Clamp clamping mechanism of commercial vehicle front axle finished product machining robot

Abstract

The utility model relates to a clamp clamping mechanism of a commercial vehicle front axle finished product machining robot. The clamp clamping mechanism comprises a support, a first clamping part and a second clamping part. The first clamping part comprises a first rotating shaft, a second rotating shaft and a first driving mechanism for driving the first rotating shaft and the second rotating shaft to rotate in opposite directions, and a front clamp jaw matched with the width of a front axle of the commercial vehicle is formed between clamping bulges on the first rotating shaft and the second rotating shaft; the second clamping part comprises a third rotating shaft, a fourth rotating shaft and a second driving mechanism for driving the third rotating shaft and the fourth rotating shaft to rotate in the opposite directions, and a rear clamp jaw matched with the width of the front axle of the commercial vehicle is formed between clamping protrusions on the third rotating shaft and the fourth rotating shaft. The first clamping part and the second clamping part are arranged for clamping the front axle of the vehicle, so that the stability of a workpiece is improved; and the workpiece is clamped through the rotation action of the front clamping block and the rear clamping block, the clamping device can adapt to clamping of workpieces of different widths, and the clamping requirements of products of different models are met.

Description

Technical Field

[0001] The utility model relates to the technical field of the processing of commercial vehicle front axles, in particular to the clamping of commercial vehicle front axles, and specifically refers to a clamping mechanism of a robot clamp for the processing of commercial vehicle front axle finished products. Background Art

[0002] The front axle of a commercial vehicle is an important component for the vehicle body to move, and the assembly requirements are relatively high. Therefore, during processing, automated machine tools are mainly used. The blank is loaded onto the machining position of the machine tool, and after this processing process is completed, the workpiece is taken off.

[0003] Since the overall shape of the front axle is bow-shaped, it does not belong to regular shapes such as rectangles or circles, and the length is relatively large. Therefore, it is rather troublesome to load and unload. Currently, it is mainly manually clamped, and the loading and unloading operations are completed in cooperation with lifting equipment and traditional clamps. This operation method causes a large labor intensity for the staff.

[0004] With the development of technology, robots are applied to the loading and unloading operations of the front axle processing. This greatly reduces the labor intensity of the staff. However, the fixture used by the robot when clamping the front axle is still a traditional jaw-type structure, and it is necessary to ensure that the contact area with the workpiece is large enough to ensure the clamping stability. However, there is no large-area plane for the fixture to clamp on the front axle. Therefore, during the actual operation process, the workpiece is prone to shift during the clamping process, and the clamping stability cannot be guaranteed. Content of the Utility Model

[0005] Aiming at the deficiencies of the prior art, the utility model provides a clamping mechanism of a robot clamp for the processing of commercial vehicle front axle finished products, which reduces the requirement for the clamping area and ensures the clamping stability.

[0006] The utility model is realized by the following technical solutions: a clamping mechanism of a robot clamp for the processing of commercial vehicle front axle finished products is provided, which includes a bracket, and a first clamping part and a second clamping part installed on the bracket. The first clamping part and the second clamping part are distributed along the front-rear direction;

[0007] The first clamping part includes a first rotating shaft and a second rotating shaft that extend vertically and are rotatably connected to the bracket, and a first driving mechanism that drives the first rotating shaft and the second rotating shaft to rotate in opposite directions. Front clamping blocks located below the bracket are fixedly provided on the first rotating shaft and the second rotating shaft respectively. Clamping protrusions are fixedly provided on the side surfaces of the front clamping blocks. A front clamp jaw adapted to the width of the front axle of a commercial vehicle is formed between the clamping protrusions on the first rotating shaft and the second rotating shaft; the second clamping part includes a third rotating shaft and a fourth rotating shaft that extend vertically and are rotatably connected to the bracket, and a second driving mechanism that drives the third rotating shaft and the fourth rotating shaft to rotate in opposite directions. Rear clamping blocks located below the bracket are fixedly provided on the third rotating shaft and the fourth rotating shaft respectively. Clamping protrusions are fixedly provided on the side surfaces of the rear clamping blocks. A rear clamp jaw adapted to the width of the front axle of a commercial vehicle is formed between the clamping protrusions on the third rotating shaft and the fourth rotating shaft.

[0008] In this solution, the first clamping part and the second clamping part are provided to clamp the front axle of the vehicle, forming two clamping points in the length direction; the rotating shafts are driven by the driving mechanism to rotate in opposite directions, so that the two front clamping blocks and the two rear clamping blocks rotate respectively, thereby driving the clamping protrusions to clamp the two side edges in the width direction of the front axle of the commercial vehicle.

[0009] As an optimization, the first driving mechanism includes a first rack that slides on the bracket, and a first telescopic device that drives the first rack to move in the length direction. The first rack is located between the first rotating shaft and the second rotating shaft, and a gear Ⅰ meshing with the first rack is fixedly installed on the first rotating shaft, and a gear Ⅱ meshing with the first rack is fixedly installed on the second rotating shaft. The first driving mechanism of this optimized solution adopts a gear-rack structure. By the movement of the rack, the gear Ⅰ and the gear Ⅱ are driven to rotate in opposite directions at the same time, which not only facilitates the opposite rotation of the first rotating shaft and the second rotating shaft, but also ensures the synchronism of the rotation of the first rotating shaft and the second rotating shaft, so that the clamping protrusions of the two front clamping blocks contact the side surface of the front axle of the vehicle at the same time.

[0010] As an optimization, a guiding groove extending in the length direction is formed on the first rack, and a guiding column adapted to the guiding groove is fixedly installed on the bracket. Through the guiding column and the guiding groove provided in this optimized solution, guidance is provided for the movement of the rack to prevent the rack from deflecting.

[0011] As an optimization, the first telescopic device includes a first air cylinder fixedly arranged on the top surface of the bracket, and the extending end of the first air cylinder is connected to the first rack. The first telescopic device of this optimized solution is realized by an air cylinder, with a simple structure and rapid action, improving the working efficiency.

[0012] As an optimization, anti-falling blocks are respectively sleeved on the first rotating shaft and the second rotating shaft and located below the front clamping block. The anti-falling blocks are jacked upward to the front clamping block, and locking nuts are respectively connected to the first rotating shaft and the second rotating shaft by threads and located below the anti-falling blocks. This optimization scheme supports the front clamping block by setting the locking nuts and the anti-falling blocks, preventing the anti-falling blocks from falling during the process of clamping the workpiece.

[0013] The beneficial effects of the present utility model are as follows: By setting the first clamping portion and the second clamping portion distributed along the length direction to clamp the front axle of the vehicle, the clamping distance is increased, and the stability of the workpiece is improved; The clamping protrusions of the front clamping block and the rear clamping block are used to clamp the side surface of the front axle of the vehicle, reducing the contact area between the clamping mechanism and the workpiece, thereby reducing the requirement for the size of the clamping working surface area; The rotation actions of the front clamping block and the rear clamping block are used to clamp the workpiece, which can adapt to the clamping of workpieces with different widths and meet the clamping requirements of different models of products. Description of the Drawings

[0014] Figure 1 is a schematic top view structure of the present utility model;

[0015] Figure 2 is a schematic front view structure of the present utility model;

[0016] Figure 3 is a schematic rack structure of the present utility model;

[0017] Figure 4 is a schematic gear I structure of the present utility model;

[0018] Figure 5 is a front view of the front clamping block of the present utility model;

[0019] Figure 6 is a side view of the front clamping block of the present utility model;

[0020] Figure 7 is a front view of the first clamping portion of the present utility model;

[0021] Figure 8 is a bottom view of the first clamping portion of the present utility model.

[0022] As shown in the figure:

[0023] 1. Gear I, 2. First rack, 3. Proximity switch, 4. First telescopic device, 5. Vision system, 6. Bracket, 7. Third rotating shaft, 8. Fourth rotating shaft, 9. Anti-falling block, 10. Rear clamping block, 11. Locking nut, 12. Guide groove, 13. Clamping protrusion, 14. First rotating shaft, 15. Second rotating shaft, 16. Gear II, 17. Front clamping block. Specific Embodiments

[0024] To clearly illustrate the technical features of this solution, the following will elaborate on this solution through specific implementation manners.

[0025] Such as Figure 1 shown is a clamping mechanism of a robot gripper for the finished machining of a front axle of a commercial vehicle, including a bracket 6, and a first clamping part and a second clamping part installed on the bracket. A vision system 5 installed on the bracket is provided between the first clamping part and the second clamping part. A through hole adapted to the vision system is opened on the bracket. The first clamping part and the second clamping part are distributed in the front-rear direction, and the first clamping part and the second clamping part are symmetric about the vision system in the front and rear.

[0026] The bracket in this embodiment is an aluminum alloy bracket, which not only ensures the structural strength but also reduces the weight. A connecting seat adapted to the operating arm of the robot is fixedly provided on the upper surface of the bracket. The vision system is fixed at the center position of the bracket by bolts, and the detection end faces downward and passes through the through hole on the bracket for automatically finding the center of the workpiece. The structure and control of the vision system adopt existing technologies.

[0027] The first clamping part includes a first rotating shaft 14 and a second rotating shaft 15 that extend vertically and are rotatably connected to the bracket, and a first driving mechanism for driving the first rotating shaft and the second rotating shaft to rotate in opposite directions. Front clamping blocks 17 located below the bracket are fixedly provided on the first rotating shaft and the second rotating shaft respectively. A clamping protrusion 13 is fixedly provided on the side surface of the front clamping block. A front clamp jaw adapted to the width of the front axle of the commercial vehicle is formed between the clamping protrusions on the first rotating shaft and the second rotating shaft. The front clamping block is integrally cam-shaped, and the side surface of the clamping protrusion facing the front axle workpiece is an arc surface and is provided with a plurality of anti-slip grooves extending vertically.

[0028] The first driving mechanism includes a first rack 2 slidably arranged on the bracket, and a first telescopic device 4 for driving the first rack to move in the length direction. The first rack is located between the first rotating shaft and the second rotating shaft, and a gear I 1 meshing with the first rack is fixedly installed on the first rotating shaft, and a gear II 16 meshing with the first rack is fixedly installed on the second rotating shaft.

[0029] A guiding groove 12 extending in the length direction is opened on the first rack. A guiding column adapted to the guiding groove is fixedly provided on the bracket. A plane adapted to the side wall of the guiding groove is provided on the guiding column to prevent the first rack from rotating around the guiding column.

[0030] The first telescopic device in this embodiment includes a first cylinder fixedly arranged on the top surface of the bracket. The extending end of the first cylinder is connected to the first rack, and the first rack is driven to move back and forth by the telescopic movement of the first cylinder. Two proximity switches 3 respectively adapted to the front and rear ends of the first rack are installed on the bracket for detecting the initial position and the terminal position of the first rack, which is convenient for the robot to perform the next action.

[0031] The cross-section of the connection between the first rotating shaft and the gear Ⅰ1 is D-shaped. The central hole of the gear Ⅰ1 is adapted to the first rotating shaft, ensuring the relative circumferential fixation between the first rotating shaft and the gear Ⅰ. Similarly, the cross-section of the connection between the second rotating shaft and the gear Ⅱ16 is D-shaped. The central hole of the gear Ⅱ16 is adapted to the second rotating shaft, ensuring the relative circumferential fixation between the second rotating shaft and the gear Ⅱ16. Anti-falling blocks 9 are respectively sleeved on the first rotating shaft and the second rotating shaft below the front clamping block, and the first rotating shaft and the second rotating shaft are respectively key-connected to the anti-falling blocks 9 to ensure the rotational clamping of the workpiece. The anti-falling blocks are pushed upward to the front clamping block, and locking nuts 11 are respectively thread-connected on the first rotating shaft and the second rotating shaft below the anti-falling blocks.

[0032] The first clamping part of the second clamping part has the same structure and is symmetrically arranged. Specifically, the second clamping part includes a third rotating shaft 7 and a fourth rotating shaft 8 that extend vertically and are rotatably connected to the bracket, and a second driving mechanism that drives the third rotating shaft 7 and the fourth rotating shaft 8 to rotate in opposite directions. Rear clamping blocks 10 are respectively fixed on the third rotating shaft and the fourth rotating shaft below the bracket. Clamping protrusions are fixed on the side surfaces of the rear clamping blocks. A rear clamp jaw adapted to the width of the front axle of a commercial vehicle is formed between the clamping protrusions on the third rotating shaft and the fourth rotating shaft.

[0033] The first rotating shaft, the second rotating shaft, the third rotating shaft, and the fourth rotating shaft are arranged in a rectangular distribution, and the formed front clamp jaw and rear clamp jaw clamp the side of the front axle of the vehicle.

[0034] The overall shape of the rear clamping block 10 is cam-shaped. The side surface of the clamping protrusion facing the front axle workpiece is an arc surface, and a plurality of anti-slip grooves extending vertically are provided.

[0035] The second driving mechanism includes a second rack slidably arranged on the bracket and a second telescopic device that drives the second rack to move in the length direction. The second rack is located between the third rotating shaft and the fourth rotating shaft. A gear Ⅲ meshing with the second rack is fixed on the third rotating shaft, and a gear Ⅳ meshing with the second rack is fixed on the fourth rotating shaft.

[0036] A guiding groove 12 extending in the length direction is formed on the second rack. A guiding post adapted to the guiding groove is fixed on the bracket. A plane adapted to the side wall of the guiding groove is provided on the guiding post to prevent the second rack from rotating around the guiding post.

[0037] The second telescopic device in this embodiment includes a second cylinder fixedly arranged on the top surface of the bracket. The extending end of the second cylinder is connected to the second rack, and the second rack is driven to move back and forth by the telescopic movement of the second cylinder.

[0038] The cross-section of the connection between the third rotating shaft and Gear III is D-shaped, and the central hole of Gear III is adapted to the third rotating shaft, ensuring the relative circumferential fixation between the third rotating shaft and Gear III. Similarly, the cross-section of the connection between the fourth rotating shaft and Gear IV is D-shaped, and the central hole of Gear IV is adapted to the fourth rotating shaft, ensuring the relative circumferential fixation between the fourth rotating shaft and Gear IV. Anti-falling blocks 9 are respectively sleeved on the third rotating shaft and the fourth rotating shaft and are located below the front clamping block, and the third rotating shaft and the fourth rotating shaft are respectively key-connected to the anti-falling blocks 9 to ensure the rotational clamping of the workpiece. The anti-falling blocks are jacked up to the front clamping block, and locking nuts 11 are respectively thread-connected on the third rotating shaft and the fourth rotating shaft and are located below the anti-falling blocks.

[0039] During specific operation, the bracket is installed on the robot manipulator. The visual system 5 automatically locates the center of the workpiece. The telescopic movement of two cylinders provides power for the movement of the rack, and the rack drives the gears on both sides to rotate synchronously in opposite directions, so that each clamping protrusion clamps the outer wall of the front axle. In actual assembly, clamping and loosening are performed according to different movement directions, and the positions of the rack and the gears can be adjusted according to the product type.

[0040] The clamping mechanism of this embodiment has a simple structure, ensures the reliable clamping of the front axle, and adopts a rotational clamping method, which can meet the clamping requirements of products of different models and sizes, ensure the machining accuracy and efficiency of the products, and avoid potential safety hazards at the same time.

[0041] Certainly, the above description is not limited to the above examples. The technical features not described in the present utility model can be realized by or adopted from the prior art, and will not be elaborated here. The above embodiments and the drawings are only used to illustrate the technical solutions of the present utility model and are not intended to limit the present utility model. The present utility model has been described in detail with reference to the preferred embodiments. Those of ordinary skill in the art should understand that any changes, modifications, additions or substitutions made by those of ordinary skill in the art within the scope of the essence of the present utility model do not depart from the purpose of the present utility model and should also fall within the scope of the protection of the claims of the present utility model.

Claims

1. A clamping mechanism of a finished product processing robot clamp for a commercial vehicle front axle, characterized in that: It includes a bracket (6), as well as a first clamping part and a second clamping part mounted on the bracket, and the first clamping part and the second clamping part are distributed in the front-rear direction; The first clamping part includes a first rotating shaft (14), a second rotating shaft (15) that extend vertically and are rotatably connected to the bracket, and a first driving mechanism that drives the first rotating shaft and the second rotating shaft to rotate in opposite directions. Front clamping blocks (17) located below the bracket are fixedly provided on the first rotating shaft and the second rotating shaft respectively. Clamping protrusions (13) are fixedly provided on the side surfaces of the front clamping blocks. A front clamp jaw adapted to the width of the front axle of a commercial vehicle is formed between the clamping protrusions on the first rotating shaft and the second rotating shaft; The second clamping part includes a third rotating shaft (7), a fourth rotating shaft (8) that extend vertically and are rotatably connected to the bracket, and a second driving mechanism that drives the third rotating shaft (7) and the fourth rotating shaft (8) to rotate in opposite directions. Rear clamping blocks (10) located below the bracket are fixedly provided on the third rotating shaft and the fourth rotating shaft respectively. Clamping protrusions are fixedly provided on the side surfaces of the rear clamping blocks. A rear clamp jaw adapted to the width of the front axle of a commercial vehicle is formed between the clamping protrusions on the third rotating shaft and the fourth rotating shaft.

2. The clamping mechanism of the robot gripper for the finished machining of the front axle of a commercial vehicle according to claim 1, characterized in that: The first driving mechanism includes a first rack (2) slidably provided on the bracket, and a first telescopic device (4) that drives the first rack to move in the length direction. The first rack is located between the first rotating shaft and the second rotating shaft, and a gear I (1) meshing with the first rack is fixedly installed on the first rotating shaft, and a gear II (16) meshing with the first rack is fixedly installed on the second rotating shaft.

3. The clamping mechanism of the robot gripper for the finished machining of the front axle of a commercial vehicle according to claim 2, characterized in that: A guide groove (12) extending in the length direction is formed on the first rack, and a guide post adapted to the guide groove is fixedly provided on the bracket.

4. A clamping mechanism of a processing robot gripper for a finished front axle of a commercial vehicle according to claim 2, characterized in that: The first telescopic device includes a first cylinder fixedly provided on the top surface of the bracket, and the extending end of the first cylinder is connected to the first rack.

5. The clamping mechanism of the robot gripper for the finished machining of the front axle of a commercial vehicle according to claim 1, characterized in that: Anti-falling blocks (9) located below the front clamping blocks are respectively sleeved on the first rotating shaft and the second rotating shaft. The anti-falling blocks are pushed upward to the front clamping blocks, and locking nuts (11) located below the anti-falling blocks are respectively connected by threads on the first rotating shaft and the second rotating shaft.

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