Manipulator clamping jaw device

Abstract

The utility model discloses a mechanical arm clamping jaw device which comprises a fixing frame, a double-output-shaft driving mechanism is installed in the fixing frame, two ball screws are located on the two sides of the double-output-shaft driving mechanism, one end of each ball screw is movably connected to an end plate on one side of the fixing frame through a bearing, and the other end of each ball screw is movably connected to an end plate on the other side of the fixing frame through a bearing. The other end of the ball screw is fixed to the output end of the double-output-shaft driving mechanism, and the lead screw nut is connected to the ball screw in a threaded mode. A moving block is fixed to the lead screw nut, and a clamping jaw part is fixed to the top face of the moving block. A guide rod is fixed to the upper portion between the two end plates of the fixing frame and inserted into a guide through hole formed in the middle of the moving block in a sleeved mode, and the guide through hole penetrates left and right. According to the hub clamping device, the moving position of the clamping jaw part can be limited, meanwhile, the clamping force of the clamping jaw part is inducted, and the clamping jaw part is prevented from clamping excessively, so that it is guaranteed that the force for clamping a hub is proper, deformation caused by excessive clamping is prevented, and the clamping effect is guaranteed.

Description

Technical fields:

[0001] This utility model relates to the field of wheel hub processing equipment technology, and more specifically to a robotic gripper device. Background technology:

[0002] In the manufacturing process of aluminum alloy automobile wheels, products that are to be processed or have been processed need to be transported between different processes using equipment such as robots and conveyor lines. The transfer of these products is inseparable from various fixtures and transfer lines used to hold the products.

[0003] In the past, the various clamps manufactured in the aluminum alloy wheel manufacturing industry were almost all designed with open-loop control. The clamping / releasing design of the product, or the detection of whether the product is clamped / releasing by a pre-adjusted inductive switch, is so-called open-loop working method. It is barely acceptable for the product to be in the blank stage, as it will cause clamping damage and indentation on the product surface.

[0004] However, when using such fixtures to handle the post-machining, painted blanks and finished products, it is inevitable that a large number of wheel products will be damaged or deformed or left with pressure marks because the specific clamping force cannot be sensed in advance, which seriously affects the improvement of the first-pass yield of automotive wheel products. Utility Model Content:

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a robotic gripper device that can limit the movement position of the gripper and sense the gripping force of the gripper to prevent over-gripping, thereby ensuring appropriate force on the gripped hub, preventing over-gripping and deformation, and ensuring the gripping effect.

[0006] The solution of this utility model to the aforementioned technical problem is:

[0007] A robotic gripper device includes a fixed frame, in which a dual-output shaft drive mechanism is installed. Two ball screws are located on both sides of the dual-output shaft drive mechanism. One end of each ball screw is movably connected to an end plate on one side of the fixed frame via a bearing, and the other end of each ball screw is fixed to the output end of the dual-output shaft drive mechanism. A screw nut is screwed onto the ball screw.

[0008] A movable block is fixed on the lead screw nut, and a gripper portion is fixed on the top surface of the movable block;

[0009] A guide rod is fixed to the upper part between the two end plates of the fixed frame, and the guide rod is inserted into the guide through hole formed in the middle of the moving block;

[0010] A connecting block is fixed on one side wall of one of the lead screw nuts. A horizontal adjusting screw extending to the left and right is fixed on the connecting block. A first sensing ring, a second sensing ring and a third sensing ring are screwed on the horizontal adjusting screw from the inside to the outside. Two first limit proximity switches that are close to each other are fixed on the corresponding side of the fixed base plate of the fixed frame. The two first limit proximity switches correspond to the second sensing ring and the third sensing ring.

[0011] The top surface of the movable block is fixedly connected to a gripper base by bolts, and a gripper part is formed or fixed on the top surface of the gripper base.

[0012] A tension sensor is installed in the gripper part, and the sensing surface of the tension sensor is fixed on the inner wall surface of the wall plate where the gripping surface of the gripper part is located.

[0013] The outstanding effect of this utility model is:

[0014] Compared with existing technologies, it can limit the movement position of the gripper and sense the clamping force of the gripper to prevent over-clamping, thereby ensuring that the clamping force on the wheel hub is appropriate, preventing over-clamping and deformation, and ensuring the clamping effect. Attached image description:

[0015] Figure 1 This is a partial structural schematic diagram of the present invention;

[0016] Figure 2 yes Figure 1 A magnified view of a portion of the image. Detailed implementation method:

[0017] For example, see below. Figures 1 to 2 As shown in the attached figure (the dotted lines in the figure represent the two moving positions clamped by the clamping part 31), a robotic gripper device includes a fixed frame 10, the fixed frame 10 includes a fixed base plate, and end plates 12 are fixed on both the left and right sides of the fixed base plate. The bottom of the dual-output shaft drive mechanism is fixed on the top surface of the fixed base plate of the fixed frame 10.

[0018] The fixed frame 10 is equipped with a dual-output shaft drive mechanism, which includes a reduction gearbox 40 and a stepper motor 50. The bottom of the reduction gearbox 40 is fixed to the top surface of the fixed base plate, and the top of the reduction gearbox 40 is fixed with the stepper motor 50. The output shaft of the stepper motor 50 extends into the input hole of the reduction gearbox 40 and connects with the input gear inside. That is, the output shaft of the stepper motor 50 is a spline shaft, which is inserted into the spline hole in the middle of the input gear and cooperates with it. The left and right sides of the reduction gearbox 40 have insertion holes. One end of the ball screw 11 passes through the corresponding insertion hole and extends into the corresponding output gear of the reduction gearbox 40. A spline protrusion is formed on its outer side wall, which cooperates with the spline through hole in the middle of the corresponding input gear. It is driven by the stepper motor 50 to drive the reduction gearbox 40 to run, thereby driving the ball screw 11 to rotate.

[0019] Two ball screws 11 are located on both sides of the dual-output shaft drive mechanism. One end of the ball screw 11 is movably connected to the end plate 12 on one side of the fixed frame 10 through a bearing, and the other end of the ball screw 11 is fixed at the output end of the dual-output shaft drive mechanism. The screw nut 13 is screwed onto the ball screw 11.

[0020] A movable block 20 is fixed on the lead screw nut 13, and a gripper portion 31 is fixed on the top surface of the movable block 20.

[0021] A guide rod 14 is fixed on the upper part between the two end plates 12 of the fixed frame 10. The guide rod 14 is inserted into the guide through hole formed in the middle of the movable block 20.

[0022] A connecting block 15 is fixed on one side wall of one of the lead screw nuts 13. A horizontal adjusting screw 16 extending to the left and right is fixed on the connecting block 15. A first sensing ring 1, a second sensing ring 2 and a third sensing ring 3 are screwed onto the horizontal adjusting screw 16 from the inside to the outside. This structure allows the position of the screw on the horizontal adjusting screw 16 to be changed by rotating the first sensing ring 1, the second sensing ring 2 and the third sensing ring 3. The first sensing ring 1, the second sensing ring 2 and the third sensing ring 3 are iron rings.

[0023] Furthermore, on the corresponding side of the fixed base plate of the fixed frame 10, near the outer side, there are two first limit proximity switches 4 that are close to each other. The two first limit proximity switches 4 correspond to the second sensing ring 2 and the third sensing ring 3.

[0024] Furthermore, a middle limit proximity switch 5 is fixed on one side of the fixed base plate of the fixed frame 10 near the middle of the base plate, and the sensing end of the middle limit proximity switch 5 corresponds to the first sensing ring 1.

[0025] The top surface of the movable block 20 is fixedly connected to the gripper base 30 by bolts, and the top surface of the gripper base 30 is formed or fixed with a gripper part 31.

[0026] The gripper portion 31 is hollow, and a tension sensor is fixed inside it. The sensing surface of the tension sensor is fixed to the inner wall surface of the panel where the gripping surface of the gripper portion 31 is located. The tension sensor used in this embodiment is an S-type or cylindrical tension sensor or a thin-film resistor sensor.

[0027] The gripper portion 31 includes a vertical portion and an obliquely extended portion formed at the bottom of the vertical portion, and a gripper base 30 is formed or fixed at the bottom of the obliquely extended portion.

[0028] All electrical components used in this embodiment are electrically connected to the control host via electrical connection lines. The control host receives the corresponding signals and processes them accordingly.

[0029] In this embodiment, the stepper motor 50 is used to move the two moving blocks 20 closer or further apart. When the two first limit proximity switches 4 sense the second sensing ring 2 and the third sensing ring 3, it means that the two moving blocks 20 are at their farthest distance and the two gripper parts 31 are far apart. This is the maximum distance between the two gripper parts 31. When the two first limit proximity switches 4 sense the signal, they can send the sensing signal to the control host, and the control host will control the stepper motor 50 to stop running.

[0030] When the intermediate limit proximity switch 5 senses the first sensing ring 1, the two gripper parts 31 approach each other. At this time, the minimum distance between the two gripper parts 31 is reached, and the sensing signal can be transmitted to the control host. The control host then controls the stepper motor 50 to stop running.

[0031] During normal clamping, the clamping surface of the gripper 31 presses against the clamping end of the wheel hub. The clamping end transmits the pressure to the clamping surface of the gripper 31, and then to the sensing surface of the tension sensor. When the sensed pressure reaches the set value, it indicates that the clamping is in place and no further pressure can be applied. The sensing signal is then sent to the control host, which controls the stepper motor 50 to stop running. At this time, the clamping force on the wheel hub is just right, and the clamping is stable. It will not deform the wheel hub, ensuring the clamping effect. This makes the subsequent processing of the wheel hub more convenient and greatly improves the yield rate of the wheel hub.

[0032] Finally, it should be noted that the above embodiments are merely representative examples of this utility model. Obviously, this utility model is not limited to the above embodiments and can have many variations. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this utility model should be considered to fall within the protection scope of this utility model.

Claims

1. A robotic gripper device, comprising a fixing frame (10), characterized in that: The fixed frame (10) is equipped with a dual-output shaft drive mechanism. Two ball screws (11) are located on both sides of the dual-output shaft drive mechanism. One end of the ball screw (11) is movably connected to the end plate (12) on one side of the fixed frame (10) through a bearing. The other end of the ball screw (11) is fixed at the output end of the dual-output shaft drive mechanism. The screw nut (13) is screwed onto the ball screw (11). A movable block (20) is fixed on the lead screw nut (13), and a gripper (31) is fixed on the top surface of the movable block (20); A guide rod (14) is fixed on the upper part between the two end plates (12) of the fixed frame (10). The guide rod (14) is inserted into the guide through hole formed in the middle of the moving block (20). A connecting block (15) is fixed on one side wall of one of the lead screw nuts (13). A horizontal adjusting screw (16) extending to the left and right is fixed on the connecting block (15). A first sensing ring (1), a second sensing ring (2) and a third sensing ring (3) are screwed on the horizontal adjusting screw (16) from the inside to the outside. Two first limit proximity switches (4) are fixed on the corresponding side of the fixed base plate of the fixed frame (10) near the outside. The two first limit proximity switches (4) correspond to the second sensing ring (2) and the third sensing ring (3). A middle limit proximity switch (5) is fixed on one side of the fixed base plate of the fixed frame (10) near the middle of the base plate. The sensing end of the middle limit proximity switch (5) corresponds to the first sensing ring (1).

2. The robotic gripper device according to claim 1, characterized in that: The fixed frame (10) includes a fixed base plate, and end plates (12) are fixed on both the left and right sides of the fixed base plate. The bottom of the dual output shaft drive mechanism is fixed on the top surface of the fixed base plate of the fixed frame (10).

3. The robotic gripper device according to claim 1, characterized in that: The dual-output shaft drive mechanism includes a reduction gearbox (40) and a stepper motor (50). The bottom of the reduction gearbox (40) is fixed on the top surface of the fixed base plate. The top of the reduction gearbox (40) is fixed with a stepper motor (50). The output shaft of the stepper motor (50) extends into the input hole of the reduction gearbox (40) and is connected to the input gear inside it. The left and right sides of the reduction gearbox (40) have insertion holes. One end of the ball screw (11) passes through the corresponding insertion hole and extends into the corresponding output gear of the reduction gearbox (40) and is connected to the output gear.

4. The robotic gripper device according to claim 1, characterized in that: The top surface of the movable block (20) is fixedly connected to the gripper base (30) by bolts, and the top surface of the gripper base (30) is formed or fixed with a gripper part (31).

5. The robotic gripper device according to claim 4, characterized in that: A tension sensor is installed in the gripper part (31), and the sensing force surface of the tension sensor is fixed on the inner wall surface of the wall plate where the gripping surface of the gripper part (31) is located.

6. The robotic gripper device according to claim 5, characterized in that: The gripper portion (31) includes a vertical portion and an obliquely extended portion formed at the bottom of the vertical portion, and a gripper base (30) is formed or fixed at the bottom of the obliquely extended portion.

Images