Gearbox universal gripper

Abstract

The utility model discloses a universal gripper for a gearbox. The universal gripper comprises a connecting rod, parallel grippers and parallel fingers, the front end of the connecting rod is used for being connected with a robot arm, the rear end of the connecting rod is fixedly connected with the parallel gripper, and two gripping points of the parallel gripper are fixedly connected with the two parallel fingers respectively. The two parallel fingers are symmetrically arranged, each parallel finger comprises a claw piece connecting plate and a claw piece, and the opposite side faces of the two claw pieces are fixedly connected with a front positioning block and a rear positioning block; the two rear positioning blocks are opposite, are matched with positioning round holes in the two sides of a gearbox body correspondingly and are used for accurately positioning and grabbing a gearbox. The two front positioning blocks are opposite to each other, are matched with the positioning kidney-shaped holes in the two sides of the gearbox body correspondingly and are used for assisting in positioning grabbing and clamping the gearbox body during grabbing. The parallel clamping jaws drive the jaw pieces to clamp the gearbox body to take the gearbox body, operation is stable and reliable, accurate positioning and grabbing of gearboxes of the same model and different specifications can be achieved, and universality is high.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic grippers, in particular to a universal speed change box gripper. Background Art

[0002] With the increasing degree of industrial automation, automated grippers are widely used in the die-casting industry to improve the production efficiency of die-casting machines and reduce labor costs. The current method of removing parts in gearbox die-casting production is to use an automated gripper to grasp the gearbox material handle for removal after die-casting. Due to the large size differences in gearbox material handles, each gearbox requires a dedicated gripper. When producing gearboxes of the same model but different specifications on a single die-casting machine, the gripper must be tediously replaced, significantly reducing work efficiency. Utility Model Content

[0003] In order to solve the above problems, the utility model provides a universal gripper for a gearbox.

[0004] The technical solution adopted in this utility model is:

[0005] A universal gripper for a gearbox comprises a connecting rod, a parallel gripper and parallel fingers; the front end of the connecting rod is used to connect to a robot arm, and the rear end is fixedly connected to the parallel gripper, and the two gripping points of the parallel gripper are respectively fixedly connected to two parallel fingers; the two parallel fingers are symmetrically arranged, and each parallel finger comprises a claw connecting plate and a claw, and opposite sides of the two claws are fixedly connected to a front positioning block and a rear positioning block; the two rear positioning blocks are opposite to each other and respectively adapt to the positioning circular holes on both sides of the gearbox case for precise positioning and grasping of the gearbox; the two front positioning blocks are opposite to each other and respectively adapt to the positioning waist-shaped holes on both sides of the gearbox case for auxiliary positioning and grasping and for clamping the gearbox case during grasping.

[0006] By setting front and rear positioning blocks on the inner sides of the two claws, the two rear positioning blocks are aligned with the positioning circular holes on both sides of the gearbox case during grasping, and the conical positioning heads of the two front positioning blocks are aligned with the positioning waist-shaped holes on both sides of the gearbox case. When the parallel gripper drives the two fingers to move relative to each other to grasp the gearbox, the two rear positioning blocks are inserted into the two positioning circular holes to realize precise positioning and grasping of the gearbox, and the conical positioning heads of the two front positioning blocks are inserted into the two positioning waist-shaped holes. The front end face of the front positioning block body is pressed against the front end face of the positioning waist-shaped hole to realize auxiliary positioning, grasping and clamping of the gearbox case; according to the center distance between the positioning circular holes and the positioning waist-shaped holes of the intermediate model gearbox, the spacing between the rear positioning block and the front positioning block is designed. When grasping a larger gearbox, the conical positioning head of the front positioning block is inserted into the rear end of the positioning waist-shaped hole. When grasping a smaller gearbox, the conical positioning head of the front positioning block is inserted into the front end of the positioning waist-shaped hole, thereby realizing the versatility of the gripper.

[0007] Furthermore, the two rear positioning blocks have the same structure, both comprising a cylindrical body and a conical positioning head A that are smoothly connected axially. The outer diameter of the conical positioning head A is equal to the diameter of the circular positioning hole of the gearbox. The conical positioning head can achieve a guiding effect during insertion.

[0008] Furthermore, the head of the conical positioning head A is configured to be arc-shaped, and the front end of the arc-shaped head is cut into a flat surface. The flat surface can increase the contact area between the gripper and the gearbox and improve the gripping stability.

[0009] Furthermore, the two front positioning blocks have the same structure, each comprising a waist-shaped column and a conical positioning head B. The conical positioning head B is connected to the center of the front end of the waist-shaped column. Its outer diameter is equal to the radius of the arc of the transmission waist-shaped hole, and the cross-section of the waist-shaped column is larger than the size of the transmission waist-shaped hole. This realizes the positioning and grasping functions of the front positioning blocks and clamps the transmission case during grasping.

[0010] Furthermore, the head of the conical positioning head B is configured to be arc-shaped, and the front end of the arc-shaped head is cut into a flat surface. The flat surface can increase the contact area between the gripper and the gearbox and improve the gripping stability.

[0011] Furthermore, the connecting rod is arranged horizontally, and the parallel fingers also include a claw bracket and a claw fixing seat. The claw bracket is connected to the parallel clamp by screws. The claw fixing seat is L-shaped, one side of which is fixedly connected to the claw bracket by screws, and the other side is fixedly connected to the claw connecting plate by screws.

[0012] By adopting the above technical solution, the structure of the claw bracket is simplified and the processing cost is reduced; it is also convenient to connect the claw bracket with the parallel clamping jaws, and the L-shaped claw fixing seat can also enhance the strength of the parallel fingers.

[0013] Furthermore, the claw connecting plate is in a straight plate shape, which has a simple structure and is easy to process.

[0014] Furthermore, the parallel gripper is arranged obliquely downward at the rear end of the connecting rod through a connecting plate, the claw connecting plate extends axially along the parallel gripper, and the claw extends horizontally.

[0015] By adopting the above technical solution, it is convenient to avoid the material handle when grabbing, and the claw piece can be extended to the position of the gearbox positioning hole to achieve positioning grabbing.

[0016] Beneficial effects of the utility model:

[0017] 1. The parallel clamps drive the claws to clamp the gearbox body to remove parts, and the operation is stable and reliable.

[0018] 2. Through the front and rear positioning blocks, the gearboxes of the same model but different specifications can be accurately positioned and grasped, with high versatility.

[0019] 3. The entire gripper has a compact structure and is safe to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural diagram of a universal gearbox gripper for this application.

[0021] Figure 2 This is the front positioning block structure diagram of this application.

[0022] Figure 3 This is the structural diagram of the rear positioning block of this application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and a preferred embodiment.

[0024] See Figure 1-Figure 3 The present application provides a universal gearbox gripper, including a connecting rod 1, a hose fixing block 2, a connecting plate 3, parallel clamping jaws 4, a claw bracket 5, a claw fixing seat 6, a claw connecting plate 7, a claw 8, a front positioning block 9 and a rear positioning block 10.

[0025] Connecting rod 1 is used to mount parallel grippers 4 and connect to the robot. In this embodiment, connecting rod 1 is a rectangular frame enclosed by steel plates, open at the top and rear end. The frame accommodates the air pipes and cables. Several mounting holes are provided on the front and side of the frame for connecting to the robot. A downward-sloping connecting plate 3 is welded to the rear end of the frame for mounting the parallel grippers.

[0026] The hose fixing block 2 is L-shaped, one end of which is fixed to the front side of the connecting rod 1 by screws, and the other end is used to connect to a U-shaped pipe rack, and the hose is fixed to the hose fixing block 2 through the U-shaped pipe rack.

[0027] The parallel clamping jaws 4 are fixed to the outer surface of the connecting plate 3 by screws. The two clamping points of the parallel clamping jaws 4 are respectively fixed to two claw brackets 5. In this embodiment, the two claw brackets 5 have the same structure and are both flat plates parallel to the connecting plate 3. The parallel clamping jaws 4 are prior art.

[0028] The two claw brackets 5 are respectively fixedly connected to the two claw fixing bases 6. In this embodiment, the two claw fixing bases 6 are identical in structure, each consisting of an L-shaped flat plate. One side of the L-shaped plate is attached to the claw bracket 5, and the other side is attached to the claw connecting plate 7. The extension direction of the claw connecting plate 7 forms an angle A with the extension direction of the connecting rod 1.

[0029] In this embodiment, the two claw connecting plates 7 have the same structure and are both straight plates perpendicular to the connecting plate 3. The rear end of each claw connecting plate 7 is fixedly connected to the claw bracket 5 by screws, and the front end is connected to the claw 8.

[0030] The two claws 8 have the same structure and are both flat. Their middle portions are fixed to the claw connecting plate 7 by screws. The top surfaces of the claws 8 are parallel to the connecting rod 1. That is, when viewed from the side, the extension direction of the claws 8 forms an angle B with the extension direction of the claw connecting plate 7. Angle B is equal to angle A.

[0031] The claw piece bracket 5 , the claw piece fixing seat 6 , the claw piece connecting plate 7 , and the claw piece 8 are connected to form a clamping finger of the parallel clamping jaw 4 .

[0032] A front positioning block 9 and a rear positioning block 10 are installed on the opposite sides of the two claws 8.

[0033] The two front positioning blocks 9 have the same structure, each comprising a waist-shaped positioning block body 91 and a conical positioning head A92. The waist-shaped positioning block body 91 and the conical positioning head A92 are integrally formed. The center of the front side of the waist-shaped positioning block body radially protrudes outward to form the conical positioning head A, with the top of the conical positioning head A being designed as an arc-shaped surface. The conical positioning head 92 fits into the waist-shaped hole of the transmission case, providing gripping and positioning. The front side 911 of the waist-shaped positioning block body 91 serves as a pressing surface, fitting into the end face of the waist-shaped hole in the transmission case to compress the case during gripping.

[0034] The two rear positioning blocks 10 have the same structure, each comprising a circular positioning plate 101 and a conical positioning head A102. The circular positioning plate 101 and the conical positioning head A102 are integrally formed. Specifically, the central portion of the front side of the circular positioning plate 101 protrudes radially outward to form the conical positioning head A. The conical positioning head A comprises a cylindrical body and a conical head, with the head being configured as an arcuate surface and the front end being cut into a flat surface. The conical positioning head A102 fits into the circular hole of the transmission case for precise positioning.

[0035] The two front positioning blocks 9 are fixed to the front ends of the two claw pieces 8 by screws, with their heads facing each other; the two rear positioning blocks 10 are fixed to the rear ends of the two claw pieces 8 by screws, with their heads facing each other.

[0036] How this application works is:

[0037] After the die-casting is completed, the robot drives the universal gripper of the gearbox into the die-casting machine. After the parallel clamping jaws 4 are ventilated, the two clamping fingers are released, so that the heads of the two rear positioning blocks 10 are aligned with the positioning holes on both sides of the gearbox case, and the conical positioning heads of the two front positioning blocks 9 are aligned with the positioning waist holes on both sides of the gearbox case. The two clamping fingers are clamped, and the two rear positioning blocks 10 are inserted into the positioning holes on both sides of the gearbox case. The conical positioning heads of the two front positioning blocks 9 are inserted into the positioning waist holes on both sides of the gearbox case. The pressing surfaces of the two front positioning blocks 9 are pressed against the two end faces of the gearbox positioning waist holes.

[0038] The conical positioning head of the front positioning block 9 is adapted to the waist-shaped hole of the gearbox housing. By changing the position of the conical positioning head in the waist-shaped hole, it can adapt to the different spacings between the waist-shaped holes and the round holes of gearboxes of different specifications; thereby, the gripper of the present application can adapt to the clamping and removal of gearboxes of the same type and different specifications.

[0039] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also within the scope of protection of the present invention.

Claims

1. A universal gripper for a gearbox, characterized in that: It includes a connecting rod, a parallel gripper and parallel fingers; the front end of the connecting rod is used to connect to the robot arm, and the rear end is fixedly connected to the parallel gripper, and the two gripping points of the parallel gripper are respectively fixedly connected to the two parallel fingers; the two parallel fingers are symmetrically arranged, and each parallel finger includes a claw connecting plate and a claw, and the opposite sides of the two claws are fixedly connected to a front positioning block and a rear positioning block; the two rear positioning blocks are opposite to each other, and are respectively adapted to the positioning circular holes on both sides of the gearbox case, for accurately positioning and grasping the gearbox; the two front positioning blocks are opposite to each other, and are respectively adapted to the positioning waist-shaped holes on both sides of the gearbox case, for assisting in positioning and grasping and clamping the gearbox case during grasping.

2. A universal gearbox gripper according to claim 1, characterized in that: The two rear positioning blocks have the same structure, both including a cylindrical body and a conical positioning head A that are smoothly connected axially. The outer diameter of the conical positioning head A is equal to the aperture of the circular positioning hole of the gearbox.

3. A universal gripper for a gearbox according to claim 2, characterized in that: The head of the conical positioning head A is set to be arc-shaped, and the front end of the arc-shaped head is cut into a plane.

4. A universal gripper for a gearbox according to claim 1, characterized in that: The two front positioning blocks have the same structure, both including a waist-shaped column body and a conical positioning head B. The conical positioning head B is connected to the center of the front end surface of the waist-shaped column body. Its outer diameter is equal to the arc radius of the gearbox waist-shaped hole. The cross-sectional size of the waist-shaped column body is larger than the size of the gearbox waist-shaped hole.

5. The universal gripper for a gearbox according to claim 4, characterized in that: The head of the conical positioning head B is set to be arc-shaped, and the front end of the arc-shaped head is cut into a flat surface.

6. The universal gripper for a gearbox according to claim 1, characterized in that: The connecting rod is arranged horizontally, and the parallel fingers also include a claw bracket and a claw fixing seat. The claw bracket is connected to the parallel clamp by screws. The claw fixing seat is L-shaped, one side of which is fixedly connected to the claw bracket by screws, and the other side is fixedly connected to the claw connecting plate by screws.

7. A universal gripper for a gearbox according to claim 6, characterized in that: The claw piece connecting plate is in the shape of a straight plate.

8. The universal gripper for a gearbox according to claim 7, characterized in that: The parallel gripper is arranged obliquely downward at the rear end of the connecting rod through a connecting plate. The claw connecting plate extends axially along the parallel gripper, and the claw extends horizontally.

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