Gearbox grabbing mechanism of manipulator

Abstract

The utility model relates to the technical field of workpiece machining, in particular to a mechanical arm gear box grabbing mechanism which comprises a bottom plate, a three-jaw mechanism, a two-jaw mechanism and a detection mechanism, the three-jaw mechanism and the two-jaw mechanism are fixedly installed at the two ends of the bottom plate respectively, and the detection mechanism is installed on the bottom plate and located between the three-jaw mechanism and the two-jaw mechanism. The three-jaw mechanism comprises a three-finger air cylinder and three-jaw fingers, the three-finger air cylinder is fixed to the bottom plate, the three-jaw fingers are arranged at the movable end of the three-finger air cylinder, the two-jaw mechanism comprises a horizontal sliding device, a two-finger air cylinder and two-jaw fingers, the horizontal sliding device is installed on the bottom plate, the two-finger air cylinder is installed at the sliding end of the horizontal sliding device, and the two-jaw fingers are installed at the sliding end of the two-finger air cylinder. The two-claw fingers are arranged at the movable end of the two-finger air cylinder, the detection end of the detection mechanism is arranged towards the direction of the workpiece, and the working efficiency of the workpiece can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of workpiece processing, and specifically relates to a mechanical arm gear box grasping mechanism. Background Art

[0002] When processing special-shaped workpieces, it is often necessary to use a variety of processing equipment to fix them individually or manually assist in fixing the workpieces, resulting in low workpiece processing efficiency and easy to cause work safety accidents. At the same time, when processing and transporting gearboxes, they are often bundled with binding belts and then transported manually or with the assistance of mechanical equipment such as robots to achieve processing and transportation operations. This method is time-consuming and labor-intensive, and cannot achieve efficiency improvement. Utility Model Content

[0003] In view of the deficiencies in the prior art, the utility model aims to provide a manipulator gearbox grasping mechanism.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a manipulator gearbox grasping mechanism, comprising a base plate, a three-claw mechanism, a two-claw mechanism and a detection mechanism, the three-claw mechanism and the two-claw mechanism are respectively located at both ends of the base plate and fixedly installed, the detection mechanism is installed on the base plate and is located between the three-claw mechanism and the two-claw mechanism, the three-claw mechanism comprises a three-finger cylinder and a three-claw finger, the three-finger cylinder is fixed on the base plate, and the three-claw finger is arranged on the movable end of the three-finger cylinder, the two-claw mechanism comprises a horizontal sliding device, a two-finger cylinder and a two-claw finger, the horizontal sliding device is installed on the base plate, the two-finger cylinder is installed on the sliding end of the horizontal sliding device, the two-claw finger is arranged on the movable end of the two-finger cylinder, and the detection end of the detection mechanism is arranged toward the workpiece direction.

[0005] In some embodiments, the detection mechanism includes a positioning column and a distance detection sensor, the positioning column is vertically mounted on the base plate, the distance detection sensor is arranged on the positioning column, and the detection end of the distance detection sensor is arranged toward the workpiece direction.

[0006] In some embodiments, the horizontal sliding device includes a telescopic cylinder and a slide rail fixedly arranged on a base plate, the direction of the slide rail is consistent with the length direction of the base plate, the two-finger cylinder is installed on a sliding seat of the slide rail, and the piston end of the telescopic cylinder is connected to the two-finger cylinder.

[0007] In some of the embodiments, an in-position sensor is provided on the base plate corresponding to the left end of the slide rail, and the detection end of the in-position sensor cooperates with the side of the two-finger cylinder; a limit block is provided on the right end of the base plate corresponding to the right end of the slide rail, and the side of the limit block cooperates with the side of the two-finger cylinder.

[0008] In some of the embodiments, a moving device or a robot is installed on the upper side of the base plate.

[0009] Compared with the prior art, the beneficial effects of the utility model are: a three-jaw cylinder clamp is used in combination with a two-finger cylinder clamp, and the two-finger clamp is extended into the side opening of the gear box through a small cylinder plus a linear guide structure, and the side wall column is clamped, so that a simple mechanism is used to assist in grasping, transporting and processing the gear box, and the efficiency of the workpiece operation is improved through the grasping mechanism.

[0010] Details of one or more embodiments of the present application are presented in the following drawings and descriptions to make other features, purposes and advantages of the present application more concise and easy to understand. The present application is fully described and understood through the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the structure of the utility model;

[0012] Figure 2 It is a schematic diagram of the application implementation of the utility model.

[0013] In the figure: 1. three-finger cylinder; 2. three-claw finger; 3. positioning column; 4. distance sensor; 5. telescopic cylinder; 6. in-position detection sensor; 7. two-claw finger; 8. two-finger cylinder; 9. bottom plate; 10. limit block; 11. slide rail; 12. workpiece. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0015] See also Figures 1 to 2 The utility model provides a technical solution: a manipulator gearbox grasping mechanism, including a base plate 9, a three-claw mechanism, a two-claw mechanism and a detection mechanism, the three-claw mechanism and the two-claw mechanism are respectively located at both ends of the base plate 9 and fixedly installed, the detection mechanism is installed on the base plate 9 and is located between the three-claw mechanism and the two-claw mechanism, the three-claw mechanism includes a three-finger cylinder 1 and a three-claw finger 2, the three-finger cylinder 1 is fixed on the base plate 9, the three-claw finger 2 is arranged on the active end of the three-finger cylinder 1, the two-claw mechanism includes a horizontal sliding device, a two-finger cylinder 8 and a two-claw finger 7, the horizontal sliding device is installed on the base plate 9, the two-finger cylinder 8 is installed on the sliding end of the horizontal sliding device, the two-claw finger 7 is arranged on the active end of the two-finger cylinder 8, and the detection end of the detection mechanism is arranged toward the workpiece direction.

[0016] The grasping mechanism is moved to the workpiece to be grasped by the manipulator, and then moved downward, and the distance to the workpiece is detected by the detection mechanism. When it reaches the preset position, the upper hole end of the cylinder is clamped by the three-claw mechanism, and then the two-claw mechanism is moved to the side of the gear by the horizontal sliding device, and the side of the gear box is clamped by the two-claw mechanism, and then the gear box is transported or fixed by the cooperation of the manipulator and the grasping mechanism.

[0017] The detection mechanism includes a positioning column 3 and a distance detection sensor. The positioning column 3 is vertically mounted on the bottom plate 9. The distance detection sensor is arranged on the positioning column 3. The detection end of the distance detection sensor is arranged toward the direction of the workpiece.

[0018] The distance detection sensor can detect the distance between the grasping mechanism and the workpiece to avoid accidental collision between the grasping mechanism and the workpiece; at the same time, the positioning column 3 is used as a hard limit protection to achieve the distance between the grasping mechanism and the workpiece when the grasping mechanism falls too much.

[0019] The horizontal sliding device includes a telescopic cylinder 5 and a slide rail fixedly arranged on a base plate 9, the direction of the slide rail is consistent with the length direction of the base plate 9, the two-finger cylinder 8 is installed on the sliding seat of the slide rail, and the piston end of the telescopic cylinder 5 is connected to the two-finger cylinder 8.

[0020] The telescopic conductive two-finger cylinder 8 of the telescopic cylinder 5 reciprocates on the slide rail to achieve the two-claw mechanism approaching and moving away from the workpiece.

[0021] An in-position sensor is provided on the base plate 9 corresponding to the left end of the slide rail, and the detection end of the in-position sensor cooperates with the side of the two-finger cylinder 8; a limit block is provided on the right end of the base plate 9 corresponding to the right end of the slide rail, and the side of the limit block cooperates with the side of the two-finger cylinder 8.

[0022] By cooperating with the in-position sensor and the limit block, the two-claw cylinder can be limited to move between the two ends of the slide rail to avoid excessive movement and falling off the slide rail.

[0023] A moving device or a manipulator is installed on the upper side of the bottom plate 9 .

[0024] Through this technical solution, the manipulator drives the grasping mechanism to move above the workpiece, the telescopic cylinder 5 extends, the two-finger cylinder 8 opens, the manipulator moves downward, the distance sensor 4 detects the distance of the workpiece, and the positioning column 3 is a hard limit protection. The three-finger cylinder 1 opens the three claws to clamp the inner circle, the telescopic cylinder 5 is retracted, the two-finger cylinder 8 is retracted, and the side wall column is clamped to achieve the grasping of the gear box. The cooperation between the manipulator and the grasping mechanism can improve the work efficiency of the workpiece.

[0025] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

[0026] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot gearbox grasping mechanism, characterized in that: It includes a base plate, a three-claw mechanism, a two-claw mechanism and a detection mechanism. The three-claw mechanism and the two-claw mechanism are respectively fixed at both ends of the base plate. The detection mechanism is installed on the base plate and is located between the three-claw mechanism and the two-claw mechanism. The three-claw mechanism includes a three-finger cylinder and a three-claw finger. The three-finger cylinder is fixed on the base plate, and the three-finger finger is arranged on the movable end of the three-finger cylinder. The two-claw mechanism includes a horizontal sliding device, a two-finger cylinder and a two-claw finger. The horizontal sliding device is installed on the base plate, the two-finger cylinder is installed on the sliding end of the horizontal sliding device, and the two-claw finger is arranged on the movable end of the two-finger cylinder. The detection end of the detection mechanism is arranged toward the workpiece direction.

2. A robot gearbox grasping mechanism according to claim 1, characterized in that: The detection mechanism comprises a positioning column and a distance detection sensor. The positioning column is vertically mounted on the bottom plate. The distance detection sensor is arranged on the positioning column. The detection end of the distance detection sensor is arranged toward the direction of the workpiece.

3. A robot gearbox grasping mechanism according to claim 1, characterized in that: The horizontal sliding device includes a telescopic cylinder and a slide rail fixedly arranged on a base plate, the direction of the slide rail is consistent with the length direction of the base plate, the two-finger cylinder is installed on a sliding seat of the slide rail, and the piston end of the telescopic cylinder is connected to the two-finger cylinder.

4. A robot gearbox grasping mechanism according to claim 3, characterized in that: An in-position sensor is arranged on the bottom plate corresponding to the left end of the slide rail, and the detection end of the in-position sensor cooperates with the side of the two-finger cylinder; a limiting block is arranged on the right end of the bottom plate corresponding to the right end of the slide rail, and the side of the limiting block cooperates with the side of the two-finger cylinder.

5. The robot gearbox grasping mechanism according to claim 1, characterized in that: A moving device or a manipulator is installed on the upper side of the bottom plate.

Images