripper wheel mechanism is symmetrically arranged at both ends of the V-shaped bracket.

[0010] The wheel bracket adopts a horizontal V-shaped bracket, which can better match the arc of the wheel and ensure that both sides automatically align the center of the wheel during the clamping process.

[0011] Specifically, in a preferred embodiment, the center of the V-shaped bracket is rotatably connected to the inside of the clamping arm via a rotating shaft and bearings.

[0012] By using a rotating shaft and bearings in conjunction with the transmission toothed chain inside the clamping arm and the transmission gear at the output end of the flipping servo reducer motor, the flipping action of the chuck can be realized extremely conveniently. Furthermore, the entire transmission mechanism has a simple and compact structure, making it easy to manufacture and arrange.

[0013] Specifically, in a preferred embodiment, the clamping wheel mechanism includes a clamping wheel and a clamping wheel rotating shaft, wherein the clamping wheel is sleeved on the clamping wheel rotating shaft, and both ends of the clamping wheel rotating shaft are connected to the inner side of the end of the clamping wheel bracket through bearings, and the outer side of the clamping wheel has a portion that mates with the workpiece.

[0014] Specifically, the clamping wheel can rotate around the clamping wheel's rotation axis via a bearing. When clamping a workpiece, if the workpiece is in an offset state, when one side of the clamping wheel contacts the workpiece first, it will push the workpiece to the opposite side. This ensures that the workpiece moves with the clamping wheel, reducing the reverse resistance between the clamping wheel and the workpiece.

[0015] Specifically, in a preferred embodiment, the outer periphery of the clamping wheel is provided with a V-shaped groove.

[0016] For integral wheel and hub workpieces, the outer circumference of the clamping wheel adopts a horizontal V-shaped surface design. In this way, after the V-shaped groove slope contacts the workpiece during the clamping process, an upward component force is generated under the drive of the clamping force to lift the workpiece. Since there will be a certain error in the lifting and lowering of the robot arm, this clamping method can ensure that the workpiece will not be pressed down during the gripping process.

[0017] Furthermore, in a preferred embodiment, the V-shaped slot comprises two sets.

[0018] The design concept of double-layer clamping wheels is mainly to reduce the turning radius and adapt to the space size of the automatic chuck of the machine tool when the workpiece needs to be turned. The double-layer clamping wheel mechanism design eliminates the need to judge the front and back of the jaws during the turning process. It is only necessary to determine the specific height of the workpiece being clamped, and ensure that the upper clamping wheel always clamps the workpiece when it is clamped.

[0019] Specifically, in a preferred embodiment, the upper horizontal V-shaped groove is 5-10 mm higher than the clamping point corresponding to the workpiece during material handling.

[0020] Since machine tool chucks are precision fixtures and collisions are not allowed, the horizontal V-shaped surface design of the clamping rollers can prevent the workpiece from colliding with the machine tool chuck when the intelligent robot arm is positioning the loading height. All workpieces have only two states relative to the chuck jaws: clamped loading state and released unloading state. When clamped loading, the chuck jaws are in a horizontal state. When the robot arm descends to pick up the workpiece, it is only necessary to ensure that the upper V-shaped groove of the chuck jaws is 5-10mm higher than the corresponding clamping point of the workpiece. Therefore, each time a workpiece is picked up or placed, a 5-10mm gap is maintained between the bottom surface of the workpiece and the machine tool chuck. When the chuck jaws are released, the workpiece will automatically descend slowly along the V-shaped surface onto the machine tool chuck, ensuring the freedom of vertical movement.

[0021] Specifically, in another preferred embodiment, the outer periphery of the clamping wheel is provided with a stepped groove.

[0022] For workpieces such as wheel centers, gears, and brake discs, the outer circumference of the clamping wheel adopts a stepped groove to improve the applicability of the clamping jaws.

[0023] Furthermore, in a preferred embodiment, the stepped slot comprises at least two layers.

[0024] Specifically, the design concept of the stepped clamping wheel is mainly to accommodate the clamping of various workpieces, reduce its turning radius during rotation, and adapt to the space size of the machine tool's automatic chuck. Since there are many types of workpieces to be clamped, the intersection surface of the three types of workpieces is used as the common surface in the stepped groove design. In order to adapt to the height space of the machine tool chuck, it is necessary to determine the front and back of the jaws during the jaw rotation process and ensure that the common surface of the jaws is on the bottom. Ensuring that the common surface of the jaws is on the bottom can be achieved by photoelectric switch detection. The determination of the common surface is mainly achieved by detecting the protrusion at the bottom of the common surface. The photoelectric switch detects the protrusion. When the jaw rotates to the point where the common surface is on the bottom, the photoelectric switch detects the protrusion and gives a signal to feed back the signal to the main control system.

[0025] Specifically, in a preferred embodiment, the height of each stepped slot is 10 mm greater than the thickness of the workpiece.

[0026] Specifically, in the stepped clamping wheel design, the stepped surfaces used for clamping the workpiece vary depending on its thickness, thus accommodating different workpieces. Each layer of the clamping wheel is approximately 10mm thicker than the workpiece. All workpieces have only two states relative to the chuck: clamped loading and unloading. When clamped loading, the chuck is horizontal. When the robot arm descends to pick up the workpiece, it only needs to ensure that the horizontal center plane of the chuck's stepped layer differs from the horizontal center plane of the workpiece by no more than 5mm. This prevents the workpiece from being pressed downwards after contact with the clamping wheel during clamping. Since the machine tool chuck is a precision fixture and collisions are not allowed, it is sufficient to ensure that the bottom surface of the workpiece is horizontal to the machine tool chuck during each workpiece pick-up and drop. Even if the bottom surface of the workpiece touches the top of the chuck, the workpiece will automatically move upwards within a 10mm space, ensuring freedom of movement.

[0027] Compared with the prior art, the advantages of the present invention are as follows: by rotating and connecting with the gripper arm of the robot, cooperating with the clamping device and the flipping power mechanism of the robot, and cooperating with the workpiece through the outer side of the chuck mechanism, the workpiece can be gripped and flipped, thereby reducing the labor intensity of workers, eliminating safety hazards, improving transfer efficiency, and improving the occupational health of operators. Attached Figure Description

[0028] The invention will now be described in more detail with reference to embodiments and the accompanying drawings.

[0029] Figure 1 The diagram illustrates the force state of a single-sided clamping wheel in Embodiment 1 of the present invention;

[0030] Figure 2 The schematic diagram illustrates the flipping working state of the robotic gripper of Embodiment 1 of the present invention;

[0031] Figure 3 The schematic diagram illustrates the unloading operation of the robotic gripper of Embodiment 1 of the present invention;

[0032] Figure 4 The schematic diagram shows a partial assembly state of the robotic gripper of Embodiment 1 of the present invention;

[0033] Figure 5 The schematic diagram illustrates the overall working state of the robotic gripper of Embodiment 1 of the present invention;

[0034] Figures 6 to 8 The illustration shows the states in which the robotic gripper of Embodiment 2 of the present invention grasps different workpieces;

[0035] Figure 9 The schematic diagram illustrates the unloading operation of the robotic gripper of Embodiment 2 of the present invention;

[0036] Figure 10 The schematic diagram shows a partial assembly state of the robotic gripper of Embodiment 2 of the present invention;

[0037] Figure 11 The schematic diagram illustrates the overall working state of the robotic gripper of Embodiment 2 of the present invention.

[0038] In the accompanying drawings, the same parts use the same reference numerals. The drawings are not drawn to scale. Detailed Implementation

[0039] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments, but this does not limit the scope of protection of the present invention.

[0040] Figure 1 The diagram illustrates the force state of the single-sided clamping wheel 11 in Embodiment 1 of the present invention. Figure 2 The schematic diagram shows the flipping working state of the robotic gripper 10 of Embodiment 1 of the present invention. Figure 3 The schematic diagram illustrates the unloading operation of the robotic gripper 10 of Embodiment 1 of the present invention. Figure 4 The schematic diagram shows a partial assembly state of the robotic gripper 10 of Embodiment 1 of the present invention. Figure 5 The schematic diagram shows the overall working state of the robotic gripper 10 of Embodiment 1 of the present invention.

[0041] Figures 6 to 8 The illustration shows the state of the robotic gripper 10' of Embodiment 2 of the present invention gripping different workpieces. Figure 9 The schematic diagram illustrates the unloading operation of the robotic gripper 10' in Embodiment 2 of the present invention. Figure 10 The schematic diagram shows a partial assembly state of the robotic gripper 10' of Embodiment 2 of the present invention. Figure 11 The schematic diagram shows the overall working state of the robotic gripper 10' of Embodiment 2 of the present invention.

[0042] Example 1

[0043] like Figures 1 to 5 As shown, the robotic gripper 10 of this embodiment includes a gripper wheel mechanism 1 and a gripper wheel bracket 2. The gripper wheel mechanism 1 is arranged at the end of the gripper wheel bracket 2. The gripper wheel bracket 2 is arranged inside the gripper arm 20 of the robotic arm and is rotatably connected to the gripper arm 20. The outer side of the gripper wheel mechanism 1 has a part that cooperates with the workpiece.

[0044] According to an embodiment of the present invention, the gripper is rotatably connected to the gripping arm of the robot arm and cooperates with the clamping device and flipping power mechanism of the robot arm. Through the cooperation between the outer side of the gripper wheel mechanism and the workpiece, the workpiece is gripped and flipped, thereby reducing the labor intensity of workers, eliminating safety hazards, improving transfer efficiency, and improving the occupational health of operators.

[0045] like Figure 5 As shown, specifically in this embodiment, the chuck bracket 2 is a V-shaped bracket, and the chuck mechanism 1 is symmetrically arranged at both ends of the V-shaped bracket. The chuck bracket adopts a horizontal V-shaped bracket, which can better match the arc of the wheel and ensure that both sides automatically align the center of the wheel during the clamping process.

[0046] like Figure 5 As shown, specifically in this embodiment, the center of the V-shaped bracket is rotatably connected to the inner side of the clamping arm 20 via a rotating shaft and bearing. By rotating the rotating shaft 23 and bearing in conjunction with the transmission gear of the transmission toothed chain 21 and the output gear of the rotating servo reduction motor 22 within the clamping arm 20, the flipping action of the chuck can be realized extremely conveniently. Furthermore, the entire transmission mechanism has a simple and compact structure, making it easy to manufacture and arrange.

[0047] like Figures 1 to 4 As shown, specifically in this embodiment, the clamping wheel mechanism 1 includes a clamping wheel 11 and a clamping wheel rotating shaft 12. The clamping wheel 11 is sleeved on the clamping wheel rotating shaft 12. Both ends of the clamping wheel rotating shaft 12 are connected to the inner side of the end of the clamping wheel bracket 2 through bearings. The outer side of the clamping wheel 11 has a part that mates with the workpiece. Specifically, the clamping wheel can rotate around the clamping wheel rotating shaft through the bearings. When clamping the workpiece, if the workpiece is in an offset state, when one clamping wheel contacts the workpiece first, it will push the workpiece to the opposite side. This ensures that the workpiece moves with the clamping wheel, reducing the reverse resistance between the clamping wheel and the workpiece.

[0048] like Figures 1 to 4 As shown, specifically in this embodiment, the clamping wheel 11 has a V-shaped groove 13 on its outer periphery. For the integral wheel and hub workpiece, the outer periphery of the clamping wheel adopts a horizontal V-shaped surface design. In this way, after the inclined surface of the V-shaped groove contacts the workpiece during the clamping process, an upward component force F3 is generated under the drive of the clamping forces F1 and F2 to lift the workpiece. Since there will be a certain error in the lifting and lowering of the robot arm, this clamping method can ensure that the workpiece will not be pressed downward during the gripping process.

[0049] like Figures 1 to 4 As shown, further, in this embodiment, the V-shaped groove 13 includes two sets. The design concept of the double-layer clamping wheel is mainly to reduce its turning radius and adapt to the space size of the machine tool's automatic chuck when the required turning is required. The double-layer clamping wheel mechanism design allows it to eliminate the need to judge the front and back of the jaws during the turning process. It is only necessary to determine the specific height of the workpiece being clamped, ensuring that the upper clamping wheel always clamps the workpiece when it is clamped.

[0050] Specifically, in this embodiment, during material handling, the upper horizontal V-shaped groove 13 is 5-10mm higher than the corresponding clamping point of the workpiece. Since the machine tool chuck is a precision fixture and collisions are not allowed, the horizontal V-shaped surface design of the clamping rollers can prevent the workpiece from colliding with the machine tool chuck when the intelligent robot arm is positioning the loading height. All workpieces have only two states relative to the chuck jaws: clamped loading state and released unloading state. When clamped loading, the chuck jaws are in a horizontal state. When the robot arm descends to pick up the material, it is only necessary to ensure that the upper V-shaped groove of the chuck jaws is 5-10mm higher than the corresponding clamping point of the workpiece. Therefore, each time a workpiece is picked up or placed, a 5-10mm gap is maintained between the bottom surface of the workpiece and the machine tool chuck. When the chuck jaws are released, the workpiece will automatically descend slowly along the V-shaped surface onto the machine tool chuck, ensuring the freedom of vertical movement.

[0051] Example 2

[0052] like Figures 6 to 11 As shown, the difference between the robotic gripper 10' in this embodiment and the one described in Embodiment 1 is that the outer periphery of the clamping wheel 11 is provided with a stepped groove 13'. For workpieces such as wheel centers, gears, and brake discs, the stepped groove 13' on the outer periphery of the clamping wheel improves the applicability of the gripper.

[0053] like Figures 6 to 8 As shown, further, in this embodiment, the stepped groove 13' includes at least two layers. Specifically, the design concept of the stepped clamping wheel is mainly to adapt to the clamping of various different workpieces, and to reduce its turning radius and adapt to the space size of the machine tool automatic chuck when flipping. Since there are many types of workpieces to be clamped, the intersection surface of the three types of workpieces is used as the common surface 15 in the stepped groove design. In order to adapt to the height space of the machine tool chuck, it is necessary to determine the front and back of the jaw during the jaw flipping process, and to ensure that the common surface 15 of the jaw is below. Ensuring that the common surface 15 of the jaw is below can be completed by the detection and judgment of the photoelectric switch 30. The judgment of the common surface 15 is mainly by detecting the protrusion point 14 at the bottom of the common surface. The photoelectric switch 30 detects the protrusion point 14. When the jaw rotates to the point where the common surface is below, the photoelectric switch 30 detects the protrusion point 14 and gives a signal to feed back the signal to the main control system.

[0054] like Figure 9As shown, specifically in this embodiment, the height of each stepped groove 13' is 10mm greater than the thickness of the workpiece. Specifically, in the stepped clamping wheel design, the stepped surface used for clamping the workpiece varies depending on its thickness, thus adapting to different workpiece clamping requirements. The height of each clamping wheel is approximately 10mm greater than the thickness of the workpiece. All workpieces have only two states relative to the chuck: clamped loading and unloading. When clamped loading, the chuck is horizontal. When the robot arm descends to pick up the workpiece, it only needs to ensure that the horizontal center plane of the chuck's stepped layer differs from the horizontal center plane of the workpiece by no more than 5mm. This prevents the workpiece from being pressed downwards after contact with the clamping wheel during clamping. Since the machine tool chuck is a precision fixture and collisions are not allowed, it is sufficient to ensure that the bottom surface of the workpiece is horizontal to the machine tool chuck each time it is picked up or placed. Even if the bottom surface of the workpiece touches the top of the chuck, the workpiece will automatically move upwards within a 10mm space, ensuring freedom of movement.

[0055] As can be seen from the above embodiments, the robotic gripper of the present invention is rotatably connected to the gripping arm of the robotic arm, cooperates with the clamping device and flipping power mechanism of the robotic arm, and achieves the gripping and flipping of the workpiece through the cooperation of the outer side of the gripping wheel mechanism with the workpiece, thereby reducing the labor intensity of workers, eliminating safety hazards, improving transfer efficiency, and improving the occupational health of operators.

[0056] Although the invention has been described with reference to preferred embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner as long as there is no structural conflict. The invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A mechanical hand gripper, characterized by, The device comprises a clamping wheel mechanism and a clamping wheel support, wherein The clamping wheel mechanism is arranged at the end of the clamping wheel support, and the clamping wheel support is arranged inside the clamping arm of the manipulator and is rotationally connected with the clamping arm; The outer side of the clamping wheel mechanism has a part that cooperates with the workpiece; The clamping wheel mechanism comprises a clamping wheel and a clamping wheel rotating shaft, wherein The clamping wheel is sleeved on the clamping wheel rotating shaft, and the two ends of the clamping wheel rotating shaft are connected with the inner side of the end of the clamping wheel support through bearings; The outer side of the clamping wheel has a part that cooperates with the workpiece; The outer periphery of the clamping wheel is provided with a V-shaped clamping groove; The V-shaped clamping groove comprises two groups; When taking the material, the upper horizontal V-shaped clamping groove is higher than the corresponding clamping point of the workpiece by 5-10 mm.

2. The robot gripper according to claim 1, characterized in that The clamping wheel support is a V-shaped support, and the clamping wheel mechanism is symmetrically arranged at the two ends of the V-shaped support.

3. The robot gripper of claim 2, wherein, The center of the V-shaped support is rotationally connected with the inner side of the clamping arm through a rotating shaft and bearings.

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