Rotary inner hole expansion claw grabbing manipulator device

Abstract

The utility model discloses a rotary inner hole expansion claw grabbing manipulator device, which relates to the technical field of machinery and comprises a bottom plate, pushing components are fixedly connected to four corners of the top of the bottom plate, a transmission rotating component is arranged on one side of the bottom of the bottom plate, and an induction control component is mounted on one side of the top of the bottom plate. The inductive control assembly comprises a transition plate. The pushing assembly is arranged to be matched with the transmission rotating assembly to tightly hold a workpiece, then the workpiece is sensed through the sensing control assembly, and then the workpiece is subjected to rotary oil removal and gluing through the cooperation with the transmission rotating assembly, so that the problems that automation cannot be achieved due to the fact that anti-rust oil is manually cleaned, gluing is conducted again, and then an oil sprayer bush is assembled are solved; the problems that in the prior art, the working efficiency is low, meanwhile, a robot directly grabs the treated oil sprayer lining subjected to oil removal and glue coating to be assembled, too much preparation work needs to be made, the number of auxiliary devices for oil removal and glue coating and the labor cost can be increased, and economy is not achieved are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of machinery, in particular to a rotary inner hole expansion claw grasping manipulator device. Background Technique

[0002] At present, in order to reduce costs, major automobile factories produce multiple types of engines on the same production line, resulting in a wide variety of injector bushings with similar inner hole sizes. The error rate of manual assembly of injector bushings will increase. It is necessary to solve the problem of reducing the error rate of mixed-line production and improving automation efficiency on the premise of cost savings.

[0003] In the existing assembly, manual cleaning of anti-rust oil, then gluing, and then assembling the injector bushing cannot achieve automation and has low work efficiency. When using a robot to grasp the injector bushing and using a rotating cylinder or the sixth axis of the robot arm to rotate for degreasing and gluing, the rotation angle and speed are limited, and the degreasing and gluing are not very uniform. Moreover, the pipeline package of the robotic arm affects the rotation of the arm. At the same time, the robot directly grasps the already processed degreased and glued injector bushing for assembly, which requires too much preparatory work and will also increase the number of auxiliary devices for degreasing and gluing and the labor cost, which is uneconomical. Content of the Utility Model

[0004] To solve the problems raised in the above background technique, the purpose of the present utility model is to provide a rotary inner hole expansion claw grasping manipulator device, which has the ability to compatibly grasp and accurately position and assemble injector bushings with various inner hole diameters close to each other. On the basis of the device for clamping the injector bushing, it can achieve controllable uniform rotation and rotation cycle control of the injector bushing, so that the plasma degreasing head and the gluing head of the gluing device can be fixed, and the manipulator rotates itself to complete degreasing and gluing, reducing the manufacturing cost of other auxiliary devices. The production cost of this device is relatively economical.

[0005] To achieve the above purpose, the present utility model provides the following technical solution: A rotary inner hole expansion claw grasping manipulator device includes a bottom plate. Push components are fixedly connected to the four corners of the top of the bottom plate. A transmission and rotation component is arranged on one side of the bottom of the bottom plate. An induction control component is installed on one side of the top of the bottom plate. The induction control component includes a transition plate. A rib plate is fixedly connected to the top of the transition plate. A switch bracket is movably installed on the front of the transition plate. A laser sensor is movably installed on the front of the switch bracket.

[0006] Preferably, for the present utility model, the transmission and rotation assembly includes a motor mounting plate, on the top of which a speed reducer is movably mounted. On the top of the speed reducer, a motor is fixedly connected. The bottom of the speed reducer penetrates through the motor mounting plate and is fixedly connected with a driving pulley. The surface of the driving pulley is movably meshed with a belt. Inside the belt, a driven pulley is movably meshed. On the top of the driven pulley, a spacer sleeve is movably mounted. Inside the driven pulley, a positioning rod is movably mounted. At the bottom of the surface of the positioning rod, an expansion claw is movably mounted.

[0007] Preferably, for the present utility model, the pushing assembly includes a connecting rod, on the top of which a cylinder mounting seat is fixedly connected. On the top of the cylinder mounting seat, a cylinder is fixedly connected. The output end of the cylinder is fixedly connected with a cylinder joint. At the bottom of the cylinder joint, a core rod is movably mounted.

[0008] Preferably, for the present utility model, on one side of the top of the transition plate, a connecting plate is fixedly connected. On one side of the connecting plate, a positioning sleeve is movably mounted.

[0009] Preferably, for the present utility model, on the top of the surface of the positioning rod, a lock nut is movably mounted. At the bottom of the lock nut, a pad is movably connected. The bottom of the pad is fixedly connected with the top of the bottom plate.

[0010] Preferably, for the present utility model, on the top of the surface of the positioning rod, a bearing is movably mounted. On the surface of the bearing, a rotating positioning sleeve is movably mounted. The rotating positioning sleeve is mounted inside the bottom plate.

[0011] Preferably, for the present utility model, on the left side of the bottom plate, a limiting plate is fixedly connected. Inside the limiting plate, a screw is threadedly connected. One side of the screw is threadedly mounted with one end of the motor mounting plate. On one side of the surface of the screw, a nut is threadedly connected.

[0012] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0013] 1. By setting the pushing assembly to cooperate with the transmission and rotation assembly to hold the workpiece, and then through the induction control assembly to sense the workpiece, and then through the cooperation of the transmission and rotation assembly to rotate and degrease and apply glue to the workpiece, the present utility model solves the problems that manual cleaning of anti-rust oil, then applying glue, and then assembling the injector bushing cannot achieve automation, with low work efficiency. When using a robot to grasp the injector bushing and using a rotating cylinder or the sixth axis of the robot arm to rotate for degreasing and applying glue, the rotation angle and speed are limited, the degreasing and glue application are not very uniform, and the pipeline package of the robotic arm affects the rotation of the arm. At the same time, when the robot directly grasps the already processed injector bushing that has been degreased and glued for assembly, too much preparatory work is required, which will also increase the number of auxiliary devices for degreasing and applying glue and the labor cost, and it is uneconomical.

[0014] 2. The utility model fixes the reducer and the motor conveniently through the motor mounting plate in use by setting the transmission and rotation assembly, and the expansion claw can fix the workpiece in cooperation with the core rod. When the workpiece needs to be rotated in use, the motor can be started, and the output end of the motor rotates and drives the driving pulley to rotate through the deceleration rotation of the reducer. The rotation of the driving pulley can drive the belt to rotate, the rotation of the belt can drive the driven pulley to rotate, and the rotation of the driven pulley can drive the positioning rod to rotate. The rotation of the positioning rod can fix the workpiece through the expansion claw, so that the expansion claw drives the workpiece to rotate, facilitating the processing of the workpiece.

[0015] 3. The utility model supports the bottom of the cylinder mounting seat through the connecting rod in use by setting the pushing assembly, and the cylinder mounting seat can fix the cylinder conveniently. When the workpiece needs to be fixed in use, the cylinder can be started to make the output end of the cylinder push the cylinder joint to move. The movement of the cylinder joint can push the core rod out of the positioning rod, and at this time, the expansion claw can retract due to gravity. After the manipulator moves to the grasping position, the cylinder pulls the core rod back through the cylinder joint. At this time, the expansion claw is extruded by the core rod and holds the workpiece tightly, facilitating subsequent processing. Description of the Drawings

[0016] Figure 1 is a three-dimensional structural schematic diagram of the utility model;

[0017] Figure 2 is a front view structural schematic diagram of the utility model;

[0018] Figure 3 is a front view sectional structural schematic diagram of the utility model;

[0019] Figure 4 is a right view structural schematic diagram of the utility model.

[0020] In the figure: 1. Bottom plate; 2. Pushing assembly; 21. Motor mounting plate; 22. Reducer; 23. Motor; 24. Driving pulley; 25. Belt; 26. Driven pulley; 27. Sleeve; 28. Positioning rod; 29. Expansion claw; 3. Transmission and rotation assembly; 31. Connecting rod; 32. Cylinder mounting seat; 33. Cylinder; 34. Cylinder joint; 35. Core rod; 4. Inductive control assembly; 41. Transition plate; 42. Rib plate; 43. Switch bracket; 44. Laser sensor; 5. Connecting plate; 6. Positioning sleeve; 7. Locking nut; 8. Pad; 9. Bearing; 10. Rotating positioning sleeve; 11. Limiting plate; 12. Screw; 13. Nut. Detailed Embodiment

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] As Figures 1 to 4 shown, a rotary inner hole expansion claw grasping manipulator device provided by the present invention includes a bottom plate 1. Four corners of the top of the bottom plate 1 are fixedly connected with a pushing component 2. One side of the bottom of the bottom plate 1 is provided with a transmission and rotation component 3. One side of the top of the bottom plate 1 is installed with an induction control component 4. The induction control component 4 includes a transition plate 41. The top of the transition plate 41 is fixedly connected with a rib plate 42. The front of the transition plate 41 is movably installed with a switch bracket 43. The front of the switch bracket 43 is movably installed with a laser sensor 44.

[0023] Referring Figure 3 to, the transmission and rotation component 3 includes a motor mounting plate 21. The top of the motor mounting plate 21 is movably installed with a reducer 22. The top of the reducer 22 is fixedly connected with a motor 23. The bottom of the reducer 22 passes through the motor mounting plate 21 and is fixedly connected with a driving pulley 24. The surface of the driving pulley 24 is movably engaged with a belt 25. The inside of the belt 25 is movably engaged with a driven pulley 26. The top of the driven pulley 26 is movably installed with a spacer 27. The inside of the driven pulley 26 is movably installed with a positioning rod 28. The bottom of the surface of the positioning rod 28 is movably installed with an expansion claw 29.

[0024] As a technical optimization scheme of the present invention, by setting the transmission and rotation component 3, the motor mounting plate 21 can conveniently fix the reducer 22 and the motor 23 during use, and the expansion claw 29 can fix the workpiece in cooperation with the core rod 35. When the workpiece needs to be rotated during use, the motor 23 can be started, so that the output end of the motor 23 rotates and drives the driving pulley 24 to rotate through the deceleration rotation of the reducer 22. The rotation of the driving pulley 24 can drive the belt 25 to rotate. The rotation of the belt 25 can drive the driven pulley 26 to rotate. The rotation of the driven pulley 26 can drive the positioning rod 28 to rotate. The rotation of the positioning rod 28 can fix the workpiece through the expansion claw 29, so that the expansion claw 29 drives the workpiece to rotate, facilitating the processing of the workpiece.

[0025] Referring Figure 2 to, the pushing component 2 includes a connecting rod 31. The top of the connecting rod 31 is fixedly connected with a cylinder mounting seat 32. The top of the cylinder mounting seat 32 is fixedly connected with a cylinder 33. The output end of the cylinder 33 is fixedly connected with a cylinder joint 34. The bottom of the cylinder joint 34 is movably installed with a core rod 35.

[0026] As a technical optimization solution of the present utility model, by providing a pushing assembly 2, during use, the connecting rod 31 can support the bottom of the cylinder mounting seat 32, and the cylinder mounting seat 32 can facilitate the fixation of the cylinder 33. When it is necessary to fix a workpiece during use, the cylinder 33 can be started to make the output end of the cylinder 33 push the cylinder joint 34 to move. The movement of the cylinder joint 34 can push the core rod 35 out of the positioning rod 28. At this time, the expansion claws 29 can retract due to gravity. After the manipulator moves to the grasping position, the cylinder 33 pulls the core rod 35 back through the cylinder joint 34. At this time, the expansion claws 29 are extruded by the core rod 35 to hold the workpiece tightly, facilitating subsequent processing.

[0027] Referring to FIG. 4, one side of the top of the transition plate 41 is fixedly connected to a connecting plate 5, and a positioning sleeve 6 is movably installed on one side of the connecting plate 5.

[0028] As a technical optimization solution of the present utility model, by providing the connecting plate 5 and the positioning sleeve 6, the connecting plate 5 and the positioning sleeve 6 can facilitate the connection and fixation with the robotic arm during use, enhancing the processing efficiency during use.

[0029] Reference Figure 1 On the top surface of the positioning rod 28, a locking nut 7 is movably installed. The bottom of the locking nut 13 is movably connected to a washer 8, and the bottom of the washer 8 is fixedly connected to the top of the bottom plate 1.

[0030] As a technical optimization solution of the present utility model, by providing the locking nut 7 and the washer 8, the locking nut 7 can stably limit the movement of the positioning rod 28 at the bottom of the bottom plate 1, enhancing the stability during rotation and avoiding the situation of unstable rotation during use. The washer 8 can buffer the bottom of the locking nut 13 during use, enhancing the stability of the locking nut 13 during use.

[0031] Reference Figure 3 Referring to FIG., on the top surface of the positioning rod 28, a bearing 9 is movably installed. On the surface of the bearing 9, a rotating positioning sleeve 10 is movably installed, and the rotating positioning sleeve 10 is installed inside the bottom plate 1.

[0032] As a technical optimization solution of the present utility model, by providing the bearing 9 and the rotating positioning sleeve 10, the bearing 9 can limit the movement of the positioning rod 28, enabling the positioning rod 28 to rotate stably. The positioning sleeve 6 can limit the movement of the outside of the bearing 9, improving the positioning effect of the bearing 9 during use.

[0033] Reference Figure 2, a limiting plate 11 is fixedly connected to the left side of the bottom plate 1. A screw 12 is threadedly connected inside the limiting plate 11. One side of the screw 12 is threadedly installed with one end of the motor mounting plate 21. One side of the surface of the screw 12 is threadedly connected with a nut 13.

[0034] As a technical optimization scheme of the present utility model, by providing the limiting plate 11, the screw 12 and the nut 13, the limiting plate 11 is fixedly connected to the left side of the bottom during use, and the screw 12 can be threadedly fixed to one side of the motor mounting plate 21. During use, the screw 12 can be threadedly fixed inside the limiting plate 11, facilitating the fixing of the motor mounting plate 21 by the limiting plate 11 through the screw 12 and enhancing the fixing convenience during use.

[0035] The working principle and usage process of the present utility model: During use, an external manipulator can be installed and fixed to the positioning sleeve 6. Before grasping the workpiece, the locking cylinder 33 pushes out the core rod 35 through the cylinder joint 34. At this time, the expansion claws 29 can retract due to gravity. When the manipulator moves to the grasping position, the locking cylinder 33 pulls back the core rod 35 through the cylinder joint 34. At this time, the expansion claws 29 are pushed out by the core rod 35 to hold the workpiece tightly. At this time, each expansion claw 29 can extend simultaneously due to the action of the slope on the core rod 35, ensuring the coaxiality of the workpiece and the positioning rod 28. At this time, the magnetic switch on the locking cylinder 33 detects that the cylinder 33 is clamped in place, and the laser sensor 44 detects the presence or absence of the workpiece. When the manipulator is in the degreasing and gluing state and the workpiece needs to rotate, the motor 23 can be started. The output end of the motor 23 rotates and drives the driving pulley 24 to rotate through the reduction of the reducer 22. The rotation of the driving pulley 24 can drive the belt 25 to rotate. The rotation of the belt 25 can drive the driven pulley 26 to rotate. The rotation of the driven pulley 26 can drive the positioning rod 28 to rotate, thereby rotating the workpiece. After completing the rotation action, the manipulator places the workpiece into the assembly hole. The locking cylinder 33 pushes out the core rod 35 through the cylinder joint 34. At this time, the expansion claws 29 can retract due to gravity, and the workpiece detaches from the manipulator. The manipulator withdraws, achieving the compatibility with workpieces such as injector bushings with slightly different inner hole diameters and cylindrical workpieces with inner holes that require degreasing, gluing, and assembly on the outer wall. Optimizing the form of the equipment auxiliary device, with reliable structure, cost reduction, simultaneous realization of automation, improved efficiency, and avoidance of resource waste.

[0036] In summary, for the rotary inner hole expanding jaw grasping manipulator device, the pushing component 2 is set to cooperate with the transmission rotating component 3 to hold the workpiece, and then the induction control component 4 is used to sense the workpiece, and then the transmission rotating component 3 is used to rotate and degrease and apply glue to the workpiece, solving the problems that manual cleaning of antirust oil, then applying glue, and then assembling the injector bushing cannot achieve automation, with low work efficiency. When using a robot to grasp the injector bushing and using a rotating cylinder or the sixth axis of the robot arm to rotate for degreasing and applying glue, the rotation angle and speed are limited, the degreasing and glue application are not very uniform, and the pipeline package of the robotic arm affects the rotation of the arm. At the same time, the robot directly grasps the degreased and glue-applied injector bushing that has been processed for assembly, which requires too much preparatory work and will also increase the number of auxiliary devices for degreasing and glue application and the labor cost, which is uneconomical.

[0037] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A rotary inner hole expanding jaw grasping manipulator device, comprising a bottom plate (1), characterized in that: At the four corners of the top of the bottom plate (1), a pushing component (2) is fixedly connected. On one side of the bottom of the bottom plate (1), a transmission and rotation component (3) is arranged. On one side of the top of the bottom plate (1), a sensing and control component (4) is installed. The sensing and control component (4) includes a transition plate (41). On the top of the transition plate (41), a rib plate (42) is fixedly connected. On the front of the transition plate (41), a switch bracket (43) is movably installed. On the front of the switch bracket (43), a laser sensor (44) is movably installed.

2. The rotary inner hole expanding jaw grasping manipulator device according to claim 1, characterized in that: The transmission and rotation component (3) includes a motor mounting plate (21). On the top of the motor mounting plate (21), a speed reducer (22) is movably installed. On the top of the speed reducer (22), a motor (23) is fixedly connected. The bottom of the speed reducer (22) penetrates through the motor mounting plate (21) and is fixedly connected with a driving pulley (24). On the surface of the driving pulley (24), a belt (25) is movably engaged. Inside the belt (25), a driven pulley (26) is movably engaged. On the top of the driven pulley (26), a spacer sleeve (27) is movably installed. Inside the driven pulley (26), a positioning rod (28) is movably installed. At the bottom of the surface of the positioning rod (28), an expansion claw (29) is movably installed.

3. A rotary inner hole expanding jaw grasping manipulator device according to claim 1, characterized in that: The pushing component (2) includes a connecting rod (31). On the top of the connecting rod (31), a cylinder mounting seat (32) is fixedly connected. On the top of the cylinder mounting seat (32), a cylinder (33) is fixedly connected. The output end of the cylinder (33) is fixedly connected with a cylinder joint (34). At the bottom of the cylinder joint (34), a core rod (35) is movably installed.

4. A rotary inner hole expanding jaw grasping manipulator device according to claim 1, characterized in that: On one side of the top of the transition plate (41), a connecting plate (5) is fixedly connected. On one side of the connecting plate (5), a positioning sleeve (6) is movably installed.

5. A rotary inner hole expansion claw grasping manipulator device according to claim 2, characterized in that: On the top of the surface of the positioning rod (28), a locking nut (7) is movably installed. At the bottom of the locking nut (7), a pad (8) is movably connected. The bottom of the pad (8) is fixedly connected with the top of the bottom plate (1).

6. The rotary inner hole expanding jaw grasping manipulator device according to claim 2, wherein: On the top of the surface of the positioning rod (28), a bearing (9) is movably installed. On the surface of the bearing (9), a rotating positioning sleeve (10) is movably installed. The rotating positioning sleeve (10) is installed inside the bottom plate (1).

7. A rotary inner hole expanding jaw grasping manipulator device according to claim 2, characterized in that: On the left side of the bottom plate (1), a limiting plate (11) is fixedly connected. Inside the limiting plate (11), a screw (12) is threadedly connected. One side of the screw (12) is threadedly installed with one end of the motor mounting plate (21). On one side of the surface of the screw (12), a nut (13) is threadedly connected.

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