Mechanical automatic grabbing device

Abstract

The invention relates to the technical field of grabbing, in particular to a mechanical automatic grabbing device which comprises a discharging channel and a manipulator arranged on one side of the discharging channel, and comprises a grabbing unit arranged on the manipulator and used for distinguishing the front face and the back face of a ball cage and grabbing the front face and the back face of the ball cage; the grabbing unit comprises a connecting frame which is telescopically arranged on one side of the mechanical arm, and a distinguishing clamping rod used for distinguishing the front face and the back face of the ball cage is arranged on the connecting frame. The distinguishing assembly is connected with the clamping rod and used for penetrating through the axis of the ball cage and clamping the inner wall of the ball cage located on the front face in a contact mode; the clamping assembly is connected with the connecting frame and used for being matched with the distinguishing clamping rods to fix the outer wall of the ball cage, the problems that in the prior art, the front face and the back face of the ball cage are reversed in the machining process, so that the machining efficiency is affected, impurities exist in the ball cage, and the machining precision is affected are solved, and the purpose that the ball cage is always in the front face machining state in the grabbing and transferring process is achieved. And impurities are removed in the grabbing process.

Description

Technical Field

[0001] The present application relates to the field of grasping technology, and in particular to a mechanical automated grasping device. Background Art

[0002] The ball cage is an important component in the automobile transmission system. The function of the ball cage is to transfer the engine power from the transmission to the two front wheels to drive the car. The ball cage universal joint is also called the "constant velocity joint". Because the constant velocity joint needs to transmit heavy driving torque, is under heavy load, has high transmission accuracy, and is also an important safety part in the car, it is processed by precision forgings.

[0003] However, in the process of implementing the relevant technical solutions, it was found that there are at least the following technical problems: during the processing of the ball cage, it is necessary to use a robot to grasp and process the ball cage after loading it. Since the diameters of the two end surfaces of the outer retaining frame of the ball cage are different, during the processing, it is necessary to use the front side of the ball cage retaining frame as a reference for processing. However, the robot used in the process of loading the ball cage cannot determine the front and back sides of the ball cage, and the front and back sides of the ball cage retaining frame will be reversed. In addition, impurities are likely to exist in the ball cage retaining frame after processing, which can easily affect the accuracy and efficiency of the ball cage retaining frame processing. Summary of the invention

[0004] The present application provides a mechanical automated grasping device, which solves the problems in the prior art that the front and back sides of the ball cage are reversed during processing, thereby affecting the processing efficiency and that impurities inside the ball cage affect the processing accuracy. The application ensures that the ball cage is always in a positive processing state during the grasping and transportation process, and impurities are removed during the grasping process.

[0005] The present application provides a mechanical automated grasping device, comprising a material discharge channel and a manipulator arranged on one side of the material discharge channel, characterized in that it also comprises: a grasping unit, arranged on the manipulator, for distinguishing the front and back sides of the ball cage and grasping the front and back sides of the ball cage; the grasping unit comprises: a connecting frame, telescopically arranged on one side of the manipulator, and the connecting frame is provided with a distinguishing clamping rod for distinguishing the front and back sides of the ball cage; a distinguishing component, connected to the clamping rod, for passing through the axis of the ball cage and contacting and clamping the inner wall of the ball cage at the front; a clamping component, connected to the connecting frame, for cooperating with the distinguishing clamping rod to fix the outer wall of the ball cage, so that the manipulator drives it for transportation; a de-impurity unit, arranged concentrically with the connecting frame, for moving along the inner wall of the ball cage during the grasping process of the manipulator to absorb impurities on the inner wall of the ball cage.

[0006] Furthermore, the impurity removal unit includes: a mounting plate, which is coaxially connected to the connecting frame and on which an adsorption piece is provided; a driving assembly, which is provided on the mounting plate and is used to drive the adsorption piece to move in the mounting plate; and an impurity removal assembly, which is used to limit the moving trajectory of the adsorption piece to comprehensively clean the inner wall of the ball cage.

[0007] Furthermore, the distinguishing component includes: a slide groove, which is opened on the connecting frame, and the slide groove is opened in multiple groups, the slide groove matches the number of distinguishing clamping rods, the distinguishing clamping rod is slidably connected in the slide groove, and the top of the distinguishing clamping rod is fixedly connected with a fixed plate; a first elastic member, which is arranged between the fixed plate and the connecting frame; a pressure sensor, which is arranged on the connecting frame and contacts with one end of the first elastic member.

[0008] Furthermore, the distinguishing clamping rods are cross-arranged relative to each other, and the distinguishing clamping rods are columnar structures, and the length of the distinguishing clamping rods is less than the thickness of the ball cage.

[0009] Furthermore, the clamping assembly includes: a mounting frame fixedly connected to both sides of the connecting frame; a bidirectional threaded rod rotatably connected to the mounting frame through a first power device; a moving block symmetrically arranged on both sides of the bidirectional threaded rod; a clamping block fixedly connected to the moving block, and used to clamp and fix the outer wall of the ball cage; the first power device drives the bidirectional threaded rod to rotate, so that the two groups of clamping blocks move toward each other to fix the outer wall of the ball cage, thereby facilitating the grabbing and transportation of the robot.

[0010] Furthermore, the driving assembly comprises:

[0011] The toggle plate is rotatably arranged on the mounting plate through a second power device, and the toggle plate is provided with a plurality of toggle rods along its circumferential direction.

[0012] Furthermore, the impurity removal component includes: circulation grooves, which are provided in multiple groups along the circumferential direction of the mounting plate, the number of the circulation grooves matches the adsorption component, and a placement block is fixedly connected to one side of the mounting plate close to the circulation grooves; a follower plate, which is fixedly connected to one end of the adsorption component; and a second elastic component, which is provided between the follower plate and the mounting block and is used to reset the adsorption component.

[0013] Furthermore, a sliding guide surface is provided on one side of the following plate that contacts the toggle plate.

[0014] Furthermore, a base is provided at the bottom of the manipulator, the base is connected to the manipulator through a rotating shaft, a second rotating shaft is provided on the rotating shaft, and a third power motor is provided on one side of the second rotating shaft, and the third power motor is controlled by a pressure sensor to send a signal to control forward and reverse rotation.

[0015] The technical solution provided by this application has at least the following technical effects or advantages:

[0016] (1) The present application adopts a grasping unit to distinguish the contact between the clamping rod and the placed ball cage and judge the front and back sides, and draws a conclusion by distinguishing whether the clamping rod is subjected to force. Under the action of the clamping block, the ball cage is grasped. After the pressure sensor is subjected to force, the signal is transmitted to the controller to control the forward and reverse rotation of the second rotating shaft. Therefore, the problem of the front and back sides of the existing ball cage being reversed during processing is effectively solved, thereby affecting the processing efficiency.

[0017] (2) The present application adopts an impurity removal unit, which uses the adsorption member to start the toggle plate to rotate after the clamping roller enters, so that multiple adsorption members rotate together to clean the impurities inside the ball cage. Therefore, the problem that impurities inside the existing ball cage affect the processing accuracy is effectively solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of Example 1 of the present application;

[0019] Figure 2 This is a schematic diagram of the structure of the grabbing unit and the ball cage explosion in the first embodiment of the present application;

[0020] Figure 3 This is a schematic diagram of the structure of the explosion of the grabbing unit in the first embodiment of the present application;

[0021] Figure 4 This is a schematic diagram of the structure of the ball cage and the distinguishing clamping rod in the first embodiment of the present application;

[0022] Figure 5 This is a schematic diagram of the structure of placing and distinguishing the clamping rods on the front of the ball cage in the first embodiment of the present application;

[0023] Figure 6 This is a schematic diagram of the structure of placing and distinguishing the clamping rod on the back of the ball cage in the first embodiment of the present application;

[0024] Figure 7 This is a schematic diagram of the structure of the impurity removal component in Example 2 of the present application;

[0025] Figure 8 This is a structural schematic diagram of the initial position of the toggle plate in the second embodiment of the present application;

[0026] Fig. 9 for Figure 4 Schematic diagram of the rotating structure of the middle toggle plate;

[0027] Fig.10 for Fig. 9 Schematic diagram of the rotating structure of the middle toggle plate;

[0028] Fig.11 for Fig. 9 The enlarged structural diagram at A in the middle;

[0029] Fig.12 This is a schematic diagram of the structure for grabbing the front and back sides of the ball cage in Example 1 of the present application.

[0030] In the figure: 200, unloading channel; 201, adsorption part; 100, manipulator; 101, distinguishing clamping rod; 102, base; 103, second rotating shaft; 1, grabbing unit; 10, connecting frame; 11, distinguishing component; 111, slide groove; 112, fixing plate; 113, first elastic member; 114, pressure sensor; 12, clamping component; 121, mounting frame; 122, two-way threaded rod; 123, moving block; 124, clamping block; 2, impurity removal unit; 20, mounting plate; 21, driving assembly; 211, toggle plate; 212, toggle rod; 22, impurity removal component; 221, circulation groove; 222, placement block; 223, follower plate; 224, second elastic member; 225, guide surface. DETAILED DESCRIPTION

[0031] The embodiments of the present application disclose a mechanical automated grasping device. The technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0033] Embodiment 1

[0034] Reference Figure 1-Figure 2 , including a material discharge channel 200 and a manipulator 100 arranged on one side of the material discharge channel 200, and also including a device arranged on the manipulator 100 for distinguishing the front and back sides of the ball cage and grasping the front and back sides of the ball cage, the grasping unit 1 includes a connecting frame 10 telescopically arranged on one side of the manipulator 100, and the connecting frame 10 is provided with a distinguishing clamping rod 101 for distinguishing the front and back sides of the ball cage, the clamping rod is connected with a distinguishing component 11 for passing through the axis of the ball cage and contacting and clamping the inner wall of the ball cage at the front, and the outer side of the connecting frame 10 is connected with a clamping component 12 for cooperating with the distinguishing clamping rod 101 to fix the outer wall of the ball cage so that the manipulator 100 drives the grasping;

[0035] The grabbing unit 1 can directly identify and distinguish the front and back sides of the ball cage when grabbing the ball cage for processing, so that the ball cage is always in a front state, which is convenient for subsequent processing.

[0036] Reference Figure 2 and Figure 3-Figure 6, the distinguishing component 11 includes a slide groove 111 opened on the connecting frame 10, and the slide groove 111 is provided with multiple groups, the slide groove 111 matches the number of the distinguishing clamping rods 101, the distinguishing clamping rods 101 are slidably connected in the slide groove 111, the distinguishing clamping rods 101 are cross-arranged and opposite, and the distinguishing clamping rods 101 are columnar structures, the length of the distinguishing clamping rods 101 is less than the thickness of the ball cage, and the top of the distinguishing clamping rod 101 is fixedly connected with a fixing plate 112, and a first elastic member 113 is fixedly connected between the fixing plate 112 and the connecting frame 10, and the first elastic member 113 is preferably a spring, and a pressure sensor 114 is installed on the connecting frame 10, and the pressure sensor 114 is in contact with one end of the first elastic member 113, and when the distinguishing clamping rod 101 enters the inside of the ball cage (when the ball cage is in the front state), the distinguishing clamping rod 101 can be squeezed, so that the pressure sensor 114 is subjected to force;

[0037] Reference Figure 3-Figure 6 The clamping assembly 12 includes a mounting frame 121 fixedly connected to both sides of the connecting frame 10, and a bidirectional threaded rod 122 is rotatably connected in the mounting frame 121 through a first power device. The first power motor is not shown in the figure and can be fixedly installed on one side of the mounting frame 121. The first power device is preferably a motor. The two ends of the bidirectional threaded rod 122 are symmetrically threadedly connected with moving blocks 123. The moving block 123 is fixedly connected with a clamping block 124 for clamping and fixing the outer wall of the ball cage. The clamping block 124 is an arc-shaped structure, which can be tightly fixed to the outer wall of the ball cage. The first power device drives the bidirectional threaded rod 122 to rotate, so that the two groups of clamping blocks 124 move toward each other to fix the outer wall of the ball cage, which is convenient for the manipulator 100 to grab and transport;

[0038] A base 102 is provided at the bottom of the manipulator 100, and the base 102 is connected to the manipulator 100 through a rotating shaft, a second rotating shaft 103 is provided on the rotating shaft, and a third power motor is provided on one side of the second rotating shaft 103, and the third power motor is controlled by a pressure sensor 114 to send a signal to control forward and reverse rotation;

[0039] The unloading channel 200 refers to the position of the robot 100 through which the ball cage is transported after the previous process, and then the robot 100 grabs the ball cage for the next process. The unloading channel 200 is tilted, so that the ball cage can move along the track of the unloading channel 200. There is a blocking plate on the unloading channel 200 for enabling the ball cage to unload in sequence. The blocking plate rotates to block the ball cage, so that the ball cage can unload in sequence and be placed and stacked together. The unloading channel 200 belongs to the prior art and will not be described in detail here.

[0040] After the ball cage moves to the end position of the unloading channel 200 (one side of the ball cage is limited by the end of the unloading channel 200), the manipulator 100 is extended to push the distinguishing clamping rod 101 forward until it enters the hollow part of the ball cage. When the ball cage is in the front, the diameter of the front end face of the ball cage is smaller than the diameter of the back end face of the ball cage. When the distinguishing telescopic rod is close to the inner wall of the ball cage, it will be squeezed by the inner wall of the ball cage, so that the first elastic member 113 is compressed. The compressed first elastic member 113 drives the distinguishing clamping rod 101 to move toward each other until it enters the interior of the ball cage. The pressure sensor 114 is subjected to pressure. At the same time, the squeezed first elastic member 113 can also enable the distinguishing clamping rod 101 to fix the ball cage.

[0041] Then, the second power device drives the bidirectional threaded rod 122 to rotate, and the bidirectional threaded rod 122 rotates to make the moving block 123 and the clamping block 124 threadedly connected thereto move toward each other, thereby achieving the clamping and fixing effect on the outer wall of the ball cage. It should be noted that the bidirectional threaded rod 122 is also arranged obliquely, not parallel to the feeding channel 200, so as to avoid the interference problem between the clamping block 124 and the feeding channel 200;

[0042] Under the further clamping and fixing action of the clamping block 124, the ball cage can be grasped, and the pressure sensor 114 is subjected to force and transmits the electrical signal to the third power motor (the manipulator 100 always rotates 90 degrees clockwise with the rotating shaft as the center, and after the manipulator 100 rotates 90 degrees), the third power motor drives the second rotating shaft 103 to rotate 90 degrees clockwise, so that the front of the ball cage faces upward, and then another manipulator 100 is operated and transferred to the workbench for processing, which is not shown in the figure;

[0043] Reference Fig.12 On the contrary, when the ball cage is on the reverse side, the distinguishing clamping rod 101 does not contact the inner wall of the ball cage when it is close to the hollow part of the ball cage, so that the first elastic member 113 is not subjected to compression force, and the pressure sensor 114 is not subjected to force. At this time, the bidirectional threaded rod 122 rotates to move the clamping block 124 to clamp and fix the ball cage. Since the pressure sensor 114 is not subjected to force, after the manipulator 100 rotates 90 degrees with the rotating shaft as the center, the third power motor is instructed by the controller to rotate 90 degrees counterclockwise with the second rotating shaft 103 as the center, and the ball cage is rotated upward and the front side is facing up, so as to facilitate the processing of the ball cage, thereby solving the problem that the front and back sides of the ball cage are difficult to distinguish for processing.

[0044] Embodiment 2

[0045] Reference Figure 7-Figure 11The connecting frame 10 is concentrically provided with a cleaning unit 2 for moving along the inner wall of the ball cage during the grasping process of the manipulator 100 to absorb impurities on the inner wall of the ball cage. The cleaning unit 2 includes a mounting plate 20 coaxially connected to the connecting frame 10, and a suction piece 201 is provided on the mounting plate 20. The suction piece 201 preferably has suction holes on the outer wall, and the principle is the same as that of a vacuum cleaner, and can absorb impurities. The mounting plate 20 is provided with a driving component 21 for driving the suction piece 201 to move in the mounting plate 20, and the suction piece 201 is connected to a cleaning component 22 for limiting the moving trajectory of the suction piece 201 to comprehensively clean the inner wall of the ball cage;

[0046] The driving assembly 21 includes a toggle plate 211 disposed on the mounting plate 20 and rotated by a second power device, and the toggle plate 211 is provided with a plurality of toggle rods 212 along its circumferential direction. The second power device is preferably a motor, and the second power device is mounted on the mounting plate 20;

[0047] The impurity removal component 22 includes a plurality of circulation grooves 221 arranged along the circumferential direction of the mounting plate 20, the number of the circulation grooves 221 matches the adsorbent 201, a placement block 222 is fixedly connected to one side of the mounting plate 20 close to the circulation grooves 221, a follower plate 223 is fixedly connected to one end of the attachment, a second elastic member 224 for resetting the adsorbent 201 is fixedly connected between the follower plate 223 and the mounting block, the second elastic member 224 is preferably an arc spring, and the arc of the arc spring is parallel to the trajectory of the circulation groove 221, and a guide sliding surface 225 is provided on the side of the follower plate 223 in contact with the toggle plate;

[0048] When the distinguishing clamping rod 101 enters the ball cage, the suction member 201 also enters the interior of the ball cage. At the same time, the second motor starts, driving the toggle plate 211 to rotate, causing the toggle plate to rotate, and the rotation of the toggle plate will contact the following plate 223, driving the following plate 223 to move in the circulation groove 221, so that the second elastic member 224 is stretched, and after the toggle plate drives the following plate 223 to move to the end of the circulation groove 221, the toggle plate can no longer drive the following plate 223, so that the following plate 223 and the suction member 201 are in contact. The angle of the attachment plate changes. It should be noted that the following plate 223 is connected to the adsorption member 201 through a torsion spring, and the elastic force of the torsion spring is greater than the elastic force of the second elastic member 224. At the same time, the elastic force of the torsion spring is less than the toggle force of the toggle plate, so that the following plate 223 can be deflected at an angle after moving to the end of the circulation groove 221, so that the toggle plate can be separated from the following plate 223 under the action of the guide sliding surface 225, and then the adsorption member 201 is restored to its original position under the elastic action of the second elastic member 224;

[0049] Because there are multiple groups of toggle plates and multiple groups of follower plates 223, after one group of toggle plates is separated from the follower plates 223, the next group of toggle plates will contact the follower plates 223 again, so that the adsorption member 201 can be moved again, and the inner wall of the ball cage can be adsorbed and removed at the same time.

[0050] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0051] What has been described above is only a preferred specific implementation manner of the embodiments of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes according to the technical scheme and concept of the present application within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A mechanical automated grasping device, comprising a material discharge channel (200) and a manipulator (100) arranged on one side of the material discharge channel (200), characterized in that: Also includes: A grasping unit (1) is arranged on the manipulator (100) and is used to distinguish the front and back sides of the ball cage and grasp the front and back sides of the ball cage; The grabbing unit (1) comprises: A connecting frame (10) is telescopically arranged on one side of the manipulator (100), and a distinguishing clamping rod (101) for distinguishing the front and back sides of the ball cage is provided on the connecting frame (10); A distinguishing component (11) is connected to the clamping rod and is used to pass through the axis of the ball cage and contact and clamp the inner wall of the ball cage at the front; A clamping assembly (12) is connected to the outer side of the connecting frame (10) and is used to cooperate with the distinguishing clamping rod (101) to fix the outer wall of the ball cage so that the manipulator (100) can drive the gripping; The impurity removal unit (2) is arranged concentrically with the connecting frame (10) and is used to move along the inner wall of the ball cage to absorb impurities on the inner wall of the ball cage during the grasping process of the robot arm (100).

2. A mechanical automated grasping device as claimed in claim 1, characterized in that: The impurity removal unit (2) comprises: A mounting plate (20) is coaxially connected to the connecting frame (10), and a suction member (201) is provided on the mounting plate (20); A driving assembly (21) is disposed on the mounting plate (20) and is used to drive the adsorption member (201) to move within the mounting plate (20); The impurity removal component (22) is connected to the adsorption component (201) and is used to limit the moving track of the adsorption component (201) to comprehensively clean the inner wall of the ball cage.

3. A mechanical automated grasping device as claimed in claim 1, characterized in that: The distinguishing component (11) comprises: A slide groove (111) is provided on the connecting frame (10), and the slide groove (111) is provided in a plurality of groups, the slide groove (111) matches the number of the distinguishing clamping rods (101), the distinguishing clamping rods (101) are slidably connected in the slide groove (111), and a fixing plate (112) is fixedly connected to the top of the distinguishing clamping rod (101); A first elastic member (113) is disposed between the fixing plate (112) and the connecting frame (10); The pressure sensor (114) is arranged on the connecting frame (10) and contacts one end of the first elastic member (113).

4. A mechanical automated grasping device as claimed in claim 1, characterized in that: The distinguishing clamping rods (101) are arranged crosswise and opposite to each other, and the distinguishing clamping rods (101) are columnar structures, and the length of the distinguishing clamping rods (101) is less than the thickness of the cage.

5. A mechanical automated grasping device as claimed in claim 1, characterized in that: The clamping assembly (12) comprises: A mounting frame (121) fixedly connected to both sides of the connecting frame (10); A bidirectional threaded rod (122) is rotatably connected to the mounting frame (121) via a first power device; The moving blocks (123) are symmetrically arranged on both sides of the bidirectional threaded rod (122); A clamping block (124) is fixedly connected to the moving block (123) and is used to clamp and fix the outer wall of the ball cage; The first power device drives the bidirectional threaded rod (122) to rotate, so that the two groups of clamping blocks (124) move towards each other to fix the outer wall of the ball cage, thereby facilitating the grasping and transportation of the robot (100).

6. A mechanical automated grasping device as claimed in claim 2, characterized in that: The driving assembly (21) comprises: A toggle plate (211) is rotatably arranged on the mounting plate (20) through a second power device, and the toggle plate (211) is provided with a plurality of groups of toggle rods (212) along its circumferential direction.

7. A mechanical automated grasping device as claimed in claim 2, characterized in that: The impurity removal component (22) comprises: A plurality of circulation grooves (221) are provided along the circumferential direction of the mounting plate (20), the number of the circulation grooves (221) matches the adsorption member (201), and a placement block (222) is fixedly connected to one side of the mounting plate (20) close to the circulation grooves (221); A follower plate (223) fixedly connected to one end of the adsorption member (201); The second elastic member (224) is arranged between the follower plate (223) and the mounting block and is used to reset the adsorption member (201).

8. A mechanical automated grasping device as claimed in claim 7, characterized in that: The following plate (223) is provided with a guide sliding surface (225) on one side that contacts the toggle plate.

9. A mechanical automated grasping device as claimed in claim 3, characterized in that: A base (102) is provided at the bottom of the manipulator (100), and the base (102) is connected to the manipulator (100) via a rotating shaft, a second rotating shaft (103) is provided on the rotating shaft, and a third power motor is provided on one side of the second rotating shaft (103), and the third power motor is controlled by a pressure sensor (114) to send a signal for forward and reverse rotation.

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