Robot gripper for automatically mounting bolts on axle gap bridge box cover

Abstract

The utility model relates to the technical field of bolt installation, in particular to an automatic bolt installation robot gripper for an axle gap bridge box cover, which comprises a robot arm connecting piece and a plurality of gripping components, a connecting plate is fixedly connected to the bottom of the robot arm connecting piece, the gripping components are uniformly mounted at the bottom of the connecting plate, and the connecting plate is fixedly connected to the bottom of the robot arm connecting piece. The grabbing assembly is used for grabbing the bolts; and the in-place detection assembly is mounted on one side of the connecting plate, and the in-place detection assembly is used for detecting the mounting position of the bolt. According to the bolt grabbing device, a plurality of bolts can be synchronously and rapidly grabbed through the grabbing assemblies, meanwhile, the positioning accuracy during bolt grabbing can be improved, and then the accuracy of later installation can be improved.

Description

Technical Field

[0001] This utility model relates to the field of bolt installation technology, specifically to an automatic bolt-installing robot gripper for a vehicle axle underpass cover. Background Technology

[0002] The drive axle cover is an important component of the commercial vehicle drive axle system. It protects key components such as gears and bearings inside the drive axle, and also helps improve the sealing and durability of the drive axle.

[0003] In automated assembly lines for commercial vehicle drive axle underbody covers, robots handle bolt clamping and installation in two ways: one is by gripping bolts one by one, lacking the ability to simultaneously grip multiple bolts for rapid positioning and installation, resulting in low operational efficiency; the other is by gripping multiple bolts simultaneously, but the gripping and positioning accuracy is poor, which in turn affects the accuracy of subsequent bolt installation. Therefore, we propose an automated bolt-installing robot gripper for axle underbody covers. Utility Model Content

[0004] The purpose of this utility model is to provide an automatic bolt-installing robot gripper for axle underpass covers, which solves the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an automatic bolt-installing robot gripper for axle undercarriage covers, comprising a robot arm connector, wherein a connecting plate is fixedly connected to the bottom of the robot arm connector, and further comprising:

[0006] A gripping assembly, wherein there are multiple gripping assemblies, which are evenly installed on the bottom of the connecting plate, and the gripping assembly is used to grip the bolt;

[0007] A positioning detection component is installed on one side of the connecting plate and is used to detect the bolt installation position.

[0008] By adopting the above technical solution, the robot arm connector is connected to the robot arm. The robot arm drives the device to move. When grasping bolts, multiple grasping components are used to grasp multiple bolts. Then, multiple bolts are directly inserted into the corresponding mounting holes. After the bolts are installed, the robot drives the device to flip them so that the positioning detection component is in contact with the bolt to detect whether the bolt is installed in place. This helps to improve the efficiency of bolt installation. At the same time, installation and detection can be carried out at the same station, eliminating the need for subsequent detection, which further improves the efficiency of operation.

[0009] In a preferred embodiment of this utility model, the gripping component includes:

[0010] The cylinders are multiple, and the multiple cylinders are evenly fixed to the bottom of the connecting plate;

[0011] A plurality of parallel pneumatic clamps are provided, and the plurality of parallel pneumatic clamps are respectively fixed to the outer ends of the plurality of cylinder push rods.

[0012] The first gripper is rotatably connected to the tail end of one side gripper of the parallel pneumatic clamp;

[0013] The second gripper is rotatably connected to the tail end of the other gripper of the parallel pneumatic clamp.

[0014] By adopting the above technical solution, the parallel pneumatic clamp is driven by the cylinder to descend, straightening the bolt. Then, the parallel pneumatic clamp drives the first and second claws to move closer to each other, thereby grasping the bolt. During the process of grasping the bolt, the first and second claws can rotate slightly to accommodate the error of the finger shape, thereby ensuring the fit of the grasp and improving the accuracy of the grasping and positioning.

[0015] In a preferred embodiment of this utility model, the positioning detection component includes:

[0016] A carrier frame, which is fixedly connected to one side wall of the connecting plate;

[0017] An infrared sensor is detachably fixed to the inner wall of the carrier.

[0018] A sleeve extends through the side wall of the carrier, and a detection rod extends through the sleeve. A sensing plate is fixed to one end of the detection rod near the infrared sensor. A spring is fitted on the outer wall of the detection rod, with one end of the spring fixedly connected to the sensing plate and the other end of the spring fixedly connected to the end face of the sleeve.

[0019] By adopting the above technical solution, debugging is performed before use. The detection rod touches the correctly installed bolt and the installation position of the infrared sensor is adjusted according to the length of the compressed and fixed detection rod, so that the infrared sensor can detect the sensing element. Once the debugging is complete, if the bolt is not installed correctly, the detection rod is lowered to the previously debugged position. If the infrared sensor cannot detect the position of the sensing element, it indicates that the bolt installation position is inaccurate. Therefore, rapid testing after installation is achieved without the need for additional testing procedures, which helps to improve the overall operating efficiency.

[0020] In a preferred embodiment of this utility model, a protrusion is fixed on the upper surface of the first and second grippers near the parallel pneumatic clamp.

[0021] By adopting the above technical solution, the first and second grippers can be limited after slight rotation, ensuring a high degree of fit after rotation while avoiding deviation caused by excessive rotation.

[0022] In a preferred embodiment of the present invention, a V-groove is provided on the inner sidewall of one side of the first claw.

[0023] By adopting the above technical solution, the V-groove of the first gripper can effectively fit with the bolt cylinder, and the V-groove and the plane of the second gripper form a three-point centering geometric relationship, making the clamping more secure.

[0024] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0025] The present application discloses an automatic bolt-loading robot gripper for axle underpass covers. This robot gripper is equipped with multiple parallel pneumatic clamps, with a first gripper and a second gripper mounted on two of the clamps. The first and second grippers can rotate slightly when gripping bolts to accommodate errors in finger shape. The V-groove on the first gripper can effectively fit with the cylindrical bolt, thereby enabling the simultaneous and rapid gripping of multiple bolts. This also improves the accuracy of positioning when gripping bolts, which in turn improves the accuracy of subsequent installation.

[0026] The positioning detection component can detect the bolt installation position after the bolt is installed, thus enabling installation and detection to be carried out at the same station without the need for subsequent detection, thereby improving operational efficiency. Attached Figure Description

[0027] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0028] Figure 1 This is a schematic diagram of the overall structure of the robotic gripper for automatically installing bolts on a vehicle axle underpass cover according to this utility model.

[0029] Figure 2 This is an enlarged structural schematic diagram of the A-type automatic bolt-installing robot gripper of the axle overpass cover of this utility model.

[0030] Figure 3 This is a schematic diagram of the positioning detection component of the robotic gripper for automatically installing bolts on a vehicle axle overpass cover according to this utility model.

[0031] Figure 4 This is a schematic diagram of the connection structure of the detection rod, sleeve, and sensor plate of the robotic gripper for automatically installing bolts on the axle overpass cover of this utility model.

[0032] In the picture:

[0033] 1. Robot arm connector; 2. Position detection component; 3. Connecting plate; 4. Cylinder; 5. Parallel pneumatic gripper; 6. First gripper; 7. Second gripper; 8. Protrusion; 9. Carrier; 10. Infrared sensor; 11. Sensing plate; 12. Sleeve; 13. Detection rod; 14. Spring. Detailed Implementation

[0034] Please see Figure 1-4 This utility model provides a technical solution: an automatic bolt-installing robot gripper for axle undercarriage covers, including a robot arm connector 1, with a connecting plate 3 fixedly connected to the bottom of the robot arm connector 1, and further including:

[0035] The gripping components are multiple in number and are evenly installed on the bottom of the connecting plate 3. The gripping components are used to grip the bolts.

[0036] Position detection component 2 is installed on one side of the connecting plate 3 and is used to detect the bolt installation position.

[0037] It should be understood that in actual use, the robot arm connector 1 is connected to the robot arm, and the robot arm drives the device to move. When gripping bolts, multiple gripping components are used to grip multiple bolts, and then the multiple bolts are directly inserted into the corresponding mounting holes. After the bolts are installed, the robot drives the device to flip them, so that the positioning detection component 2 is in contact with the bolt to detect whether the bolt is installed in place. This helps to improve the efficiency of bolt installation, and at the same time, installation and detection can be carried out at the same station without the need for subsequent detection, which further improves the efficiency of operation.

[0038] like Figure 1 and 2 As shown; the crawling component includes:

[0039] Cylinder 4, there are multiple cylinders 4, and multiple cylinders 4 are evenly fixed to the bottom of the connecting plate 3;

[0040] Parallel pneumatic clamps 5, multiple parallel pneumatic clamps 5, multiple parallel pneumatic clamps 5 are respectively fixed to the outer end of multiple cylinder 4 push rods;

[0041] The first gripper 6 is rotatably connected to the tail end of the gripper on one side of the parallel pneumatic clamp 5;

[0042] The second gripper 7 is rotatably connected to the tail end of the gripper on the other side of the parallel pneumatic clamp 5.

[0043] It should be noted that the working principle of the parallel pneumatic clamp 5 is as follows: the fingers of the parallel gripper are opened and closed by the action of two pistons. Each piston is connected to the pneumatic fingers by a roller and a double crank, forming a special drive unit. When the piston moves, the shaft drives the crank, causing the two gripper plates to move simultaneously, thereby clamping or releasing. As a conventional technology, the parallel pneumatic clamp 5 is used by those skilled in the art, so its internal structure is not described in detail in this article.

[0044] It should be understood that the cylinder 4 drives the parallel pneumatic clamp 5 to descend, straightening the bolt. Then, the parallel pneumatic clamp 5 drives the first gripper 6 and the second gripper 7 to move closer to each other, thereby grasping the bolt. During the process of grasping the bolt, the first gripper 6 and the second gripper 7 can rotate slightly to accommodate the error of the finger shape, thereby ensuring the fit of the grasp and improving the accuracy of the grasping and positioning.

[0045] Furthermore, protrusions 8 are fixed on the upper surfaces of the first gripper 6 and the second gripper 7 near the parallel pneumatic clamp 5, so that the first gripper 6 and the second gripper 7 can be limited after slight rotation, ensuring a high degree of fit after rotation while avoiding deviation caused by excessive rotation.

[0046] Furthermore, a V-groove is provided on the inner side wall of the first gripper 6. The V-groove of the first gripper 6 can effectively fit with the bolt cylinder, and the plane of the V-groove and the second gripper 7 form a three-point centering geometric relationship, making the clamping more secure.

[0047] like Figure 1 and 3 As shown in Figure 4; the positioning detection component 2 includes:

[0048] The carrier 9 is fixedly connected to one side wall of the connecting plate 3;

[0049] Infrared sensor 10 is detachably fixed to the inner wall of the carrier 9;

[0050] The sleeve 12 passes through the side wall of the carrier 9. A detection rod 13 passes through the sleeve 12. A sensing plate 11 is fixed to one end of the detection rod 13 near the infrared sensor 10. A spring 14 is fitted on the outer wall of the detection rod 13. One end of the spring 14 is fixedly connected to the sensing plate 11, and the other end of the spring 14 is fixedly connected to the end face of the sleeve 12.

[0051] It should be understood that before use, debugging is required. The detection rod 13 presses against the correctly installed bolt. Using the compressed and fixed length of the detection rod 13 as the standard, the installation position of the infrared sensor 10 is adjusted so that the infrared sensor 10 can detect the sensing element 11. Once the debugging is complete, during the testing process, if the bolt is not installed correctly, the detection rod 13 is lowered to the previously debugged position. If the infrared sensor 10 cannot detect the position of the sensing element 11, it indicates that the bolt installation position is inaccurate. Therefore, rapid testing after installation is achieved without the need for additional testing procedures, which helps to improve the overall operating efficiency.

[0052] Furthermore, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0053] Although specific embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to the specific embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot gripper for automatic bolting of axle bridge box covers, comprising a robot arm connecting piece (1), the bottom of the robot arm connecting piece (1) is fixedly connected with a connecting plate (3), characterized in that, Also include: A plurality of grabbing components are uniformly installed on the bottom of the connecting plate (3), and the grabbing components are used for grabbing the bolts; A position detection assembly (2) is installed on one side of the connecting plate (3), and the position detection assembly (2) is used for detecting the bolt mounting position.

2. The robot gripper for automatic bolting axle over axle cover according to claim 1, characterized in that: The grabbing component includes: A plurality of air cylinders (4) are uniformly fixed on the bottom of the connecting plate (3); A plurality of parallel pneumatic clamps (5) are respectively fixed on the outer end of the push rod of the plurality of air cylinders (4); A first hand claw (6) is rotatably connected to the tail end of the clamp claw on one side of the parallel pneumatic clamp (5); A second hand claw (7) is rotatably connected to the tail end of the clamp claw on the other side of the parallel pneumatic clamp (5).

3. The robot gripper for automatic bolting axle over axle cover according to claim 2, characterized in that: The position detection assembly (2) includes: A carrier (9) is fixedly connected with one side wall of the connecting plate (3); An infrared sensor (10) is detachably fixed to the inner side wall of the carrier (9); A sleeve (12) penetrates through the side wall of the carrier (9), a detection rod (13) penetrates through the sleeve (12), an inductive sheet (11) is fixed to one end of the detection rod (13) close to the infrared sensor (10), a spring (14) is sleeved on the outer wall of the detection rod (13), one end of the spring (14) is fixedly connected with the inductive sheet (11), and the other end of the spring (14) is fixedly connected with the end face of the sleeve (12).

4. The robot gripper for automatic bolting axle over axle cover according to claim 3, characterized in that: The upper surface of the first hand claw (6) and the second hand claw (7) is fixed with a protrusion (8) close to the parallel pneumatic clamp (5).

5. The robot gripper for automatic bolting axle over axle cover according to claim 4, characterized in that: A V-shaped groove is formed in the inner side wall of one side of the first hand claw (6).

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