Grabbing device of hub unstacking and stacking robot

Abstract

The grabbing device of the hub unstacking and stacking robot comprises a bottom plate and a shaft linkage robot mechanical arm, a direct-current motor drives a bidirectional threaded rod to rotate, the bidirectional threaded rod drives clamps to move towards the inner side at the same time under the action of threaded connection, the angle between the clamps is adjusted, and the clamping effect is achieved. Hubs of different sizes are grabbed and clamped, a servo motor drives a first gear to rotate, the first gear drives a movable shell to move under the action of meshing with teeth of a toothed plate, and therefore a shaft linkage robot mechanical arm is driven to horizontally move, and a stepping motor drives a driving gear to rotate; the driving gear drives the driven gear to rotate under the action of tooth meshing, so that the shaft linkage robot mechanical arm is driven to rotate, the working range and the working position of the shaft linkage robot mechanical arm and the clamp are adjusted, transfer between a grabbing point and a placing point is adjusted, and therefore the application range of the device is widened; and the practicability of the device is improved.

Description

Technical Field

[0001] The utility model relates to a grabbing device of a wheel hub depalletizing and stacking robot, belonging to the technical field of wheel hubs. Background Art

[0002] The wheel hub, also known as the rim or steel ring, is a cylindrical metal component that supports the inner contour of a car tire. It is an important component that is installed in the center on the axle. The function of the wheel hub is not only to support the tire, but also to transmit power, provide traction and shock absorption. It is a key component to ensure the smooth and safe driving of the car.

[0003] A Chinese patent publication (publication number: CN 211639951 U) discloses a multifunctional wheel hub handling device, comprising a circular disc, the lower surface of which is provided with a plurality of sliders movable toward its center, the lower ends of which are also provided with wheel hub grippers, and a first cylinder for synchronously driving the sliders to move, which is provided at the center of the lower surface of the circular disc. The first cylinder synchronously drives the sliders to move, so that the grippers on the sliders fix the wheel hub and thus enable the wheel hub to be handled. Simultaneously, during the handling process, two second cylinders are pushed out, causing the pressure plate to press against the upper surface of the wheel hub, preventing the wheel hub from shaking during the handling process. After one layer of wheel hubs has been handled, the other second cylinders can be used to push out, and the rubber partition suction cup can be used to remove the rubber partition to facilitate the continued handling of the wheel hub, thus achieving automated wheel hub handling.

[0004] During the wheel hub production process, there are usually multiple production links that require palletizing and depalletizing the wheel hubs to achieve the transfer and transportation of the wheel hubs between various production lines. The above-mentioned patent uses a first cylinder to synchronously push the slider to move, so that the claws on the slider fix the wheel hub and realize the transportation of the wheel hub. At the same time, during the transportation process, two second cylinders are pushed out to make the pressure plate press the upper surface of the wheel hub to prevent the wheel hub from shaking during the movement. After the transportation of one layer of wheel hubs is completed, the other second cylinders can be used to push out and the rubber partition suction cup can be used to remove the rubber partition to facilitate the continued transportation of the wheel hubs. However, there are still certain drawbacks. The transfer between the grasping point and the placement point may be inconvenient to adjust, which limits the use range of the grasping device and reduces the practicality of the equipment. In addition, when grasping larger wheel hubs, the grasping device of the existing robot often cannot flexibly adjust the angle of the clamp when grasping the larger wheel hub, resulting in the grasping device being unable to grasp the larger wheel hub. Therefore, workers need to replace the grasping device of different models, which requires workers to spend a long time to replace the grasping device, resulting in low efficiency of the grasping work.

[0005] Therefore, a gripping device for a wheel hub depalletizing and palletizing robot is proposed. Utility Model Content

[0006] In view of this, the present invention provides a gripping device for a wheel hub depalletizing and stacking robot to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial option.

[0007] The technical solution of the utility model is achieved as follows: a grasping device of a wheel hub depalletizing and stacking robot, comprising a base plate and an axis-linked robot arm, an adjusting mechanism is provided on the outer side of the axis-linked robot arm, the adjusting mechanism comprises a moving shell and a stepping motor, the rear side of the moving shell is fixedly connected to a servo motor, the output end of the servo motor is rotatably connected to a first gear, the rear side of the top of the base plate is fixedly connected to a gear plate, the first gear and the gear plate are connected in a toothed meshing manner, the top of the moving shell is fixedly connected to a moving platform, the middle end of the top of the moving platform is movably connected to a rotating platform through a bearing, the axis-linked robot arm is fixedly connected to the top of the rotating platform, the outer side of the rotating platform is fixedly connected to a driven gear, the output end of the stepping motor is rotatably connected to a driving gear, and the driving gear is connected in a toothed meshing manner to the driven gear;

[0008] A gripping mechanism is provided at the bottom of the axis-linked robot arm, and the gripping mechanism includes a shell, which is fixedly connected to the front end of the axis-linked robot arm, and a DC motor is fixedly connected to the right side of the shell, and the output end of the DC motor is rotatably connected to a bidirectional threaded rod, and both ends of the surface of the bidirectional threaded rod are connected to screw blocks through threads, and the bottoms of the two screw blocks are fixedly connected to welding rods, and the bottoms of the two welding rods are fixedly connected to clamps, and the inner walls of the two clamps are fixedly connected to anti-slip pads.

[0009] Further preferably, U-shaped plates are fixedly connected to the four sides of the bottom of the movable platform, the inner sides of the four U-shaped plates are movably connected to guide wheels through bearings, and guide grooves are provided on the front and rear sides of the top of the bottom plate.

[0010] Further preferably, the front and rear sides of the bottom of the movable shell are fixedly connected with a first slider, the front and rear ends of the top rear side of the bottom plate are provided with a first sliding groove, and the bottoms of the two first sliders are slidably connected in the inner cavities of the two first sliding grooves.

[0011] Further preferably, the tops of the two screw blocks are fixedly connected with a second sliding block, the top of the inner cavity of the shell is provided with a second sliding groove, and the tops of the two second sliding blocks are slidably connected in the inner cavity of the second sliding groove.

[0012] Further preferably, a mounting base is fixedly connected to the left side of the top of the moving platform, and the servo motor is fixedly connected to the top of the mounting base.

[0013] Further preferably, a bracket is fixedly connected to the left side of the housing, and the top of the bracket contacts the bottom of the DC motor.

[0014] Further preferably, support legs are fixedly connected to the four sides of the bottom of the base plate, and moving wheels are movably connected to the inner sides of the four support legs through bearings.

[0015] Further preferably, threaded sleeves are fixedly connected to the four sides of the top of the base plate, the inner surfaces of the four threaded sleeves are connected to screw rods through threads, the tops of the four screw rods are fixedly connected to hand wheels, and the bottoms of the four screw rods are fixedly connected to positioning plates.

[0016] The embodiment of the present invention has the following advantages due to the adoption of the above technical solution:

[0017] 1. The utility model drives the bidirectional threaded rod to rotate through a DC motor, and the bidirectional threaded rod drives the clamp to move inward at the same time through the action of the threaded connection, adjusts the angle between the clamps, and grabs wheel hubs of different sizes, drives the first gear to rotate through the servo motor, and the first gear drives the moving shell to move through the action of meshing with the teeth of the gear plate, thereby driving the shaft-linked robot arm to move horizontally, drives the driving gear to rotate through the action of meshing with the teeth of the gear, thereby driving the shaft-linked robot arm to rotate, adjusts the working range and working position of the moving shaft-linked robot arm and the clamp, and adjusts the transfer between the grabbing point and the placement point, thereby improving the scope of application of the device and further improving the practicality of the device.

[0018] The cam is fixed on the movable frame and the movable frame is fixed on the movable frame, so that the movable frame can move smoothly.

[0019] The above summary is for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 This is a schematic diagram of the three-dimensional front view structure of the utility model;

[0022] Figure 2 This is a schematic diagram of the rear structure of the utility model;

[0023] Figure 3 This is a schematic diagram of the structure of the adjustment mechanism of the utility model;

[0024] Figure 4 This is a schematic diagram of the structure of the grabbing mechanism of the present utility model;

[0025] Figure 5 For the utility model Figure 2 Enlarged structural diagram at point A in the middle.

[0026] 1. The servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor; the servo motor is a stepping motor DETAILED DESCRIPTION

[0027] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be regarded as illustrative in nature and not restrictive.

[0028] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0029] Example 1

[0030] like Figure 1-5As shown, the embodiment of the present invention provides a grasping device of a wheel hub depalletizing and stacking robot, comprising a base plate 1 and an axis-linked robot arm 3, an adjusting mechanism 2 is provided on the outer side of the axis-linked robot arm 3, the adjusting mechanism 2 comprises a moving shell 201 and a stepping motor 207, a servo motor 202 is fixedly connected to the rear side of the moving shell 201, an output end of the servo motor 202 is rotatably connected to a first gear 203, a tooth plate 204 is fixedly connected to the rear side of the top of the base plate 1, the first gear 203 is connected to the tooth plate 204 in a tooth-meshing connection, a moving platform 205 is fixedly connected to the top of the moving platform 205, a rotating platform 206 is movably connected to the middle end of the top of the moving platform 205 through a bearing, the axis-linked robot arm 3 is fixedly connected to the top of the rotating platform 206, a driven gear 214 is fixedly connected to the outer side of the rotating platform 206, and a driving gear 208 is rotatably connected to the output end of the stepping motor 207, and the driving gear 208 is connected to the driven gear 214 in a tooth-meshing connection;

[0031] A gripping mechanism 4 is provided at the bottom of the axis-linked robot arm 3. The gripping mechanism 4 includes a shell 401, which is fixedly connected to the front end of the axis-linked robot arm 3. A DC motor 402 is fixedly connected to the right side of the shell 401. The output end of the DC motor 402 is rotatably connected to a bidirectional threaded rod 403. Both ends of the surface of the bidirectional threaded rod 403 are threadedly connected to screw blocks 404. The bottoms of the two screw blocks 404 are fixedly connected to welding rods 405. The bottoms of the two welding rods 405 are fixedly connected to clamps 406. The inner walls of the two clamps 406 are fixedly connected to anti-slip pads 407.

[0032] The bidirectional threaded rod 403 is driven to rotate by the DC motor 402, and the bidirectional threaded rod 403 drives the clamp 406 to move inward at the same time through the threaded connection, adjusts the angle between the clamps 406, and grabs wheel hubs of different sizes. The first gear 203 is driven to rotate by the servo motor 202, and the first gear 203 drives the moving shell 201 to move by meshing with the teeth of the gear plate 204, thereby driving the shaft-linked robot arm 3 to move horizontally, and the driving gear 208 is driven to rotate by the stepping motor 207, and the driving gear 208 drives the driven gear 214 to rotate by meshing with the teeth, thereby driving the shaft-linked robot arm 3 to rotate, adjust the working range and working position of the moving shaft-linked robot arm 3 and the clamp 406, and adjust the transfer between the grasping point and the placement point, thereby improving the scope of application of the device and further improving the practicality of the device.

[0033] Example 2

[0034] In one embodiment, the bottom of the movable platform 205 is fixedly connected to U-shaped plates 209 on all sides, and the inner sides of the four U-shaped plates 209 are movably connected to guide wheels 210 through bearings. Guide grooves 211 are provided on the front and rear sides of the top of the bottom plate 1, and the front and rear sides of the bottom of the movable shell 201 are fixedly connected to first sliders 212. The front and rear ends of the rear side of the top of the bottom plate 1 are provided with first slide grooves 213. The bottoms of the two first sliders 212 are slidably connected to the inner cavities of the two first slide grooves 213. The tops of the two screw blocks 404 are fixedly connected to the second sliders 408. The top of the inner cavity of the shell 401 is provided with a second slide groove 409. The tops of the two second sliders 408 It is slidably connected in the inner cavity of the second slide groove 409, and the left side of the top of the movable platform 205 is fixedly connected to the mounting seat 5, the servo motor 202 is fixedly connected to the top of the mounting seat 5, and the left side of the shell 401 is fixedly connected to the bracket 6. The top of the bracket 6 contacts the bottom of the DC motor 402, and the four sides of the bottom of the base plate 1 are fixedly connected to the support legs 7. The inner sides of the four support legs 7 are movably connected to the moving wheels 8 through bearings. The top of the base plate 1 is fixedly connected to the threaded sleeves 9, and the inner surfaces of the four threaded sleeves 9 are connected to the screw rods 10 through threads. The tops of the four screw rods 10 are fixedly connected to the handwheels 11, and the bottoms of the four screw rods 10 are fixedly connected to the positioning plates 12.

[0035] By setting the guide wheel 210 and the guide groove 211, the movement of the mobile platform 205 can be guided, and the stability of the mobile platform 205 during the movement process can be improved. By setting the first slider 212 and the first slide groove 213, the movement of the mobile shell 201 can be facilitated, making the movement process of the mobile shell 201 smoother. By setting the second slider 408 and the second slide groove 409, the stability of the screw block 404 during the movement process can be improved. By setting the mounting seat 5, the servo motor 202 can be fixed to play a role in installation and fixing. By setting the bracket 6, the DC motor 402 can be prevented from falling off during operation. By setting the moving wheel 8, the entire device can be easily transferred. By setting the threaded sleeve 9, the screw rod 10, the handwheel 11 and the positioning plate 12, when the entire device is transferred to the preset position through the moving wheel 8, the screw rod 10 is rotated by the handwheel 11, and the screw rod 10 moves downward in the inner cavity of the threaded sleeve 9 through the action of the threaded connection, and drives the positioning plate 12 to move downward, so that the positioning plate 12 contacts the ground, thereby improving the stability of the entire device.

[0036] When the utility model is working: the output end of the DC motor 402 drives the bidirectional threaded rod 403 to rotate, the bidirectional threaded rod 403 drives the screw block 404 to move inward through the effect of the threaded connection, and the screw block 404 drives the welding rod 405 and the clamp 406 to move inward at the same time, adjusts the angle between the clamp 406, and grabs the wheel hubs of different sizes. At the same time, the anti-slip pad 407 can play an anti-slip role, thereby improving the stability of the clamp 406 when grabbing the wheel hub. Then, the output end of the servo motor 202 drives the first gear 203 to rotate, and the first gear 203 drives the moving shell 201 to move by the effect of meshing with the teeth of the tooth plate 204. The moving shell 201 is provided with a first slider 212 and a first slide groove 213. The stability during the movement is improved, thereby driving the moving platform 206 to move horizontally. The moving platform 206 improves the stability during the movement through the cooperation of the guide wheel 210 and the guide groove 211, and drives the axis-linked robot arm 3 to move horizontally. The output end of the stepper motor 207 drives the driving gear 208 to rotate, and the driving gear 208 drives the driven gear 214 to rotate through the action of tooth meshing. The driven gear 214 drives the rotating platform 206 to rotate, thereby driving the axis-linked robot arm 3 to rotate, adjusting the working range and working position of the driving axis-linked robot arm 3 and the clamp 406, and adjusting the transfer between the grasping point and the placement point, thereby improving the applicability of the device and further improving the practicality of the device.

[0037] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope of protection of the claims.

Claims

1. A gripping device for a wheel hub depalletizing and palletizing robot, characterized by: The invention comprises a base plate (1) and an axis-linked robot arm (3), wherein an adjustment mechanism (2) is provided on the outside of the axis-linked robot arm (3), wherein the adjustment mechanism (2) comprises a moving shell (201) and a stepping motor (207), wherein a servo motor (202) is fixedly connected to the rear side of the moving shell (201), wherein an output end of the servo motor (202) is rotatably connected to a first gear (203), and a tooth plate (204) is fixedly connected to the rear side of the top of the base plate (1), wherein the first gear (203) and the tooth plate (204) are in a geared relationship. The top of the movable shell (201) is fixedly connected to the movable platform (205), the middle end of the top of the movable platform (205) is movably connected to the rotating platform (206) through a bearing, the shaft-linked robot arm (3) is fixedly connected to the top of the rotating platform (206), the outer side of the rotating platform (206) is fixedly connected to the driven gear (214), the output end of the stepping motor (207) is rotatably connected to the driving gear (208), and the driving gear (208) and the driven gear (214) are connected in a tooth meshing manner; A gripping mechanism (4) is provided at the bottom of the axis-linked robot arm (3), and the gripping mechanism (4) comprises a shell (401), the shell (401) is fixedly connected to the front end of the axis-linked robot arm (3), a DC motor (402) is fixedly connected to the right side of the shell (401), an output end of the DC motor (402) is rotatably connected to a bidirectional threaded rod (403), both ends of the surface of the bidirectional threaded rod (403) are connected to screw blocks (404) through threads, the bottoms of two screw blocks (404) are fixedly connected to welding rods (405), the bottoms of two welding rods (405) are fixedly connected to clamps (406), and the inner walls of the two clamps (406) are fixedly connected to anti-slip pads (407).

2. The gripping device of the wheel hub depalletizing and palletizing robot according to claim 1, characterized in that: The bottom of the movable platform (205) is fixedly connected to U-shaped plates (209) on all sides, and the inner sides of the four U-shaped plates (209) are movably connected to guide wheels (210) through bearings. The top of the bottom plate (1) is provided with guide grooves (211) on both the front and rear sides.

3. The gripping device of the wheel hub depalletizing and palletizing robot according to claim 1, characterized in that: The front and rear sides of the bottom of the movable shell (201) are fixedly connected to first sliding blocks (212), and the front and rear ends of the top rear side of the bottom plate (1) are provided with first sliding grooves (213), and the bottoms of the two first sliding blocks (212) are slidably connected to the inner cavities of the two first sliding grooves (213).

4. The gripping device of a wheel hub depalletizing and palletizing robot according to claim 1, characterized in that: The tops of the two screw blocks (404) are fixedly connected to a second slider (408), the top of the inner cavity of the shell (401) is provided with a second slide groove (409), and the tops of the two second sliders (408) are slidably connected to the inner cavity of the second slide groove (409).

5. The gripping device of a wheel hub depalletizing and palletizing robot according to claim 1, characterized in that: The left side of the top of the moving platform (205) is fixedly connected to a mounting seat (5), and the servo motor (202) is fixedly connected to the top of the mounting seat (5).

6. The gripping device of a wheel hub depalletizing and palletizing robot according to claim 1, characterized in that: A bracket (6) is fixedly connected to the left side of the housing (401), and the top of the bracket (6) is in contact with the bottom of the DC motor (402).

7. The gripping device of a wheel hub depalletizing and palletizing robot according to claim 1, characterized in that: Support legs (7) are fixedly connected to the four sides of the bottom of the base plate (1), and moving wheels (8) are movably connected to the inner sides of the four support legs (7) via bearings.

8. The gripping device of a wheel hub depalletizing and palletizing robot according to claim 1, characterized in that: The top of the base plate (1) is fixedly connected to threaded sleeves (9) on all four sides, the inner surfaces of the four threaded sleeves (9) are connected to screw rods (10) through threads, the tops of the four screw rods (10) are fixedly connected to hand wheels (11), and the bottoms of the four screw rods (10) are fixedly connected to positioning plates (12).

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