Five-claw carrying clamp and robot

Abstract

The five-claw carrying clamp and the robot can clamp a hub and cannot damage appearance paint, the five-claw carrying clamp comprises a six-axis robot body, a first connecting plate, a second connecting plate, a first fixing plate and a second fixing plate, and the first fixing plate and the second fixing plate are arranged on the six-axis robot body. The first fixing plate and the second fixing plate are connected through a plurality of fixing columns, five sliding rods are arranged on the lower end face of the second fixing plate in a sliding mode, the sliding rods are arranged on the second fixing plate in a surrounding mode, and socket and spigot joint rods used for being inserted into hub auxiliary holes are arranged on the sliding rods. The second fixing rod is provided with a sliding device used for driving the sliding rod to slide, the first connecting plate and the second connecting plate are connected through a fixing column, the first fixing plate is rotationally arranged on the second connecting plate, and the first connecting plate is provided with a rotating device used for driving the second fixing plate to rotate.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a five-claw handling fixture and a robot. Background Art

[0002] During the automatic spraying production of wheel hub bearings, the final step is to move the bearing hub from the spraying turntable to the finished product placement conveyor line. Since the exterior paint has just been sprayed and has not yet fully solidified, traditional two-claw or three-claw grippers cannot meet the handling requirements. Therefore, a five-claw handling robot was invented that utilizes the five process holes on the wheel hub bearing for handling without damaging the exterior paint. Utility Model Content

[0003] Therefore, in order to solve the above problems, the present invention proposes a five-claw handling fixture and a robot that can clamp the wheel hub without damaging the exterior paint.

[0004] To achieve the above-mentioned purpose, the technical solution of the utility model is to provide a five-claw handling fixture, including a first fixed plate and a second fixed plate, the first fixed plate and the second fixed plate are connected by a number of fixed columns, the lower end surface of the second fixed plate is slidingly provided with five sliding rods, the sliding rods are arranged around the second fixed plate, the sliding rods are provided with a socket rod for inserting into the wheel hub process hole, and the second fixed plate is provided with a sliding device for driving the sliding rod to slide.

[0005] A further improvement is that the sliding device includes a lifting plate, which is arranged between the first fixed plate and the second fixed plate through the lifting device, the sliding rod extends out of the second fixed plate and is hinged to a connecting rod at one end, and the other end of the connecting rod is hinged to the lifting plate.

[0006] A further improvement is that: the lifting device is a lifting cylinder, the lifting cylinder is arranged on the second fixed plate, and the extension rod of the lifting cylinder is connected to the lifting plate.

[0007] A further improvement is that it also includes a fixed block, which is arranged on the lower end surface of the second fixed plate, and a sliding groove is opened on the fixed block. The sliding rod is provided with a sliding rail, and the sliding rail is slidably arranged in the sliding groove.

[0008] A further improvement is that: a plurality of guide columns are provided in the second fixed plate, a guide sleeve is provided on the lifting plate, the guide sleeve is slidably sleeved on the guide column, and a limit plate is provided at the end of the guide column to limit the rise of the lifting plate.

[0009] A further improvement is that it also includes a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are connected by a fixing column, the first fixing plate is rotatably arranged on the second connecting plate, and the first connecting plate is provided with a rotating device for driving the second fixing plate to rotate.

[0010] A further improvement is that a U-shaped sensor is provided on the second connecting plate, and an L-shaped connecting plate is provided on the first fixing plate. The connecting plate is located in the U-shaped channel of the sensor and is used to sense the return of the first fixing plate.

[0011] A further improvement is that a third connecting plate is provided on the second connecting plate, and a visual sensor is provided on the third connecting plate.

[0012] A further improvement is that a limiting rod is provided on the side of the second fixing plate, and a limiting screw is provided on the bottom of the second connecting plate. After the limiting rod is rotated, it resists the limiting screw to limit the rotation angle of the second fixing plate.

[0013] A five-claw handling fixture includes a six-axis robot body, a first connecting plate, a second connecting plate, a first fixed plate and a second fixed plate, the first fixed plate and the second fixed plate are connected by a plurality of fixed columns, the lower end surface of the second fixed plate is slidably provided with five sliding rods, the sliding rods are arranged around the second fixed plate, the sliding rods are provided with a socket rod for inserting into the wheel hub process hole, the second fixed plate is provided with a sliding device for driving the sliding rod to slide, the first connecting plate and the second connecting plate are connected by a fixed column, the first fixed plate is rotatably arranged on the second connecting plate, and the first connecting plate is provided with a rotating device for driving the second fixed plate to rotate.

[0014] The advantages and beneficial effects of the utility model are:

[0015] 1. The five grippers utilize the five process holes on the wheel hub bearing for handling, ensuring the wheel hub is handled without damaging the exterior paint. This handling robot can connect upstream and downstream processes, eliminating the need for manual loading and unloading, saving labor costs. It features high positioning accuracy and good repeatability, and is suitable for wheel hub bearings placed flat at any angle.

[0016] 2. Using servo motor rotation, high positioning accuracy and good repeatability.

[0017] 3. Equipped with a six-axis industrial robot, it can grasp, transport and place at any position, and its flexible movements are applicable to a wider space.

[0018] 5. Equipped with machine vision for precise positioning to improve accuracy.

[0019] 6. The use of robot clamping can strictly follow the robot program without any mistakes or omissions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the robot structure of an embodiment of the utility model.

[0021] Figure 2 This is a schematic structural diagram of a five-claw handling fixture according to an embodiment of the present utility model.

[0022] Figure 3 This is a schematic diagram of the robot structure of an embodiment of the utility model.

[0023] Figure 4 This is an enlarged structural diagram of Example A of the present utility model. DETAILED DESCRIPTION

[0024] The following embodiments are used to further describe the specific embodiments of the present invention in conjunction with the accompanying drawings and examples. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0025] like Figures 1-4 As shown, a five-claw handling robot includes a six-axis robot body 1, a first connecting plate 183, a second connecting plate 184, a first fixed plate 6 and a second fixed plate 7, the first fixed plate 6 and the second fixed plate 7, the first fixed plate 6 and the second fixed plate 7 are connected by a plurality of fixed columns 8, the lower end surface of the second fixed plate 7 is slidably provided with five sliding rods 12, the sliding rods 12 are arranged around the second fixed plate 7, the sliding rods 12 are provided with a socket rod 9 for inserting into the hub process hole, the second fixed plate 6 rod is provided with a sliding device for driving the sliding rod 12 to slide, the first connecting plate 183 and the second connecting plate 184 are connected by fixed columns 8, the first fixed plate 6 is rotatably arranged on the second connecting plate 184, the first connecting plate 183 is provided with a rotating motor 2 for driving the second fixed plate 7 to rotate, and the first fixed plate 6 is connected to the rotating shaft of the rotating motor 2.

[0026] Specifically, the sliding device includes a lifting plate 10, which is arranged between the first fixed plate 6 and the second fixed plate 7 through a lifting cylinder 15. The lifting cylinder 15 is arranged on the second fixed plate 7. The extension rod of the lifting cylinder 15 is connected to the lifting plate 10. The sliding rod 12 extends out of the second fixed plate 7 and is hinged to a connecting rod 11 at its end. The other end of the connecting rod 11 is hinged to the lifting plate 10.

[0027] In order to enable the sliding rod 12 to slide better, it also includes a fixed block 14, which is arranged on the lower end surface of the second fixed plate 7. A sliding groove is opened on the fixed block 14, and a sliding rail 13 is provided on the sliding rod 12. The sliding rail 13 is slidably arranged in the sliding groove.

[0028] In order to enable the lifting plate 10 to slide vertically up and down better, a plurality of guide columns 101 are provided in the second fixed plate 6, and a guide sleeve is provided on the lifting plate 10. The guide sleeve is slidably sleeved on the guide column 101, and a limit plate is provided at the end of the guide column 101 to limit the rise of the lifting plate 10.

[0029] In order to better adjust the position of the first fixed plate 6 so that the socket rod 9 can be better inserted into the process hole of the wheel hub, a U-shaped sensor 17 is provided on the second connecting plate 184, and an L-shaped connecting plate 18 is provided on the first fixed plate 6. The connecting plate 18 is located in the U-shaped channel of the sensor 17 and is used to sense the return of the first fixed plate 6. A limiting rod is provided on the side of the second fixed plate 7, and a limiting screw 16 is provided at the bottom of the second connecting plate 184. After the limiting rod is rotated, it resists the limiting screw 16 to limit the rotation angle of the second fixed plate 7.

[0030] In order to facilitate automatic clamping of the wheel hub, a third connecting plate 18 is provided on the second connecting plate 184 , and a visual sensor 102 is provided on the third connecting plate 18 .

[0031] Working principle:

[0032] During use, when the wheel hub is to be clamped, the visual sensor 102 collects the image and transmits it to the six-axis robot. The six-axis robot then controls the manipulator to move above the wheel hub, and then rotates the motor 2 to drive the first fixed plate 6 to rotate so that the socket stem is located above the process hole of the wheel hub. The manipulator then descends so that the socket rod 9 is inserted into the process hole. The lifting cylinder 15 then works and extends the rod upward, thereby causing the lifting disk 10 to drive the connecting disk to drive the connecting rod to swing upward, and the connecting rod drives the sliding rod 12 to slide into the second fixed plate 7, thereby causing the socket rod 9 to resist the inner wall of the process hole and clamp the wheel hub. The wheel hub is then moved to the conveyor line to avoid damaging the painted exterior paint of the wheel hub, eliminating the need for manual handling and saving labor costs.

[0033] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which shall fall within the scope of the present invention to be protected. The scope of protection claimed in the present invention is defined by the attached claims and their equivalents.

Claims

1. A five-claw handling fixture, characterized by: It includes a first fixed plate and a second fixed plate, the first fixed plate and the second fixed plate are connected by a number of fixed columns, five sliding rods are slidingly provided on the lower end surface of the second fixed plate, the sliding rods are surrounded by the second fixed plate, the sliding rods are provided with socket rods for inserting into the hub process holes, and the second fixed plate is provided with a sliding device for driving the sliding rods to slide.

2. The five-claw handling fixture according to claim 1, characterized in that: The sliding device includes a lifting plate, which is arranged between the first fixed plate and the second fixed plate through the lifting device. The sliding rod extends out of the second fixed plate and is hinged to a connecting rod at one end. The other end of the connecting rod is hinged to the lifting plate.

3. The five-claw handling fixture according to claim 2, characterized in that: The lifting device is a lifting cylinder, which is arranged on the second fixed plate, and the extension rod of the lifting cylinder is connected to the lifting plate.

4. The five-claw handling fixture according to claim 2, characterized in that: It also includes a fixed block, which is arranged on the lower end surface of the second fixed plate. The fixed block is provided with a sliding groove, and the sliding rod is provided with a sliding rail, which is slidably arranged in the sliding groove.

5. The five-claw handling fixture according to claim 2, characterized in that: A plurality of guide posts are provided in the second fixed plate, a guide sleeve is provided on the lifting plate, the guide sleeve is slidably sleeved on the guide post, and a limit plate for limiting the lifting plate from rising is provided at the end of the guide post.

6. The five-claw handling fixture according to claim 1, characterized in that: It also includes a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are connected by a fixing column, the first fixing plate is rotatably arranged on the second connecting plate, and the first connecting plate is provided with a rotating device for driving the second fixing plate to rotate.

7. The five-claw handling fixture according to claim 6, characterized in that: The second connecting plate is provided with a U-shaped sensor, and the first fixing plate is provided with an L-shaped connecting plate. The connecting plate is located in the U-shaped channel of the sensor and is used to sense the return of the first fixing plate.

8. The five-claw handling fixture according to claim 6, characterized in that: A third connecting plate is provided on the second connecting plate, and a visual sensor is provided on the third connecting plate.

9. The five-claw handling fixture according to claim 6, characterized in that: A limiting rod is provided on the side of the second fixing plate, and a limiting screw is provided on the bottom of the second connecting plate. After the limiting rod is rotated, it resists the limiting screw to limit the rotation angle of the second fixing plate.

10. A five-claw handling fixture and robot, including a six-axis robot body, characterized in that: The cam is secured to the chassis and has a plurality of locking plates, each of which is secured to a position detachable from the chassis by a latching mechanism, and the cam is secured to a position detachable from the chassis by a latching mechanism.

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