Robot gripper for clamping steering wheel

Abstract

The invention relates to a robot gripper for clamping a steering wheel, comprising: a base plate, the middle of which is provided with a mounting hole capable of being connected with a wrist of a robot; three groups of strip-shaped holes which are formed around the mounting hole are formed in the outer edge of the base plate by taking the mounting hole as a circle center; each clamping jaw assembly is correspondingly connected with one set of long-strip-shaped holes, and the positions, located in the long-strip-shaped holes, of the clamping jaw assemblies are adjusted according to the specification of the steering wheel; the lower portion of the clamping jaw assembly is provided with a lengthened clamping jaw, and the lengthened clamping jaw is provided with an arc structure matched with a steering wheel. The three sets of clamping jaw assemblies are adjusted in the long-strip-shaped holes according to the same proportion, and the problem that at the present stage, the specification of a robot gripper suitable for clamping a steering wheel does not exist is solved; the steering wheel clamping device is suitable for clamping steering wheels of different specifications; the lengthened clamping jaw is provided with an arc structure matched with the steering wheel, the problem that an existing robot gripper is prone to rollover when grabbing the steering wheel is solved, and clamping is more stable.

Description

Technical Field

[0001] The present invention relates to the technical field of robot grippers, and more particularly to a robot gripper for clamping a steering wheel. Background Art

[0002] At present, robots play a significant role in the automotive industry, and the demand for talents in the application of robots in the corresponding industries is increasing. In the teaching of this major, it is necessary to have robot teaching equipment corresponding to the teaching venue and teaching difficulty. Among them, the steering wheel of the automotive parts is small in size and light in weight, so the operation of the robot to move the steering wheel requires a small space and has low operation risk, which is suitable for teaching use.

[0003] However, most car steering wheels on production lines are installed manually, and there is no robot gripper specifically designed to grip steering wheels, which cannot meet the needs of teaching applications. The existing technology of robot grippers for gripping steering wheels has the following problems:

[0004] 1. Insufficient adaptability: The size and shape of the steering wheel may vary for different models, and the existing gripper design generally lacks sufficient adaptability to adapt to steering wheels of different sizes and shapes. This results in the need to redesign or adjust the gripper when changing models, which increases costs and time.

[0005] 2. Clamping stability problem: The steering wheel is a circular object with rounded corners on the clamping surface, which is easy to slip during transportation. The robot originally had an air pressure detection device to ensure sufficient air pressure during operation. The accuracy of the clamping position of the gripper depends on the operator's operation. However, the gripper needs to have a structure to prevent the steering wheel from tipping over to ensure that it will not fall or be damaged during transportation and assembly. However, the gripper clamping mechanism in the prior art is often designed to be relatively simple, and it is difficult to provide sufficient clamping stability and protection.

[0006] In view of the above problems, how to provide a robot gripper with improved adaptability and stability, suitable for teaching and actually clamping the steering wheel, is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0007] To this end, the purpose of the present invention is to provide a robot gripper for clamping a steering wheel, so as to solve the problems of poor adaptability and poor stability of the robot gripper in the prior art when clamping the steering wheel.

[0008] The technical solution of the present invention is a robot gripper for clamping a steering wheel, comprising:

[0009] A base plate, wherein the base plate has a mounting hole in the middle thereof and can be connected to the wrist of the robot; with the mounting hole as the center, three groups of long holes are arranged on the outer edge of the base plate and are opened around the mounting hole;

[0010] The clamping jaw assembly, each of which is connected to a group of the elongated holes correspondingly, and the position of the clamping jaw assembly in the elongated holes is adjusted according to the specifications of the steering wheel; the lower part of the clamping jaw assembly has an extended clamping jaw, and the extended clamping jaw has an arc structure that cooperates with the steering wheel.

[0011] Furthermore, the substrate is an equilateral triangular plate, and each of the long holes is located at a corresponding corner of the equilateral triangular plate.

[0012] Furthermore, the clamping jaw assembly also includes a connecting block and a pneumatic valve, the connecting block is correspondingly installed in the long hole through a first fastener, the pneumatic valve is installed on one side of the connecting block, and the extended clamping jaw is installed below the pneumatic valve through a second fastener.

[0013] Furthermore, the pneumatic valve is a standard part, its first air hole is an air inlet hole, its second air hole is an air outlet hole, and the two jaws of the pneumatic valve are respectively connected to the extended jaw body opposite to the two clamping areas in the extended jaw through a third fastener, and the clamping area is an arc-shaped structure.

[0014] Furthermore, a countersunk hole is provided on the extended clamping jaw, and the countersunk hole is cooperated and connected with the third fastener.

[0015] Furthermore, the arrangement direction of each of the long holes is parallel to the connecting line between the center of the corresponding pneumatic valve and the center of the substrate.

[0016] Furthermore, the substrate corresponding to the periphery of the elongated hole has scale lines and scales.

[0017] Furthermore, the installation of the clamping jaw assembly is based on the inner sides of the three connecting blocks, and the three connecting blocks are aligned with the same scale line and scale.

[0018] It can be seen from the above technical solution that compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention solves the problem that there is no robot gripper with specifications suitable for gripping steering wheels at present by adjusting three groups of gripper assemblies in the same proportion in the long hole; the present invention is suitable for gripping steering wheels of different specifications; the extended gripper has an arc structure that matches the steering wheel, which solves the problem that the existing robot gripper is prone to rollover when gripping the steering wheel. The gripping is more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0021] Figure 1 A schematic diagram of the structure of a robot gripper for clamping a steering wheel provided by the present invention;

[0022] Figure 2 A schematic structural diagram of a gripper assembly of a robot gripper for gripping a steering wheel provided by the present invention;

[0023] Figure 3 A bottom view of a robot gripper for gripping a steering wheel provided for the invention;

[0024] Figure 4 A schematic diagram showing a gripper assembly gripping a steering wheel of a certain size is shown;

[0025] Figure 5 A schematic diagram showing the gripper assembly gripping a steering wheel of another size specification is shown;

[0026] Figure 6 The present invention illustrates a robot gripper for gripping a steering wheel. Figure 4 Schematic diagram of a medium-sized steering wheel;

[0027] Figure 7 The present invention illustrates a robot gripper for gripping a steering wheel. Figure 5 Schematic diagram of a medium-sized steering wheel. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0029] Since most of the car steering wheels on the production line are installed manually, there is no robot gripper dedicated to gripping the steering wheel, which cannot meet the teaching application. The existing robot gripper has the problems of insufficient adaptability and poor stability when used to grip the steering wheel.

[0030] In view of this, the present invention provides a robot gripper for clamping a steering wheel, see attached Figure 1 and 2, comprising: a base plate 1, wherein the base plate 1 has a mounting hole 11 in the middle thereof, and can be connected to the wrist of the robot; with the mounting hole 11 as the center of the circle, three groups of long holes 12 opened around the mounting hole 11 are arranged on the outer edge of the base plate 1; a clamping jaw assembly 2, wherein each of the clamping jaw assemblies 2 is correspondingly connected to a group of the long holes 12, and the position of the clamping jaw assembly 2 in the long holes 12 is adjusted according to the specifications of the steering wheel; the lower part of the clamping jaw assembly 2 has an extended clamping jaw 23, and the extended clamping jaw 23 has an arc structure 231 that cooperates with the steering wheel.

[0031] The robot gripper for clamping the steering wheel provided by the above solution is exquisitely designed, can adapt to steering wheels of different specifications, and ensure stable and reliable clamping through precise adjustment.

[0032] In an embodiment of the present invention, the substrate 1 is an equilateral triangle plate, and each of the elongated holes 12 is located at a corresponding corner of the equilateral triangle plate. The substrate is in the shape of an equilateral triangle, which helps to ensure the balance and stability of the structure, so that the clamping force is evenly distributed around the steering wheel. The three groups of elongated holes designed on the substrate are located at the three corners of the equilateral triangle, and such a layout is conducive to the effective adjustment of the clamping assembly according to the size and shape of different steering wheels.

[0033] See attached Figure 2 , 4 5, the clamping jaw assembly 2 also includes a connecting block 21 and a pneumatic valve 22, the connecting block 21 is correspondingly installed in the elongated hole 12 through a first fastener, the pneumatic valve 22 is installed on one side of the connecting block 21, and the extended clamping jaw 23 is installed below the pneumatic valve 22 through a second fastener. Each set of the clamping jaw assembly has a connecting block, a pneumatic valve and two extended clamping jaws. The top surface of the connecting block is symmetrically provided with two threaded holes, which are fixed below the base plate; the front surface is symmetrically provided with two mounting through holes, which are fixedly connected to the valve body of the pneumatic valve by screws.

[0034] The position of the connecting block is adjusted and fixed in the elongated hole by a first fastener, which allows the clamping jaw to be adjusted according to different steering wheel specifications.

[0035] Advantageously, the pneumatic valve 22 is a standard part, the first air hole of which is an air inlet hole, and the second air hole of which is an air outlet hole. The two jaws of the pneumatic valve are respectively connected to the two extended jaw bodies opposite to each other in the clamping area of ​​the extended jaw 23 through a third fastener, and the clamping area is an arc-shaped structure. The pneumatic valve serves as a driving mechanism to control the opening and closing of the extended jaw. Its standardized design simplifies maintenance and replacement work. The existing design is adopted. The extended jaw is designed with an arc structure that cooperates with the steering wheel, which increases the contact area and stability during clamping.

[0036] The pneumatic valve has a mounting threaded hole and is fixedly connected to the connection block by screws. The pneumatic valve has the following functions: when air is taken in by the air inlet and discharged by the air outlet, the pneumatic valve core moves downward to push the clamping jaw to open; when air is taken in by the air outlet and discharged by the air inlet, the pneumatic valve core moves upward to pull the clamping jaw to clamp; the pneumatic valve clamping jaw has a threaded hole and is externally connected to extend the clamping jaw according to the cross-sectional shape of the steering wheel.

[0037] When the three groups of clamping jaws are clamped or opened at the same time, the steering wheel can be clamped or released.

[0038] Advantageously, a countersunk hole is provided on the extended clamping jaw 23, and the countersunk hole is connected with the third fastener in cooperation. The countersunk hole is designed to install the third fastener so that the clamping jaw is tightly connected with the pneumatic valve.

[0039] The extended jaw is provided with two mounting countersunk holes, which are connected to the jaw of the pneumatic valve by screws. The extended jaw is a part for clamping the steering wheel. Its clamping position is designed to be arc-shaped, which can fit the different cross-sections of various specifications of steering wheels when clamping. The arc surface can also limit the steering wheel within a certain space when clamping, preventing the steering wheel from jumping off and turning over during the clamping process.

[0040] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "up", "down", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0041] In the embodiment of the present invention, the arrangement direction of each of the elongated holes 12 is parallel to the line connecting the center of the corresponding pneumatic valve 22 and the center of the substrate 1, so as to ensure that the adjustment of the clamping assembly is always within the elongated hole.

[0042] See attached Figure 3 , 6 and 7, the base plate 1 corresponding to the elongated hole 12 has scale lines and scales 3. The scale lines and scales around the elongated hole provide a reference for the operator to accurately adjust the position of the clamping jaws to ensure the accuracy and repeatability of the clamping. The installation of the clamping jaw assembly 2 is based on the inner sides of the three connecting blocks 21, and the three connecting blocks 21 are aligned with the same scale lines and scales 3.

[0043] Installation and Adjustment

[0044] Installation based on the inside of the connection block: The installation of the clamping jaw assembly is based on the inside of the three connection blocks, ensuring the consistency and symmetry of the installation.

[0045] Scale alignment: All three connection blocks are aligned to the same scale line and scale, which further improves the clamping accuracy and the convenience of operation. The aligned scale is consistent with the center circle diameter of the steering wheel grasped by the gripper.

[0046] The design of the robot gripper of the present invention fully considers adaptability, stability and ease of operation. Through the equilateral triangle base plate design, adjustable gripper assembly and precise scale lines, it can be applied to steering wheels of various specifications and provide a stable and reliable clamping effect. In addition, the use of pneumatic valves makes the opening and closing control of the gripper simpler and more efficient, while the arc structure on the extended gripper ensures a good fit with the steering wheel. The robot gripper of the present invention is efficient, accurate and easy to operate, and is suitable for fields such as automated driving testing or automated assembly of steering wheels, meeting teaching applications.

[0047] It is worth noting that the terms "first", "second" and "third" in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined. The "fastener" in the present invention may be a bolt.

[0048] The present invention can automatically grip, carry and assemble steering wheels. Specifically, this gripper can be installed on an industrial robot and integrated with the robot's control system to replace traditional manual operations, thereby realizing the gripping of steering wheels on an automated production line, thereby improving production efficiency and reducing costs. The gripper helps to improve the quality stability of steering wheel assembly and reduce the defective rate. The use of a robotic gripper can reduce workers' exposure to repetitive and high-intensity operations, thereby improving the working environment and workers' health. The main purpose of the robotic gripper for gripping steering wheels is to realize the automation and intelligence of the assembly of steering wheels (similar steering wheel parts) in the automotive manufacturing industry or other industries, thereby improving production efficiency, quality and safety.

[0049] The substrate and the extended gripper of the present invention can be made of high-strength materials, and materials with high strength and wear resistance are selected to improve the durability and service life of the gripper. While maintaining strength and rigidity, the weight of the gripper should be reduced as much as possible to improve the moving speed and flexibility of the robot. Taking into account various factors in the automobile manufacturing environment, the material should have good corrosion resistance. For example, the substrate can be made of aluminum alloy, titanium alloy or carbon fiber composite material, and the extended gripper can be stainless steel, hard-coated steel or ceramic material, or POM, which is full of polyoxymethylene (Polyoxymethylene), which is an engineering plastic with high strength, high rigidity and excellent wear resistance.

[0050] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0051] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A robot gripper for gripping a steering wheel, characterized in that: include: A base plate (1), wherein a mounting hole (11) is provided in the middle of the base plate (1) and can be connected to the wrist of the robot; with the mounting hole (11) as the center of the circle, three groups of long holes (12) are provided on the outer edge of the base plate (1) and are opened around the mounting hole (11); A clamping jaw assembly (2), each of the clamping jaw assemblies (2) is correspondingly connected to a group of the elongated holes (12), and the position of the clamping jaw assembly (2) in the elongated holes (12) is adjusted according to the specifications of the steering wheel; the lower part of the clamping jaw assembly (2) has an extended clamping jaw (23), and the extended clamping jaw (23) has an arc structure (231) that cooperates with the steering wheel.

2. A robot gripper for clamping a steering wheel according to claim 1, characterized in that: The base plate (1) is an equilateral triangular plate, and each of the elongated holes (12) is located at a corresponding corner of the equilateral triangular plate.

3. The robot gripper for clamping a steering wheel according to claim 1, characterized in that: The clamping jaw assembly (2) further comprises a connecting block (21) and a pneumatic valve (22); the connecting block (21) is correspondingly mounted in the elongated hole (12) via a first fastener; the pneumatic valve (22) is mounted on one side of the connecting block (21); and the extended clamping jaw (23) is mounted below the pneumatic valve (22) via a second fastener.

4. The robot gripper for clamping a steering wheel according to claim 3, characterized in that: The pneumatic valve (22) is a standard part, the first air hole of which is an air inlet hole, and the second air hole of which is an air outlet hole. The two clamping jaws of the pneumatic valve are respectively connected to the two extended clamping jaw bodies opposite to each other in the two clamping areas in the extended clamping jaw (23) through third fasteners, and the clamping area is an arc-shaped structure.

5. The robot gripper for clamping a steering wheel according to claim 4, characterized in that: The extended clamping jaw (23) is provided with a countersunk hole, and the countersunk hole is matched and connected with the third fastener.

6. The robot gripper for clamping a steering wheel according to claim 3, characterized in that: The arrangement direction of each of the long holes (12) is parallel to the line connecting the center of the corresponding pneumatic valve (22) and the center of the substrate (1).

7. A robot gripper for gripping a steering wheel according to any one of claims 3 to 6, characterized in that: The substrate (1) corresponding to the periphery of the elongated hole (12) is provided with scale lines and scales (3).

8. The robot gripper for gripping a steering wheel according to claim 7, characterized in that: The installation of the clamping jaw assembly (2) is based on the inner sides of the three connecting blocks (21), and the three connecting blocks (21) are all aligned with the same scale line and scale (3).

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