Joint gripper compatible with multi-structure gear gripping

Abstract

The utility model relates to a joint gripper compatible with multi-structure gear gripping, which comprises a main body connecting piece connected with a robot tail end mechanism, one side of the main body connecting piece is provided with a three-finger pneumatic gripper for clamping a driving bevel gear, and the other side of the main body connecting piece is fixedly connected with a parallel pneumatic gripper for clamping a driven bevel gear. Fingers capable of moving and adjusting in the radial direction are arranged on the three-finger pneumatic claw in the circumferential direction, and groove-shaped cushion blocks clamped between the tooth-shaped face and the conical face of the driving bevel gear are arranged at the upper ends of the fingers; driving parts at the two ends of the parallel pneumatic claw are fixedly connected with finger connecting frames respectively, and clamping blocks clamped on the tooth-shaped face of the driven bevel gear are installed on the finger connecting frames. The three-finger pneumatic claw and the parallel pneumatic claw are arranged on the two sides of the main body connecting piece respectively, the three fingers on the three-finger pneumatic claw are used for clamping the driving bevel gear, and the clamping blocks on the parallel pneumatic claw are used for clamping the driven bevel gear, so that the joint gripper can clamp the driving bevel gear and the driven bevel gear with different structures at the same time; and the operation efficiency of the robot is improved.

Description

Technical Field

[0001] This utility model relates to the field of robot application technology, and in particular to an articulated gripper compatible with multi-structure gear grasping. Background Technology

[0002] In the field of industrial automation, the loading and unloading process has always been an important part of the production line. The six-axis robot used in the bevel gear manufacturing process uses a joint gripper installed on the end effector of the robot to grasp the bevel gear workpiece.

[0003] Specifically, there are two main types of bevel gear structures. One type has a smaller diameter gear body with a shaft, and is generally used as the driving gear in bevel gear transmission mechanisms. The other type has a larger diameter gear body with a shaft hole, and is mostly used as the driven gear in transmission. Due to their different structures, these two types of bevel gears require different types of articulated grippers for gripping.

[0004] Currently, the articulated grippers used for bevel gear grasping have limited functionality and require different grippers to be replaced depending on the bevel gear structure, which significantly impacts the robot's operational efficiency. Utility Model Content

[0005] The technical problem to be solved by this utility model is: in order to overcome the shortcomings of the prior art, this utility model provides an articulated gripper that is compatible with multi-structure gear gripping, so as to simultaneously meet the requirements of loading and unloading bevel gears of different structures.

[0006] The technical solution adopted by this utility model to solve its technical problem is: a multi-compatible multi-structure gear gripper for gripping both active and passive bevel gears, including a main connecting member connected to the robot end effector. A three-finger pneumatic gripper for gripping the active bevel gear is installed on one side of the main connecting member, and a parallel pneumatic gripper for gripping the passive bevel gear is fixed to the other side of the main connecting member. The three-finger pneumatic gripper is provided with fingers that can be adjusted radially in the circumferential direction. A rectangular pad supporting the end face of the active bevel gear is fixed to the lower end of each finger, and a grooved pad that is engaged between the tooth surface and the conical surface of the active bevel gear is provided at the upper end of each finger. The driving parts at both ends of the parallel pneumatic gripper are respectively fixed with finger connecting frames, and clamping blocks that grip the tooth surface of the passive bevel gear are installed on the finger connecting frames.

[0007] Specifically, the main connector has a main flange on the front that connects to the robot end effector, a round flange on one side that connects to a three-finger gripper, and a rectangular flange on the other side that connects to a parallel gripper.

[0008] Furthermore, to improve clamping flexibility, a floating module is provided between the round flange and the three-finger gripper. The inner side of the floating module is connected to the round flange, and the outer side of the floating module is connected to the three-finger gripper through a connecting plate.

[0009] Preferably, the inner surface of the rectangular pad has trapezoidal grooves arranged at intervals, and the grooved pad has a first dovetail groove that engages with the tooth surface and cone surface of the active bevel gear.

[0010] Preferably, the finger connector has two clamping blocks fixed at a distance from each other, and the clamping end of each clamping block has a second dovetail groove that clamps onto the tooth surface of the driven bevel gear.

[0011] The beneficial effects of this utility model are as follows: By setting a three-finger gripper and a parallel gripper on both sides of the main connecting part, the three fingers on the three-finger gripper clamp the active bevel gear, and the clamping block on the parallel gripper clamps the passive bevel gear, thereby realizing that the articulated hand can simultaneously clamp active bevel gears and passive bevel gears with different structures, thus improving the robot's operating efficiency. Attached Figure Description

[0012] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0013] Figure 1 This is a three-dimensional structural schematic diagram of the present invention.

[0014] Figure 2 This is a schematic diagram of the rectangular pad block described in this utility model.

[0015] Figure 3 This is a schematic diagram of the structure of the grooved pad block described in this utility model.

[0016] Figure 4 This is a schematic diagram of the structure of the clamping block described in this utility model.

[0017] In the diagram: 1. Active bevel gear, 2. Passive bevel gear, 3. Main connecting piece, 3-1. Main flange, 3-2. Round flange, 3-3. Rectangular flange, 4. Three-finger gripper, 5. Parallel gripper, 6. Finger, 7. Rectangular pad, 7-1. Trapezoidal groove, 8. Groove pad, 8-1. First dovetail groove, 9. Finger connecting frame, 10. Clamping block, 10-1. Second dovetail groove, 11. Floating module, 12. Connecting plate. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0019] like Figures 1-4The diagram shows an articulated gripper compatible with multi-structure gears, used to clamp both the active bevel gear 1 and the passive bevel gear 2 during the loading and unloading of bevel gears. The articulated gripper includes a main connecting member 3. The main connecting member 3 has a main flange 3-1 on its front side, a round flange 3-2 on its left side, and a rectangular flange 3-3 on its right side. The main flange 3-1 is connected to the robot's end effector to drive the main connecting member 3 to rotate.

[0020] The left side of the circular flange 3-2 is provided with a three-finger pneumatic gripper 4 for holding the active bevel gear 1. A floating module 11 is provided between the circular flange 3-2 and the three-finger pneumatic gripper 4. When connected, the inner side of the floating module 11 is connected to the circular flange 3-2, and the outer side of the floating module 11 is connected to the three-finger pneumatic gripper 4 through the connecting plate 12.

[0021] The three-finger gripper 4 is circumferentially equipped with three radially adjustable fingers 6. A rectangular pad 7, supporting the end face of the drive bevel gear 1, is fixed at the lower end of each finger 6. The inner surface of each rectangular pad 7 has spaced trapezoidal grooves 7-1. Each finger 6 has a grooved pad 8 at its upper end, with a first dovetail groove 8-1 that engages with the toothed and conical surfaces of the drive bevel gear 1. When gripping the drive bevel gear 1, the three fingers 6 move radially, allowing the end face of the rectangular pad 7 to rest against the end face of the drive bevel gear 1. The inner surface of the rectangular pad 7 is pressed against the outer periphery of the shaft head protruding from the end face of the drive bevel gear 1. The friction generated by the spaced trapezoidal grooves 7-1 enhances the clamping effect.

[0022] The rectangular flange 3-3 is fixedly connected to a parallel pneumatic gripper 5 that holds the passive bevel gear 2. The driving parts at both ends of the parallel pneumatic gripper 5 are respectively fixedly connected to finger connecting frames 9. Each finger connecting frame 9 is provided with two clamping blocks 10. The passive bevel gear 2 is located between the two finger connecting frames 9 and is clamped by the clamping blocks 10.

[0023] Specifically, each finger connector 9 includes a cover plate, two top plates, a transition plate, and a mounting plate. Sealing plates are fixed to both ends of the two top plates. The cover plate is fixed to the outer side of the top plate, the transition plate is fixed to the inner side of the rear end of the top plate, and the mounting plate is fixed to the inner side of the front end of the top plate. The drive rods at both ends of the parallel pneumatic gripper 5 are fixed to the transition plate. Two clamping blocks 10 are fixed at a distance on the mounting plate. The clamping end of the clamping block 10 has a second dovetail groove 10-1 that clamps onto the tooth surface of the passive bevel gear 2.

[0024] This invention achieves the simultaneous gripping of active bevel gears 1 and passive bevel gears 2 by setting three-finger grippers 4 and parallel grippers 5 on both sides of the main connecting member 3. The three fingers 6 on the three-finger gripper 4 clamp the active bevel gear 1, and the clamping block 10 on the parallel gripper 5 clamps the passive bevel gear 2. This improves the efficiency of robot operation.

[0025] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A joint hand grab for compatible multi-structure gear grabbing, for the purpose of holding both a driving bevel gear (1) and a driven bevel gear (2), comprising a main body connector (3) connected to a robot end mechanism, characterized in that: The main body connector (3) is equipped with a three-finger pneumatic gripper (4) for clamping the active bevel gear (1) on one side, and a parallel pneumatic gripper (5) for clamping the passive bevel gear (2) is fixedly connected to the other side of the main body connector (3). The three-finger pneumatic gripper (4) is provided with fingers (6) that can be adjusted radially in the circumferential direction. The lower end of the fingers (6) is fixed with a rectangular pad (7) that supports the end face of the active bevel gear (1), and the upper end of the fingers (6) is provided with a grooved pad (8) that is locked between the tooth surface and the cone surface of the active bevel gear (1). The driving parts at both ends of the parallel pneumatic gripper (5) are respectively fixed with finger connecting frames (9), and the finger connecting frames (9) are equipped with clamping blocks (10) that clamp the tooth surface of the passive bevel gear (2).

2. The multi-configuration gear compatible articulated hand gripper of claim 1, wherein: The main body connector (3) has a main body flange (3-1) on the front that is connected to the robot end mechanism, a round flange (3-2) on one side of the main body connector (3) that is connected to the three-finger gripper (4), and a rectangular flange (3-3) on the other side of the main body connector (3) that is connected to the parallel gripper (5).

3. The multi-configuration gear compatible articulated hand gripper of claim 2, wherein: A floating module (11) is provided between the round flange (3-2) and the three-finger gripper (4). The inner side of the floating module (11) is connected to the round flange (3-2), and the outer side of the floating module (11) is connected to the three-finger gripper (4) through a connecting plate (12).

4. The multi-configuration gear compatible articulated hand gripper of claim 1, wherein: The rectangular pad (7) has trapezoidal grooves (7-1) arranged at intervals on its inner side, and the grooved pad (8) has a first dovetail groove (8-1) that engages with the tooth surface and cone surface of the active bevel gear (1).

5. The multi-configuration gear compatible articulated hand gripper of claim 1, wherein: The finger connector (9) has two clamping blocks (10) fixed at a distance from each other. The clamping end of the clamping block (10) has a second dovetail groove (10-1) that clamps the tooth surface of the passive bevel gear (2).

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