A robotic gripper for vertical and horizontal wheel blanks and its application method

Abstract

This invention discloses a robotic gripper for vertical and horizontal wheel blanks, comprising a gripper bracket, a connecting seat, a limiting mechanism, a gripper arm, gripper claws, and a drive mechanism. One end of the connecting seat is fixedly mounted on the robotic arm device, and the other end is connected to one end of the gripper bracket via a flange structure. The limiting mechanism is connected to the middle of the other end of the gripper bracket. The gripper arm is connected to the end of the gripper bracket away from the connecting seat, and the gripper claws are connected to the gripper arm. Both the gripper bracket and the connecting seat are hollow cavity structures. The drive mechanism is disposed within the gripper bracket and the connecting seat, and the gripper arm is connected to the drive mechanism. This invention's robotic gripper has a compact structure, is flexible and convenient to operate, has a large gripping force, a wide gripping range, is easy to install and adjust, and is safe and reliable. Furthermore, it can achieve automated gripping of vertical and horizontal wheel blanks entering and exiting the heating furnace without changing the gripper fixture, realizing intelligent transportation of wheel blanks during the heating stage. This invention also discloses a method for using the robotic gripper for vertical and horizontal wheel blanks.

Description

Technical Field

[0001] This invention belongs to the field of train wheel transportation technology, specifically relating to a robotic gripper for vertical and horizontal wheel blanks and its usage method. Background Technology

[0002] Before rolling wheel products, the wheel blanks need to be heated. There are two methods for placing wheel blanks in the heating furnace: upright and horizontal. Currently, the loading and unloading of wheel blanks in the heating furnace is done manually using forklifts. However, manually operating the forklifts to grab wheel blanks and place them in a designated position inside the heating furnace, or to remove pre-heated wheel blanks from the furnace and place them in a designated position before rolling, often results in blanks being dropped or misplaced, requiring secondary grabbing and placement. This method of relying on manually operated forklifts for grabbing and placing wheel blanks is inefficient due to the high temperature and harsh environment, resulting in high labor intensity for workers and reducing the level of automation on the production line.

[0003] A search revealed that Chinese invention patent application number CN201810442283, published on August 21, 2018, provides a wheel detection clamp, including a base plate and a pair of clamps disposed on the lower part of the base plate that are movable relative to each other for clamping the wheel. The inner side of each clamp is provided with a gripper, which is mounted on the clamps via a rotating shaft. The clamps are provided with a drive structure for rotating the gripper. A robotic arm, including a connecting block and a column for lifting, also includes the wheel detection clamps. The lower end of the column is connected to the upper part of the base plate via the connecting block.

[0004] Chinese invention patent application CN202010060097, published on March 10, 2020, discloses a robotic gripper and robotic arm, including a mounting base. Two drive linkage frames are symmetrically mounted on the mounting base, and a bearing block is mounted on each drive linkage frame. An anti-shake mechanism is mounted on the surface of the bearing block, and a through slot is formed on the side of the bearing block. A pushing mechanism is installed in the through slot. This device has an anti-shake mechanism. When the robotic arm needs to grip an object, the initial gripping block initially fixes the object. After the initial gripping block fully grips the object, the pushing block pushes open the extension fixing block, increasing the gripping area of ​​the object. Even if the user operates improperly, causing the robotic arm or the gripped pipe to shake, the larger gripping area and the simultaneous fixation by the initial gripping block and the extension fixing block prevent the object from easily escaping the gripper due to shaking. However, the technical solutions of the above patents cannot solve the aforementioned technical problems. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a simple, convenient, and easy-to-operate robotic gripper for vertical and horizontal wheel blanks. This gripper can automatically clamp vertical and horizontal wheel blanks entering and exiting the heating furnace without changing the gripper fixture, enabling intelligent loading and unloading of wheel blanks during the heating stage. The present invention also provides a method for using the robotic gripper for vertical and horizontal wheel blanks.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: a robotic gripper for vertical and horizontal wheel blanks, comprising a gripper bracket, a connecting seat, a limiting mechanism, a gripper arm, gripper claws, and a drive mechanism. One end of the connecting seat is fixedly mounted on the robotic arm device, and the other end of the connecting seat is connected to one end of the gripper bracket through a flange structure. The limiting mechanism is connected to the middle of the other end of the gripper bracket. The gripper arm is connected to the end of the gripper bracket away from the connecting seat, and the gripper claws are connected to the gripper arm. Both the gripper bracket and the connecting seat are hollow cavity structures. The drive mechanism is disposed inside the gripper bracket and the connecting seat, and the gripper arm is connected to the drive mechanism.

[0007] Furthermore, the limiting mechanism includes a mounting plate, an adjusting bolt, a limiting block, a locking nut, and a limiting nut. The mounting plate is welded and fixedly connected to the middle of the far end of the clamp bracket. The adjusting bolt is screwed onto the mounting plate. The limiting block is installed on the adjusting bolt via a threaded connection. The locking nut and the limiting nut are screwed onto the adjusting bolt. The limiting nut is located on one side of the mounting plate and fits against the mounting plate. The limiting block and the locking nut are both located on the other side of the mounting plate. The locking nut is located outside the limiting block to lock the limiting block.

[0008] Furthermore, the driving mechanism includes a clamping cylinder, a connecting block, and a clamping rod. The clamping cylinder is fixedly mounted on the near end of the clamping bracket using a head flange mounting method. The connecting block is rotatably connected to the piston rod head of the clamping cylinder. One end of the clamping rod is connected to the connecting block, and the other end of the clamping rod is connected to the clamp arm. The clamping rod is located in the hollow cavity of the clamping bracket.

[0009] Furthermore, the clamp arm includes a clamp arm body and a clamp arm connecting rod. The clamp arm body has a hollow structure, and the clamp arm connecting rod passes through the clamp arm body. The clamp arm body has a Y-shaped structure. The distal end of the clamp support is provided with a first hinge point and a second hinge point, the inner side of the proximal end of the clamp arm body is provided with a third hinge point, and the distal end of the clamp arm body is provided with a fourth hinge point.

[0010] Furthermore, the outer side of the proximal end of the clamp arm is hinged to the distal end of the clamp bracket at a first hinge point, the proximal end of the clamp arm connecting rod is hinged to the clamp bracket at a second hinge point, and the distal end of the clamp pull rod is hinged to the proximal end of the clamp arm at a third hinge point.

[0011] Furthermore, the clamping claw includes a clamping claw body, an arc-shaped reinforcing plate, a first clamping roller assembly, and a second clamping roller assembly. A fifth hinge point is provided on the inner side of the proximal end of the clamping claw body. The outer side of the proximal end of the clamping claw body is hinged to the distal end of the clamping arm body at a fourth hinge point. The distal end of the clamping arm connecting rod is hinged to the inner side of the proximal end of the clamping claw body at a fifth hinge point.

[0012] Furthermore, the first hinge point and the second hinge point at the far end of the clamp bracket, the fifth hinge point at the near end of the clamp claw body, and the fourth hinge point at the far end of the clamp arm body are connected in sequence to form a parallelogram, and the clamp arm body and the clamp arm connecting rod are the connecting rods of a parallel four-bar linkage mechanism.

[0013] Furthermore, the clamping jaws are frame-type welded parts with an arc shape in the middle. An arc-shaped reinforcing plate is welded and fixed at the arc, and the arc diameter of the arc reinforcing plate is larger than the diameter of the wheel blank to be clamped.

[0014] Furthermore, the first clamping roller assembly includes a first central shaft, a first bushing, and a first clamping roller. The first central shaft is fixedly mounted on the jaw body via a first positioning block. The first bushing is movably fitted onto the first central shaft, and the first clamping roller is fixedly mounted on the first bushing. The second clamping roller assembly includes a second central shaft, a second bushing, a second clamping roller, and a second positioning block. The second central shaft is fixedly mounted on the jaw body via a second positioning block. The second bushing is movably fitted onto the second central shaft, and the second clamping roller is fixedly mounted on the second bushing. The clamping roller is machined into a narrow waist shape, and the diameter of its cross-sectional arc is smaller than the diameter of the wheel blank to be gripped.

[0015] The present invention also provides a method of using a robotic gripper for vertical and horizontal wheel blanks. Based on the above-mentioned robotic gripper for vertical and horizontal wheel blanks, the method of use includes a. the robotic gripper grabbing the vertically placed wheel blank into the heating furnace; b. the robotic gripper grabbing the vertically placed wheel blank out of the heating furnace; c. the robotic gripper grabbing the horizontally placed wheel blank into the heating furnace; d. the robotic gripper grabbing the horizontally placed wheel blank out of the heating furnace.

[0016] The advantages of using the technical solution of this invention are:

[0017] The robotic gripper for vertical and horizontal wheel blanks of this invention has a compact structure, is flexible and convenient to operate, has a large clamping force, a wide clamping range, is easy to install and adjust, and provides stable and reliable clamping. Furthermore, it achieves automated clamping of vertical and horizontal wheel blanks entering and exiting the heating furnace without changing the clamping fixture, enabling intelligent transport of wheel blanks during the heating stage. In addition, the use of the robotic gripper for vertical and horizontal wheel blanks of this invention eliminates the need for manual operation of forklifts to grasp and place hot wheel blanks, achieving the goal of reducing manpower and increasing efficiency. Attached Figure Description

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

[0019] Figure 1 This is a schematic diagram of the overall structure of the robotic gripper for vertical and horizontal wheel blanks according to the present invention;

[0020] Figure 2 This is a schematic diagram of the clamp support structure of the present invention;

[0021] Figure 3 This is a schematic diagram of the limiting mechanism of the present invention;

[0022] Figure 4 This is a schematic diagram of the clamp arm structure of the present invention;

[0023] Figure 5 This is a schematic diagram of the jaw structure of the present invention;

[0024] Figure 6 This is an exploded view of the pliers of the present invention.

[0025] The markings in the above figure are as follows: 1. Clamp bracket; 2. Connecting seat; 3. Limiting mechanism; 4. Clamp arm; 5. Clamp claw; 6. Drive mechanism. Detailed Implementation

[0026] In this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "planar direction," "circumferential," "far end," "proximal end," "inner side," and "outer side," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0027] like Figures 1 to 6 As shown, a robotic gripper for vertical and horizontal wheel blanks includes a gripper bracket 1, a connecting seat 2, a limiting mechanism 3, a gripper arm 4, gripper claws 5, and a drive mechanism 6. One end of the connecting seat 2 is fixedly mounted on the robotic arm device, and the other end of the connecting seat 2 is connected to one end of the gripper bracket 1 via a flange structure. The limiting mechanism 3 is connected to the middle of the other end of the gripper bracket 1. The gripper arm 4 is connected to the end of the gripper bracket 1 away from the connecting seat 2, and the gripper claws 5 are connected to the gripper arm 4. Both the gripper bracket 1 and the connecting seat 2 are hollow cavity structures. The drive mechanism 6 is disposed within the gripper bracket 1 and the connecting seat 2, and the gripper arm 4 is connected to the drive mechanism 6. The robotic gripper for vertical and horizontal wheel blanks of this invention has a compact structure, is flexible and convenient to operate, has a large clamping force, a wide clamping range, is easy to install and adjust, and is safe and reliable. Moreover, it can achieve automated clamping of vertical and horizontal wheel blanks entering and exiting the heating furnace without changing the gripper fixture, realizing intelligent transportation of wheel blanks during the heating stage.

[0028] by Figure 1 For example, for each component from right to left, the right end is the proximal end and the left end is the distal end. Each component has a proximal end and a distal end. For example, the end of the connector 2 that connects to the robotic arm is the proximal end of the connector, and the other end of the connector 2 is the distal end of the connector. The end of the clamp bracket 1 that is close to the connector 2 is the proximal end of the clamp bracket, and the other end of the clamp bracket 1 is the distal end of the clamp bracket. The proximal and distal ends of the other components are distinguished in the same way.

[0029] The limiting mechanism 3 includes a mounting plate 301, an adjusting bolt 302, a limiting block 303, a locking nut 304, and a limiting nut 305. The mounting plate 301 is welded and fixedly connected to the middle of the far end of the clamp bracket 1. The adjusting bolt 302 is screwed onto the mounting plate 301. The limiting block 303 is installed on the adjusting bolt 302 by a threaded connection. The locking nut 304 and the limiting nut 305 are screwed onto the adjusting bolt 302. The limiting nut 305 is located on one side of the mounting plate 301 and fits against the mounting plate 301. The limiting block 303 and the locking nut 304 are both located on the other side of the mounting plate 301. The locking nut 304 is located outside the limiting block 303 and locks the limiting block 303.

[0030] Specifically, the clamp bracket 1 and the connecting seat 2 are hollow cavities. The near-end flange face of the clamp bracket 1 is fixedly connected to the far-end flange face of the connecting seat 2, and the near end of the connecting seat 2 is fixedly mounted on the body of the robotic arm.

[0031] A limiting mechanism 3 is provided at the far-middle part of the clamp bracket 1. The mounting plate 301 of the limiting mechanism 3 is welded and fixed to the far-middle part of the clamp bracket 1. The adjusting bolt 302 is screwed onto the mounting plate 301. A limiting block 303 is installed at the proximal end of the adjusting bolt 302. A locking nut 304 and a limiting nut 305 are screwed onto the adjusting bolt 302. The position of the limiting block 303 of the limiting mechanism 3 is adjustable. The setting of the limiting mechanism 3 ensures that the clamp opening is controllable and avoids the clamp opening from being opened infinitely due to misoperation, which could damage the heating furnace door or equipment near the robot arm.

[0032] The drive mechanism 6 includes a clamping cylinder 601, a connecting block 602, and a clamping rod 603. The clamping cylinder 601 is fixedly mounted on the near end of the clamping bracket 1 using a head flange mounting method. The connecting block 602 is rotatably connected to the piston rod head of the clamping cylinder 601. One end of the clamping rod 603 is connected to the connecting block 602, and the other end of the clamping rod 603 is connected to the clamp arm 4. The clamping rod 603 is located in the hollow cavity of the clamping bracket 1.

[0033] Specifically, the clamping cylinder 601 of the drive mechanism 6 is mounted with a head flange and fixed to the near end of the clamp bracket 1. The clamping cylinder 601 is located in the hollow cavity of the connecting seat 2. A connecting block 602 is screwed to the head of the piston rod of the clamping cylinder 601. The connecting block 602 is hinged to the near end of the pull rod 603 of the clamping cylinder 601 of the drive mechanism 6. The pull rod 603 of the clamping cylinder 601 is located in the hollow cavity of the clamp bracket 1. The entire drive mechanism 6 is located in the hollow cavity of the clamp bracket 1 and the connecting seat 2, with a compact structure. The clamping cylinder 601 has a built-in magnetic ring encoder for precise control of the extension and retraction position of the clamping cylinder 601. The clamping cylinder 601 has pressure feedback during operation, and the clamping pressure is adjustable, ensuring that the robot arm clamps the wheel blanks and achieves dual control of pressure and position. A connecting seat 2 is provided at the near end of the clamp bracket 1, which can shorten the length of the clamp rod 603 that is directly connected to the robot body of the clamp bracket 1, making it easier to process, adjust and replace the clamp rod 603.

[0034] The clamp arm 4 includes a clamp arm body 401 and a clamp arm connecting rod 402. The clamp arm body 401 has a hollow structure, and the clamp arm connecting rod 402 passes through the clamp arm body 401. The clamp arm body 401 has a Y-shaped structure. The distal end of the clamp support 1 is provided with a first hinge point 101 and a second hinge point 102. The inner side of the proximal end of the clamp arm body 401 is provided with a third hinge point 4011, and the distal end of the clamp arm body 401 is provided with a fourth hinge point 4012. The outer side of the proximal end of the clamp arm body 401 is hinged to the distal end of the clamp support 1 at the first hinge point 101. The proximal end of the clamp arm connecting rod 402 is hinged to the clamp support 1 at the second hinge point 102. The distal end of the clamp pull rod 603 is hinged to the proximal end of the clamp arm body 401 at the third hinge point 4011.

[0035] The jaw 5 includes a jaw body 501, an arc-shaped reinforcing plate 502, a first clamping roller assembly 503, and a second clamping roller assembly 504. The jaw body 501 has a fifth hinge point 5011 on its inner proximal side. The outer proximal side of the jaw body 501 is hinged to the distal end of the jaw arm body 401 at a fourth hinge point 4012. The distal end of the jaw arm connecting rod 402 is hinged to the inner proximal side of the jaw body 501 at the fifth hinge point 5011.

[0036] The first hinge point 101 and the second hinge point 102 at the far end of the clamp bracket 1, the fifth hinge point 5011 at the near end of the jaw body 5, and the fourth hinge point 4012 at the far end of the clamp arm body 4 are connected in sequence to form a parallelogram. The clamp arm body 401 and the clamp arm connecting rod 402 are the connecting rods of the parallel four-bar linkage mechanism, so that the posture of the end actuator clamp 5 remains unchanged during the opening and closing process, and the two clamp 5 remain in a parallel state.

[0037] The clamping jaws 501 are frame-type welded parts with an arc shape in the middle. The arc-shaped reinforcing plate 502 is welded and fixed at the arc. The arc diameter of the arc reinforcing plate 502 is slightly larger than the diameter of the wheel blank to be clamped. The first clamping roller assembly 503 includes a first central shaft 5031, a first bushing 5032, and a first clamping roller 5033. The first central shaft 5031 is fixedly mounted on the jaw body 501 via a first positioning block 5034. The first bushing 5032 is movably mounted on the first central shaft 5031, and the first clamping roller 5033 is fixedly mounted on the first bushing 5032. The second clamping roller assembly 504 includes a second central shaft 5041, a second bushing 5042, a second clamping roller 5043, and a second positioning block 5044. The second central shaft 5041 is fixedly mounted on the jaw body 501 via the second positioning block 5044. The second bushing 5042 is movably mounted on the second central shaft 5041, and the second clamping roller 5043 is fixedly mounted on the second bushing 5042. The clamping roller is machined into a narrow waist shape, and the diameter of its cross-sectional arc is smaller than the diameter of the wheel blank to be gripped. The arc surfaces of the paired first clamping roller 5033 and second clamping roller 5043 are used to clamp the horizontally placed wheel blank, and the upper and lower cylindrical surfaces are used to clamp the vertically placed wheel blank.

[0038] This invention utilizes the external structure of the clamping rollers to enable the robotic arm to grip the wheel blank at four points during the gripping process, resulting in a larger contact area and better stability of the wheel blank under clamping conditions. The clamping roller assembly and the gripper body 501 are designed with a detachable structure, facilitating the replacement of vulnerable parts. During the vertical clamping of the wheel blank, the first clamping roller 5033 and the second clamping roller 5043 can rotate around the first central axis 5031 and the second central axis 5032, respectively, easily achieving four-point clamping and improving the wear condition of the clamping roller surfaces, thus extending the service life of the clamping rollers.

[0039] Based on the above-mentioned robotic gripper for vertical and horizontal wheel blanks, the present invention also provides a method of using the robotic gripper for vertical and horizontal wheel blanks, the method comprising: a. the robotic gripper gripping the vertically placed wheel blank into the heating furnace; b. the robotic gripper gripping the vertically placed wheel blank out of the heating furnace; c. the robotic gripper gripping the horizontally placed wheel blank into the heating furnace; d. the robotic gripper gripping the horizontally placed wheel blank out of the heating furnace.

[0040] a. The specific steps for the robotic arm gripper to pick up the upright wheel blank and feed it into the heating furnace are as follows:

[0041] 1. When waiting for material, the robotic arm gripper is in its original zero position and jaw 5 is closed;

[0042] 2. After the robotic arm receives the signal to load the heating furnace, the piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 extends, the pull rod 603 of the clamping cylinder 601 extends forward, the clamping arm body 401 of the drive clamping arm 4 opens, and the guide jaw 5 opens.

[0043] 3. Guided by the robot body, the gripper rotates to the front of the wheel blank to be gripped and extends, with the first gripping roller 5033 and the second gripping roller 5043 of the gripper 5 located on the outside of the wheel blank.

[0044] 4. The piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 retracts, the pull rod 603 of the clamping cylinder 601 retracts, the clamping arm body 401 of the drive clamping arm 4 closes, the guide jaws 5 close, and the upper and lower cylindrical surfaces of the first clamping roller 5033 and the second clamping roller 5043 of the jaws 5 contact the wheel blank, realizing four-point clamping of the wheel blank.

[0045] 5. The robotic arm retracts its gripper, rotates to the furnace door for feeding the heating furnace, and extends its gripper into the set position inside the furnace.

[0046] 6. The piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 extends, the pull rod 603 of the clamping cylinder 601 extends forward, the clamp arm body 401 of the drive clamp arm 4 opens, the guide jaws 5 open, and the billet falls to the set position at the bottom of the furnace.

[0047] 7. The robotic arm clamps retract out of the furnace door;

[0048] 8. The piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 retracts, the pull rod 603 of the clamping cylinder 601 retracts, the clamp arm body 401 of the drive clamp arm 4 closes, and the guide jaw 5 closes.

[0049] 9. The robotic gripper returns to its original zero position.

[0050] b. The specific steps for the robotic arm gripper to pick up the upright wheel blank from the heating furnace are as follows:

[0051] 1. When waiting for material, the robotic arm gripper is in its original zero position and jaw 5 is closed;

[0052] 2. After the robotic arm receives the signal to discharge material to the heating furnace, the piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 extends, the pull rod 603 of the clamping cylinder 601 extends forward, the clamping arm body 401 of the drive clamping arm 4 opens, and the guide jaw 5 opens.

[0053] 3. Guided by the robot body, the gripper rotates to the front of the wheel blank to be gripped and extends, with the first gripping roller 5033 and the second gripping roller 5043 of the gripper 5 located on the outside of the wheel blank.

[0054] 4. The piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 retracts, the pull rod 603 of the clamping cylinder 601 retracts, the clamping arm body 401 of the drive clamping arm 4 closes, the guide jaws 5 close, and the upper and lower cylindrical surfaces of the first clamping roller 5033 and the second clamping roller 5043 of the jaws 5 contact the wheel blank, realizing four-point clamping of the wheel blank.

[0055] 5. The robotic arm retracts its gripper, rotates to the front of the material receiving position before the wheel blank is rolled, and extends the gripper to the set position.

[0056] 6. The piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 extends, the pull rod 603 of the clamping cylinder 601 extends forward, the clamp arm body 401 of the drive clamp arm 4 opens, the guide jaws 5 open, and the wheel blank falls to the receiving position before rolling.

[0057] 7. The robotic arm gripper retracts out of the receiving position;

[0058] 8. The piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 retracts, the pull rod 603 of the clamping cylinder 601 retracts, the clamp arm body 401 of the drive clamp arm 4 closes, and the guide jaw 5 closes.

[0059] 9. The robotic gripper returns to its original zero position.

[0060] c. The specific steps for the robotic arm gripper to pick up the horizontally placed wheel blank and put it into the heating furnace are as follows:

[0061] 1. When waiting for material, the robotic arm gripper is in its original zero position and jaw 5 is closed;

[0062] 2. After the robotic arm receives the signal to load the heating furnace, the piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 extends, the pull rod 603 of the clamping cylinder 601 extends forward, the clamping arm body 401 of the drive clamping arm 4 opens, and the guide jaw 5 opens.

[0063] 3. Guided by the robot body, the gripper rotates to the front of the wheel blank to be gripped and extends, with the first gripping roller 5033 and the second gripping roller 5043 of the gripper 5 located on the outside of the wheel blank.

[0064] 4. The piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 retracts, the pull rod 603 of the clamping cylinder 601 retracts, the clamping arm body 401 of the drive clamping arm 4 closes, the guide jaws 5 close, and the arc surfaces of the first clamping roller 5033 and the second clamping roller 5043 of the jaws 5 contact the wheel blank, realizing four-point clamping of the wheel blank.

[0065] 5. The robotic arm retracts its gripper, rotates to the furnace door for feeding the heating furnace, and extends its gripper into the set position inside the furnace.

[0066] 6. The piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 extends, the pull rod 603 of the clamping cylinder 601 extends forward, the clamp arm body 401 of the drive clamp arm 4 opens, the guide jaws 5 open, and the billet falls to the set position at the bottom of the furnace.

[0067] 7. The robotic arm clamps retract out of the furnace door;

[0068] 8. The piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 retracts, the pull rod 603 of the clamping cylinder 601 retracts, the clamp arm body 401 of the drive clamp arm 4 closes, and the guide jaw 5 closes.

[0069] 9. The robotic gripper returns to its original zero position.

[0070] d. The specific steps for the robotic arm gripper to pick up the horizontally placed wheel blanks from the heating furnace are as follows:

[0071] 1. When waiting for material, the robotic arm gripper is in its original zero position and jaw 5 is closed;

[0072] 2. After the robotic arm receives the signal to discharge material to the heating furnace, the piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 extends, the pull rod 603 of the clamping cylinder 601 extends forward, the clamping arm body 401 of the drive clamping arm 4 opens, and the guide jaw 5 opens.

[0073] 3. Guided by the robot body, the gripper rotates to the front of the wheel blank to be gripped and extends, with the first gripping roller 5033 and the second gripping roller 5043 of the gripper 5 located on the outside of the wheel blank.

[0074] 4. The piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 retracts, the pull rod 603 of the clamping cylinder 601 retracts, the clamping arm body 401 of the drive clamping arm 4 closes, the guide jaws 5 close, and the arc surfaces of the first clamping roller 5033 and the second clamping roller 5043 of the jaws 5 contact the wheel blank, realizing four-point clamping of the wheel blank.

[0075] 5. The robotic arm retracts its gripper, rotates to the front of the material receiving position before the wheel blank is rolled, and extends the gripper to the set position.

[0076] 6. The piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 extends, the pull rod 603 of the clamping cylinder 601 extends forward, the clamp arm body 401 of the drive clamp arm 4 opens, the guide jaws 5 open, and the wheel blank falls to the receiving position before rolling.

[0077] 7. The robotic arm gripper retracts out of the receiving position;

[0078] 8. The piston rod of the clamping cylinder 601 of the clamping drive mechanism 6 retracts, the pull rod 603 of the clamping cylinder 601 retracts, the clamp arm body 401 of the drive clamp arm 4 closes, and the guide jaw 5 closes.

[0079] 9. The robotic gripper returns to its original zero position.

[0080] The robotic gripper for vertical and horizontal wheel blanks of this invention has a compact structure, is flexible and convenient to operate, has a large clamping force, a wide clamping range, is easy to install and adjust, and provides stable and reliable clamping. Furthermore, it achieves automated clamping of vertical and horizontal wheel blanks entering and exiting the heating furnace without changing the clamping fixture, enabling intelligent transport of wheel blanks during the heating stage. In addition, the use of the robotic gripper for vertical and horizontal wheel blanks of this invention eliminates the need for manual operation of forklifts to grasp and place hot wheel blanks, achieving the goal of reducing manpower and increasing efficiency.

[0081] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the technical solution of the present invention, or the direct application of the concept and technical solution of the present invention to other occasions without modification, are all within the protection scope of the present invention.

Claims

1. A robotic gripper for vertical and horizontal wheel blanks, characterized in that: The device includes a clamp support (1), a connecting seat (2), a limiting mechanism (3), a clamp arm (4), a clamp claw (5), and a driving mechanism (6). One end of the connecting seat (2) is fixedly mounted on the robotic arm device, and the other end of the connecting seat (2) is connected to one end of the clamp support (1) through a flange structure. The limiting mechanism (3) is connected to the middle of the other end of the clamp support (1). The clamp arm (4) is connected to the end of the clamp support (1) away from the connecting seat (2), and the clamp claw (5) is connected to the clamp arm (4). Both the clamp support (1) and the connecting seat (2) are hollow cavity structures. The driving mechanism (6) is set inside the clamp bracket (1) and the connecting seat (2), and the clamp arm (4) is connected to the driving mechanism (6); the limiting mechanism (3) includes a mounting plate (301), an adjusting bolt (302), a limiting block (303), a locking nut (304), and a limiting nut (305). The mounting plate (301) is welded and fixedly connected to the middle of the far end of the clamp bracket (1). The adjusting bolt (302) is screwed onto the mounting plate (301). The limiting block (303) is installed on the adjusting bolt (302) through a threaded connection. The locking nut (304) The limiting nut (305) is screwed onto the adjusting bolt (302). The limiting nut (305) is located on one side of the mounting plate (301) and fits against the mounting plate (301). The limiting block (303) and the locking nut (304) are both located on the other side of the mounting plate (301). The locking nut (304) is located outside the limiting block (303) to lock the limiting block (303). The driving mechanism (6) includes a clamping cylinder (601), a connecting block (602), and a clamping rod (603). The clamping cylinder (601) is mounted with a head flange. The clamp is fixedly mounted near the clamp bracket (1). The connecting block (602) is rotatably connected to the piston rod head of the clamping cylinder (601). One end of the clamp pull rod (603) is connected to the connecting block (602), and the other end of the clamp pull rod (603) is connected to the clamp arm (4). The clamp pull rod (603) is located in the hollow cavity of the clamp bracket (1). The clamp arm (4) includes a clamp arm body (401) and a clamp arm connecting rod (402). The clamp arm body (401) has a hollow structure, and the clamp arm connecting rod (402) passes through the clamp arm body (401). The clamp arm body (401) is Y-shaped. The clamp support (1) has a first hinge point (101) and a second hinge point (102) at its distal end, a third hinge point (4011) on the inner side of the proximal end of the clamp arm (401), and a fourth hinge point (4012) at its distal end. The outer side of the proximal end of the clamp arm (401) is hinged to the distal end of the clamp support (1) at the first hinge point (101), the proximal end of the clamp arm connecting rod (402) is hinged to the clamp support (1) at the second hinge point (102), and the distal end of the clamp pull rod (603) is hinged to the proximal end of the clamp arm (401) at the third hinge point (4011).The clamp (5) includes a clamp body (501), an arc-shaped reinforcing plate (502), a first clamping roller assembly (503), and a second clamping roller assembly (504). A fifth hinge point (5011) is provided on the inner side of the proximal end of the clamp body (501). The outer side of the proximal end of the clamp body (501) is hinged to the distal end of the clamp arm body (401) at a fourth hinge point (4012). The distal end of the clamp arm connecting rod (402) is hinged to the inner side of the proximal end of the clamp body (501) at a fifth hinge point (5011). The clamp body (501) is a frame-type welded component with an arc shape in the middle. The arc-shaped reinforcing plate (502) is welded and fixed to the arc. The arc diameter of the arc-shaped reinforcing plate (502) is larger than the diameter of the wheel blank to be clamped.

2. The robotic gripper for vertical and horizontal wheel blanks as described in claim 1, characterized in that: The first hinge point (101) and the second hinge point (102) at the far end of the clamp bracket (1), the fifth hinge point (5011) at the near end of the clamp claw body (501), and the fourth hinge point (4012) at the far end of the clamp arm body (401) are connected in sequence to form a parallelogram. The clamp arm body (401) and the clamp arm connecting rod (402) are the connecting rods of the parallel four-bar linkage mechanism.

3. The robotic gripper for vertical and horizontal wheel blanks as described in claim 2, characterized in that: The first clamping roller assembly (503) includes a first central shaft (5031), a first bushing (5032), and a first clamping roller (5033). The first central shaft (5031) is fixedly mounted on the jaw body (501) via a first positioning block (5034). The first bushing (5032) is movably fitted onto the first central shaft (5031), and the first clamping roller (5033) is fixedly mounted on the first bushing (5032). The second clamping roller assembly (504) includes a second central shaft (5031). 5041), second bushing (5042), second clamping roller (5043), and second positioning block (5044). The second central shaft (5041) is fixedly installed on the jaw body (501) through the second positioning block (5044). The second bushing (5042) is movably fitted on the second central shaft (5041). The second clamping roller (5043) is fixedly installed on the second bushing (5042). The clamping roller is machined into a narrow waist shape, and its cross-sectional arc diameter is smaller than the diameter of the wheel blank to be gripped.

4. A method for using a robotic gripper for vertical and horizontal wheel blanks, characterized in that: A robotic gripper for vertical and horizontal wheel blanks according to any one of claims 1 to 3, the method of use includes a. the robotic gripper grabbing the vertically placed wheel blank into the heating furnace; b. the robotic gripper grabbing the vertically placed wheel blank out of the heating furnace; c. the robotic gripper grabbing the horizontally placed wheel blank into the heating furnace; d. the robotic gripper grabbing the horizontally placed wheel blank out of the heating furnace.

Images