Holding and clamping device of transfer robot

Abstract

The utility model relates to the technical field of automobile transfer, in particular to a holding and clamping device of a transfer robot. The carrying robot holding and clamping device comprises a rack, the rack is provided with a containing position, and clamping pieces are arranged on the two sides of the rack; the driving assembly is arranged on the rack, the driving assembly is provided with a worm gear and a worm, the worm gear is rotatably arranged on the rack, the worm gear is connected with the clamping piece, the worm is meshed with the worm gear, and the worm drives the worm gear to rotate so that the clamping piece can move to the first position or the second position; when the worm gear rotates to the first position, the clamping piece is located at the containing position, and when the worm gear rotates to the second position, the clamping piece clamps the wheel. Through the arrangement of the worm gear and the worm, the purpose that the clamping piece clamps the wheel is achieved, the worm gear and the worm are simple in structure and convenient to maintain, meanwhile, the worm gear and the worm occupy smaller height space, and the thickness of the machine frame can be reduced easily.

Description

Technical Field

[0001] This utility model relates to the field of automobile transportation technology, specifically to a clamping device for a handling robot. Background Technology

[0002] A multi-level parking garage mainly consists of multiple parking spaces arranged in an array within a three-dimensional space. After a vehicle enters the garage, it is first placed on a transfer mechanism, which then moves the vehicle one by one into each parking space. The advantages of a multi-level parking garage compared to a traditional parking garage are: firstly, multi-level parking garages do not require ramps for vehicles to travel on, thus saving a significant amount of space; secondly, because the vehicles are lifted by the transfer mechanism, the lifting speed is much greater than the speed at which a vehicle can climb a ramp on its own, so the number of levels in a multi-level parking garage can be much greater than that in a traditional parking garage.

[0003] Vehicle transfer within a multi-level parking garage is primarily accomplished using transport robots. These robots are equipped with gripping devices to hold the wheels of a car. Once the wheels are gripped, the robot can move the car to the parking space. In related technologies, the gripping device uses multi-gear transmission to perform the gripping action. However, multi-gear transmission has a complex structure and presents maintenance difficulties. Utility Model Content

[0004] In view of this, the present invention provides a gripping device for a handling robot to solve the problem that the transmission method of multi-gear transmission is complex and difficult to maintain.

[0005] In a first aspect, this utility model provides a gripping device for a handling robot, comprising:

[0006] A frame, wherein a receiving position is provided on the frame and clamping members are provided on both sides of the frame;

[0007] A drive assembly is mounted on the frame. The drive assembly has a worm gear and a worm. The worm gear is rotatably mounted on the frame and connected to the clamping member. The worm meshes with the worm gear and drives the worm gear to rotate, causing the clamping member to move to a first position or a second position.

[0008] When the worm gear rotates to the first position, the clamping member is located in the receiving position; when the worm gear rotates to the second position, the clamping member clamps the wheel.

[0009] In one alternative embodiment, the frame has a support structure for supporting the worm gear in a first position or a second position.

[0010] In one optional embodiment, the support structure includes a first support plate and a second support plate, the first support plate being disposed above the worm gear and the second support plate being disposed below the worm gear. When the worm gear is in the second position, the first support plate and the second support plate abut against both ends of the worm gear, respectively.

[0011] In one alternative embodiment, one side of the frame has at least one pair of adjacent worm gears, the two worm gears rotating in opposite directions, each worm gear being connected to one of the clamping members, and when the worm gears are in the second position, the two clamping members cooperate to clamp the wheel.

[0012] In one alternative embodiment, the worm has two threaded portions that mesh with two worm wheels respectively, and the two threaded portions have threads in opposite directions.

[0013] In one alternative embodiment, the drive assembly further includes a motor connected to the worm gear.

[0014] In one optional embodiment, the clamping member includes a cantilever clamping arm and a plurality of rolling bearings, one end of the cantilever clamping arm being fixedly connected to the worm gear, and the plurality of rolling bearings being spaced apart on the cantilever clamping arm.

[0015] In one alternative embodiment, the frame has a worm gear shaft on which the worm gear is rotatably mounted.

[0016] In one alternative embodiment, a bearing is provided between the worm gear and the worm gear shaft.

[0017] In one alternative implementation, the motor is connected to a power supply via electrical wires.

[0018] Beneficial effects:

[0019] 1. This utility model discloses a clamping device for a handling robot. By setting a worm gear and a worm, the clamping device can clamp the wheel. The worm gear and worm have a simple structure and are easy to maintain. At the same time, the worm gear and worm occupy less height space, which is beneficial to reducing the thickness of the frame.

[0020] 2. By setting a first support plate and a second support plate, when the worm gear is in the second position, the first support plate and the second support plate support the worm gear, so that the worm gear remains stable. The first support plate and the second support plate can improve the load-bearing capacity and strength of the worm gear, and at the same time, they also improve the bending resistance of the clamping parts.

[0021] 3. By using a worm gear meshing with a pair of worm wheels, the number of transmission components is reduced, the transmission method is optimized, the space occupied is reduced, and the size of the frame is reduced. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of a handling robot clamping device according to an embodiment of the present utility model;

[0024] Figure 2 This is a side sectional view of a handling robot clamping device according to an embodiment of the present utility model.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1. Frame; 2. Reception position; 3. Clamping component; 301. Cantilever clamping arm; 302. Rolling bearing; 4. Drive assembly; 401. Worm gear; 402. Worm; 4021. Threaded part; 403. Motor; 5. Support structure; 501. First support plate; 502. Second support plate; 6. Worm gear shaft. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0028] The following is combined with Figure 1 and Figure 2 The following describes embodiments of the present invention.

[0029] According to an embodiment of the present invention, a handling robot gripping device is provided, comprising: a frame 1 and a drive assembly 4.

[0030] Specifically, a receiving position 2 is provided on the frame 1, and clamping members 3 are provided on both sides of the frame 1. A drive assembly 4 is mounted on the frame 1, and the drive assembly 4 has a worm gear 401 and a worm 402. The worm gear 401 is rotatably mounted on the frame 1 and is connected to the clamping members 3. The worm 402 meshes with the worm gear 401, and the worm 402 drives the worm gear 401 to rotate, causing the clamping members 3 to move to a first position or a second position. When the worm gear 401 rotates to the first position, the clamping members 3 are located in the receiving position 2; when the worm gear 401 rotates to the second position, the clamping members 3 clamp the wheel.

[0031] In this embodiment, the frame 1 includes an upper plate and a lower plate, with a cavity between the upper and lower plates. The drive assembly 4 is disposed within the cavity. The frame 1 has receiving positions 2 on both sides for accommodating the clamping member 3. In the initial state, the clamping member 3 is located within the receiving position 2. The frame 1 has pulleys that move in conjunction with the guide rail. When a car needs to be moved, the frame 1 moves along the guide rail to the bottom of the car via the wheels. The worm gear 402 rotates, driving the worm wheel 401 to rotate to a second position. The worm wheel 401 is fixedly connected to the clamping member 3. When the worm wheel 401 rotates, it drives the clamping member 3 to move. During the rotation to the second position, the worm gear 402 moves away from the receiving position 2. After the worm wheel 401 rotates to the second position, the clamping member 3 can clamp the wheel. After the frame 1 moves to the parking position along the guide rail via the traveling wheels and moves the car to the parking position, the worm gear 402 rotates, driving the worm wheel 401 to rotate from the second position to the first position. During the rotation of the worm wheel 401, the clamping member 3 moves towards the receiving position 2, and the clamping member 3 gradually releases the clamping of the wheel. After the worm wheel 401 rotates to the first position, the clamping member 3 retracts to the receiving position 2. The worm wheel 401 has a fan-shaped structure, and the worm wheel 401 is always engaged with the worm gear 402 in the first or second position.

[0032] It should be noted that by setting the worm gear 401 and worm 402, the purpose of clamping the wheel by the clamping part 3 is achieved. The worm gear 401 and worm 402 have simple structures and are easy to maintain. At the same time, the worm gear 401 and worm 402 occupy less height space, which is beneficial to reducing the thickness of the frame 1.

[0033] In one embodiment, the frame 1 has a support structure 5 for supporting the worm gear 401 in either the first or second position. The support structure 5 provides support force to the worm gear 401, ensuring its strength and preventing the worm gear 401 from breaking due to excessive force on the clamping member 3 and the transmission of that force to the worm gear 401. The support structure 5 effectively improves the service life of the worm gear 401.

[0034] In one embodiment, the support structure 5 includes a first support plate 501 and a second support plate 502. The first support plate 501 is disposed above the worm gear 401, and the second support plate 502 is disposed below the worm gear 401. When the worm gear 401 is in the second position, the first support plate 501 and the second support plate 502 abut against the two ends of the worm gear 401, respectively.

[0035] Specifically, such as Figure 1 and Figure 2 As shown, the first support plate 501 is positioned above the worm gear 401. When the worm gear 401 is in the first position, the first support plate 501 abuts against the middle of the worm gear 401. The second support plate 502 is positioned below the worm gear 401. When the worm gear 401 is in the second position, the clamping member 3 clamps the wheel. The car provides downward pressure to the clamping member 3, which transmits the pressure to the worm gear 401, causing the worm gear 401 to move downward. The second support plate 502 abuts against one end of the worm gear 401, providing upward support for the worm gear 401. The first support plate 501 abuts against the other end of the worm gear 401, providing downward support for the worm gear 401. When the worm gear 401 is in the second position, it remains stable due to the support of the first support plate 501 and the second support plate 502. The first support plate 501 and the second support plate 502 can improve the load-bearing capacity and strength of the worm gear 401, and at the same time, they also improve the bending resistance of the clamping member 3.

[0036] In one embodiment, one side of the frame 1 has at least one pair of adjacent worm gears 401, the two worm gears 401 rotate in opposite directions, each worm gear 401 is connected to a clamping member 3, and when the worm gears 401 are in the second position, the two clamping members 3 cooperate to clamp the wheel.

[0037] Specifically, such as Figure 1 As shown, one side of the frame 1 has a pair of worm gears 401 and two receiving positions 2. The two receiving positions 2 are respectively located at both ends of one side of the frame 1. The two worm gears 401 are arranged adjacent to each other, and each worm gear 401 is fixedly connected to a clamping member 3 in its adjacent receiving position 2. The pair of worm gears 401 rotate in opposite directions, so that after the worm gear 401 rotates to the second position, the two clamping members 3 are parallel to each other and cooperate to clamp the wheel. During the process of the worm gear 401 rotating from the second position to the first position, either clamping member 3 moves away from the other clamping member 3 and finally enters the receiving position 2. The clamping members 3 on both sides of the frame 1 can clamp the two front wheels or the two rear wheels of the car simultaneously.

[0038] In other alternative embodiments, two pairs of worm gears 401 and four receiving positions 2 are respectively provided on both sides of the frame 1. Each receiving position 2 is provided with a clamping member 3. The two clamping members 3 cooperate to clamp one wheel. The frame 1 can clamp all four wheels of the car at the same time through the clamping members 3 on both sides.

[0039] In one embodiment, the worm 402 has two threaded portions 4021, which respectively mesh with two worm wheels 401, and the two threaded portions 4021 have threads in opposite directions.

[0040] Specifically, such as Figure 1 As shown, a worm gear 402 meshes with a pair of worm wheels 401. The worm gear 402 has two threaded portions 4021 with opposite thread directions. Each threaded portion 4021 meshes with one of the two worm wheels 401. When the worm gear 402 rotates, the two threaded portions 4021 drive the two worm wheels 401 to rotate in opposite directions. By having a worm gear 402 mesh with a pair of worm wheels 401, the number of transmission components is reduced, the transmission method is optimized, the space occupied is reduced, and the volume of the frame 1 is reduced.

[0041] In one embodiment, the drive assembly 4 further includes a motor 403 connected to the worm gear 402. Preferably, the motor 403 is a servo motor 403.

[0042] In one embodiment, the clamping member 3 includes a cantilever clamping arm 301 and a plurality of rolling bearings 302. One end of the cantilever clamping arm 301 is fixedly connected to the worm gear 401, and the plurality of rolling bearings 302 are spaced apart on the cantilever clamping arm 301.

[0043] Specifically, such as Figure 2 As shown, multiple rolling bearings 302 are sleeved on the cantilever clamping arm 301, with adjacent rolling bearings 302 spaced apart. A spacer is provided between adjacent rolling bearings 302, which can axially limit the rolling bearings 302. Limiting structures (not shown) are provided at both ends of the cantilever clamping arm 301 to block the rolling bearings 302 and prevent them from falling off the cantilever clamping arm 301.

[0044] In one embodiment, such as Figure 1 and Figure 2 As shown, the frame 1 has a worm gear shaft 6, and the worm gear 401 is rotatably mounted on the worm gear shaft 6.

[0045] In one embodiment, a bearing (not shown) is provided between the worm gear 401 and the worm gear shaft 6.

[0046] In one embodiment, the motor 403 is connected to a power supply device (not shown) via a wire (not shown), and the power supply device supplies power to the motor 403 via the wire so that the motor 403 drives the worm gear 402 to rotate.

[0047] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A gripping device for a handling robot, characterized in that, include: A frame (1) is provided with a receiving position (2), and clamping parts (3) are provided on both sides of the frame (1); A drive assembly (4) is disposed on the frame (1). The drive assembly (4) has a worm gear (401) and a worm (402). The worm gear (401) is rotatably disposed on the frame (1). The worm gear (401) is connected to the clamping member (3). The worm (402) meshes with the worm gear (401). The worm (402) drives the worm gear (401) to rotate, causing the clamping member (3) to move to a first position or a second position. When the worm gear (401) rotates to the first position, the clamping member (3) is located in the receiving position (2), and when the worm gear (401) rotates to the second position, the clamping member (3) clamps the wheel.

2. The handling robot gripping device according to claim 1, characterized in that, The frame (1) has a support structure (5) for supporting the worm gear (401) in the first or second position.

3. The handling robot gripping device according to claim 2, characterized in that, The support structure (5) includes a first support plate (501) and a second support plate (502). The first support plate (501) is disposed above the worm gear (401), and the second support plate (502) is disposed below the worm gear (401). When the worm gear (401) is in the second position, the first support plate (501) and the second support plate (502) abut against the two ends of the worm gear (401) respectively.

4. The handling robot gripping device according to any one of claims 1 to 3, characterized in that, The frame (1) has at least one pair of adjacent worm gears (401) on one side. The two worm gears (401) rotate in opposite directions. Each worm gear (401) is connected to one of the clamping members (3). When the worm gear (401) is in the second position, the two clamping members (3) cooperate to clamp the wheel.

5. The handling robot gripping device according to claim 4, characterized in that, The worm (402) has two threaded portions (4021), which mesh with the two worm wheels (401) respectively, and the two threaded portions (4021) have threads in opposite directions.

6. The gripping device for a handling robot according to claim 5, characterized in that, The drive assembly (4) also includes a motor (403) connected to the worm gear (402).

7. The handling robot gripping device according to claim 4, characterized in that, The clamping member (3) includes a cantilever clamping arm (301) and a plurality of rolling bearings (302). One end of the cantilever clamping arm (301) is fixedly connected to the worm gear (401), and the plurality of rolling bearings (302) are spaced apart on the cantilever clamping arm (301).

8. The gripping device for a handling robot according to claim 1, characterized in that, The frame (1) has a worm gear shaft (6), and the worm gear (401) is rotatably mounted on the worm gear shaft (6).

9. The handling robot gripping device according to claim 8, characterized in that, A bearing is provided between the worm gear (401) and the worm gear shaft (6).

10. The gripping device for a handling robot according to claim 6, characterized in that, The motor (403) is connected to the power supply equipment via wires.

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