Robot handling wheel hub gripper

Abstract

The utility model relates to a robot wheel hub handling gripper, which adopts a sliding device symmetrically arranged along the central axis of the base; one end of a three-link centering device is movably connected to any one of the sliding devices; the other end of the three-link centering device is fixed to the base; a wheel hub clamping device is fixed to the sliding device; the three-link centering device drives the sliding device, which drives the wheel hub clamping device to center and clamp the wheel hub, and brings it to the sliding device through a cylinder in the three-link centering device; the three-link centering device can be compatible with wheel hub products of different sizes, realizes automation on the production line, and there is a certain contact buffer space between the two, so that a smaller error is achieved during the handling process, and the structure is simple and easy to operate; it solves the technical problem of difficult grasping often encountered in the stacking, destacking and assembling of wheel hubs in the automotive industry in the prior art.

Description

Technical Field

[0001] The embodiment of the utility model relates to a gripping device in the technical field of process equipment in the automobile industry, and in particular to a wheel hub gripper for robot transportation. Background Art

[0002] During the stacking, destacking and assembly of wheel hubs in the automotive industry, the wheel hubs are required to be moved during stacking, destacking and assembly. Since the shape of the wheel hubs is round, if the wheel hubs are not grabbed in the center, they are often difficult to grab during the process. Utility Model Content

[0003] The purpose of the implementation mode of the utility model is to provide a robot wheel hub handling gripper which can grasp the wheel hub in a centered manner and has a simple structure and good effect.

[0004] In order to achieve the above-mentioned purpose, the embodiment of the utility model designs a robot handling wheel hub gripper, comprising:

[0005] Base;

[0006] A sliding device, the sliding device is symmetrically arranged along the central axis of the base;

[0007] A three-link centering device, one end of which is movably connected to any one of the sliding devices; the other end of which is fixed to the base;

[0008] The wheel hub clamping device is fixed on the sliding device; the three-link centering device drives the sliding device, driving the wheel hub clamping device to center and clamp the wheel hub.

[0009] Furthermore, in the robot wheel hub handling gripper of the present invention, the base is H-shaped; brackets are fixed around the base, the upper cover connecting plate is fixed above the brackets, and a robot flange is arranged in the middle of the upper cover connecting plate.

[0010] Furthermore, in the robot wheel hub handling gripper of the present invention, four sliding devices are arranged in pairs and in parallel on the base.

[0011] Further, in the robot wheel hub handling gripper of the utility model, any one of the sliding devices comprises:

[0012] A slide rail parallel to and along the central axis of the base, and fixed on the base;

[0013] A slider movably connected to the slider on the slide rail;

[0014] A clamping claw arm, one end of which is fixed on the sliding block; above the clamping claw arm, it is movably connected to the two ends of the three-link centering device on the outside of the sliding block.

[0015] Further, in the robot wheel hub handling gripper of the utility model, the three-link centering device further includes:

[0016] A cylinder, a cylinder body of which is fixed on the base; a piston rod of the cylinder is movably connected to a slider of the sliding device at one end through a piston connecting rod;

[0017] A driving rod, one end of which is movably connected to the outer side of the slider;

[0018] The rotating shaft connecting rod is movably connected to the other end of the driving rod at both ends of the rotating shaft connecting rod; the middle rotating shaft of the rotating shaft connecting rod is movably connected to the upper cover connecting plate.

[0019] Furthermore, in the robot wheel hub gripper of the present invention, a slide groove is provided on the upper cover connecting plate below the driving rod, and a sliding sleeve is movably connected in the slide groove.

[0020] Furthermore, in the robot wheel hub handling gripper of the utility model, the four slide rails are fixed on the base in pairs and in parallel.

[0021] Furthermore, in the robot wheel hub handling gripper of the utility model, a sensing sheet is fixed above the gripper arm; below the sensing sheet, a photoelectric switch bracket is fixed on the base, and a photoelectric switch is fixed on the photoelectric switch bracket.

[0022] Furthermore, in the robot wheel hub handling gripper of the utility model, two clamping claw wheel brackets are fixed below any one of the clamping claw arms; and the clamping claw wheels are movably connected to the clamping claw wheel brackets.

[0023] Furthermore, in the robot wheel hub handling gripper of the present invention, the gripper arm is driven by the cylinder to move toward the central axis of the robot wheel hub handling gripper to automatically center and grasp the wheel hub, thereby grasping the wheel hub symmetrically.

[0024] Compared with the prior art, the implementation method of the utility model adopts a sliding device symmetrically arranged along the central axis of the base; one end of the three-link centering device is movably connected to any one of the sliding devices; the other end of the three-link centering device is fixed to the base; the wheel hub clamping device is fixed on the sliding device; the three-link centering device drives the sliding device, which drives the wheel hub clamping device to center and clamp the wheel hub, and brings it to the sliding device through the cylinder in the three-link centering device. The three-link centering device can drive two clamping claw arms to grasp the wheel hub and also have a centering function. One gripper can grab two wheel hubs and move the grabbing position. The three-link centering device is compatible with wheel hub products of different sizes, realizing a certain contact cache space between the two in the automation of the production line, and achieving a smaller error in the transportation process. It has a simple structure and is easy to operate. It solves the problem in the prior art that during the stacking, destacking and assembly of wheel hubs in the automotive industry, the wheel hubs are required to be moved during stacking, destacking and assembly. Since the shape of the wheel hub is round, if the wheel hub is not grabbed in the center, technical problems such as difficulty in grabbing are often encountered during the process of grabbing the wheel hub. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional structural schematic diagram of the utility model. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the utility model clearer, the various embodiments of the utility model will be described in detail below with reference to the accompanying drawings. However, it can be understood by those skilled in the art that in the various embodiments of the utility model, many technical details are provided in order to enable readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical schemes claimed for protection in the claims of the present application can be implemented.

[0027] The embodiment of the utility model relates to a robot wheel hub gripper, such as Figure 1 As shown, including:

[0028] The base 1 in this embodiment serves as a mounting base for the robot handling wheel hub gripper in this embodiment;

[0029] The sliding device 10 is symmetrically arranged along the central axis of the base 1; a three-link centering device 20 is installed on the sliding device 10.

[0030] One end of the three-link centering device 20 is movably connected to any one of the sliding devices 10; the other end of the three-link centering device 20 is fixed to the base 1;

[0031] The wheel hub clamping device 30 is fixed on the sliding device 10; the three-link centering device 20 drives the sliding device 10, drives the wheel hub clamping device 30, and clamps the wheel hub in the center; the wheel hub clamping device 30 is mainly used to clamp the wheel hub. In this embodiment, the three-link centering device 20 is brought to the sliding device 10, and the three-link centering device 20 can drive the wheel hub clamping device 30, and the wheel hub is grasped and has the centering function at the same time. The three-link centering device 20 can be compatible with wheel hub products of different sizes, realize a certain contact buffer space between the two in the automation of the production line, and achieve a smaller error during the handling process, and the structure is simple and easy to operate; it solves the problem in the prior art that the wheel hub is required to be moved during the stacking, destacking and assembly of the wheel hub in the automotive industry. Since the shape of the wheel hub is round, if the wheel hub is not grasped in the center, the technical problem of difficult grasping is often encountered during the grasping of the wheel hub.

[0032] In order to achieve the above technical effects, the robot handling wheel hub gripper in this embodiment is as follows: Figure 1 As shown, the base 1 is H-shaped; brackets 2 are fixed around the base 1, an upper cover connecting plate 3 is fixed above the brackets 2, and a robot flange 4 is arranged in the middle of the upper cover connecting plate 3. The above structure constitutes the framework of the robot handling wheel hub gripper in this embodiment.

[0033] In order to achieve the above technical effects, the robot handling wheel hub gripper in this embodiment is as follows: Figure 1 As shown, four sliding devices 10 are arranged in parallel in pairs on the base 1, forming a sliding device 10 that can grasp four wheel hubs.

[0034] In order to achieve the above technical effects, the robot handling wheel hub gripper in this embodiment is as follows: Figure 1 As shown, any one of the sliding devices 10 includes:

[0035] A slide rail 11 is fixed on the base 1 parallel to the central axis of the base 1;

[0036] A slider 12 is movably connected to the slide rail 11; the slider 12 is installed on the slide rail 11 to slide;

[0037] One end of the clamp arm 12 is fixed on the slider 12; above the clamp arm 12, the clamp arm 13 is movably connected to the two ends of the three-link centering device 20 on the outside of the slider 12. The clamp arm 13 is used to clamp the wheel hub.

[0038] In order to achieve the above technical effects, the robot handling wheel hub gripper in this embodiment is as follows: Figure 1 As shown, the three-link centering device 20 further includes:

[0039] The cylinder body of the cylinder 21 is fixed on the base 1; the piston rod of the cylinder 21 is movably connected to the slider 12 of the sliding device 10 at one end through the piston connecting rod 27;

[0040] One end of the driving rod 22 is movably connected to the outer side of the slider 12; the driving rod 22 is used to push the slider 12;

[0041] The two ends of the rotating shaft connecting rod 23 are movably connected to the other end of the driving rod 22; the middle rotating shaft 24 of the rotating shaft connecting rod 23 is movably connected to the upper cover connecting plate 3. The piston rod of the cylinder 21 is movably connected to the slider 12 at one end through the piston connecting rod 22. The piston rod of the cylinder 21 extends to drive the slide rail 11 on one side to extend, and the driving rod 22 is used to push the slider 12, which drives the rotating shaft connecting rod 23 to rotate so that the driving rod 22 on the other side drives the slider 12 on the other side to slide, and the slider 12 on the other side is extended at the same time through the rotating shaft connecting rod 23, realizing the automatic centering function in this embodiment.

[0042] In order to achieve the above technical effects, the robot handling wheel hub gripper in this embodiment is as follows: Figure 1 As shown, a slide groove 25 is provided on the upper cover connecting plate 1 below the driving rod 22, and a sliding sleeve 26 is movably connected in the slide groove 25. The slide groove 25 and the sleeve 26 are mainly used to realize that when the slider 12 slides on the slide rail 11, the upper cover connecting plate 1 will not interfere when the driving rod 22 makes a linear motion.

[0043] In order to achieve the above technical effects, the robot handling wheel hub gripper in this embodiment is as follows: Figure 1 As shown, four slide rails 11 are fixed on the base 1 in pairs and in parallel.

[0044] In order to achieve the above technical effects, the robot handling wheel hub gripper in this embodiment is as follows: Figure 1 As shown, a sensing sheet 14 is fixed above the gripper arm 13; below the sensing sheet 14, a photoelectric switch bracket 15 is fixed on the base 1, and a photoelectric switch 16 is fixed on the photoelectric switch bracket 15. When the sensing sheet 14 hits the photoelectric switch 16, the cylinder 21 stops working, realizing the limit function.

[0045] In order to achieve the above technical effects, the robot handling wheel hub gripper in this embodiment is as follows: Figure 1 As shown, two clamping claw wheel brackets 17 are fixed below any one clamping claw arm 13; and a clamping claw wheel 18 is movably connected to the clamping claw wheel bracket 17. The two clamping claw wheel brackets 17 can fit the wheel hub for clamping to prevent the surface of the wheel hub from being damaged during the clamping process.

[0046] In order to achieve the above technical effects, the robot handling wheel hub gripper in this embodiment is as follows: Figure 1As shown, the gripper arm 13 is driven by the cylinder 21 to move toward the central axis of the robot hub handling gripper in this embodiment, automatically aligns and grasps the hub, and grasps the hub symmetrically.

[0047] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A robot wheel hub gripper, characterized in that: include: Base; A sliding device, the sliding device is symmetrically arranged along the central axis of the base; A three-link centering device, one end of which is movably connected to any one of the sliding devices; the other end of which is fixed to the base; A wheel hub clamping device, the wheel hub clamping device is fixed on the sliding device; The three-link centering device drives the sliding device, which drives the wheel hub clamping device to center and clamp the wheel hub.

2. The robot wheel hub gripper according to claim 1, characterized in that: The base is in an H shape; brackets are fixed around the base, an upper cover connecting plate is fixed above the brackets, and a robot flange is arranged in the middle of the upper cover connecting plate.

3. The robot wheel hub gripper according to claim 1, characterized in that: On the base, four sliding devices are arranged in parallel in pairs.

4. The robot wheel hub gripper according to claim 3, characterized in that: Any one of the sliding devices comprises: A slide rail parallel to and along the central axis of the base, and fixed on the base; A slider movably connected to the slider on the slide rail; A clamping claw arm, one end of which is fixed on the sliding block; above the clamping claw arm, it is movably connected to the two ends of the three-link centering device on the outside of the sliding block.

5. The robot wheel hub gripper according to claim 1, characterized in that: The three-link centering device further comprises: A cylinder, a cylinder body of which is fixed on the base; a piston rod of the cylinder is movably connected to a slider of the sliding device at one end through a piston connecting rod; A driving rod, one end of which is movably connected to the outer side of the slider; The rotating shaft connecting rod is movably connected to the other end of the driving rod at both ends of the rotating shaft connecting rod; the middle rotating shaft of the rotating shaft connecting rod is movably connected to the upper cover connecting plate.

6. The robot wheel hub gripper according to claim 5, characterized in that: A slide groove is provided on the upper cover connecting plate below the driving rod, and a sliding sleeve is movably connected in the slide groove.

7. The robot wheel hub gripper according to claim 4, characterized in that: The four slide rails are fixed on the base in pairs and in parallel.

8. The robot wheel hub gripper according to claim 4, characterized in that: A sensing sheet is fixed above the gripper arm; a photoelectric switch bracket is fixed on the base below the sensing sheet, and a photoelectric switch is fixed on the photoelectric switch bracket.

9. The robot wheel hub gripper according to claim 4, characterized in that: Two clamping claw wheel brackets are fixed under any one of the clamping claw arms; and the clamping claw wheel brackets are movably connected to the clamping claw wheel brackets.

10. The robot wheel hub gripper according to claim 9, characterized in that: The gripper arm is driven by the cylinder to move toward the central axis of the robot wheel hub handling gripper to automatically center and grasp the wheel hub, thereby grasping the wheel hub symmetrically.

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