Novel grabbing mechanism of axle manipulator

Abstract

The utility model relates to the technical field of industrial automation equipment, in particular to a novel grabbing mechanism of an axle manipulator, which comprises a base, a multi-shaft mechanical adjusting arm, a mechanical grabbing clamp, an adjusting device, a first moving device and a second moving device. The second moving device is installed on the bottom wall of the base through the first moving device, the output end of the multi-axis mechanical adjusting arm is provided with two sets of control plates through the adjusting device, the output ends of the two sets of control plates are provided with the mechanical clamping jaws, the distance between the two sets of mechanical clamping jaws is adjustable, and the mechanical clamping jaws can be adjusted according to the size of an axle. The distance between the two sets of mechanical grabbing clamps is flexibly adjusted, abrasion of a single grabbing clamp is reduced, the service life of the grabbing clamps is prolonged, the two sets of mechanical grabbing clamps act synergistically, grabbing force is evenly distributed on the surface of an axle, the quality of the axle is effectively protected, and grabbing of the axle is more stable.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation equipment technology, specifically to a novel gripping mechanism for an axle robot. Background Technology

[0002] As is well known, the handling and assembly of axles is a crucial part of modern industrial production, particularly in automobile manufacturing and other related fields. With the continuous development of industrial automation technology, robotic arms, as one of the core devices in intelligent manufacturing, are playing an increasingly important role in improving production efficiency, reducing costs, and enhancing product quality. In modern industrial production, the handling and assembly of axles remains a vital component of automobile manufacturing and other related fields.

[0003] Traditional axle gripping devices typically employ a single gripper design, which presents the following problems: uneven gripping force distribution, which can easily lead to damage or deformation of the axle surface; slippage during gripping, which reduces gripping stability; and limited position adjustment capability of the gripping mechanism in traditional robotic arms, making it difficult to achieve precise positioning of the axle, especially in complex working conditions, where positional deviations can easily lead to gripping failure or axle slippage. Utility Model Content

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this utility model provides a novel gripping mechanism for axle manipulator.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, this utility model provides the following technical solution: A novel gripping mechanism for an axle manipulator, comprising a base, a multi-axis mechanical adjusting arm, a mechanical gripper, an adjusting device, a first moving device, and a second moving device. The multi-axis mechanical adjusting arm is mounted on the top of the base, and the second moving device is mounted on the bottom wall of the base via the first moving device. Two sets of control plates are mounted on the output end of the multi-axis mechanical adjusting arm via the adjusting device, and the mechanical gripper is mounted on the output end of each of the two sets of control plates. The adjusting device comprises a rectangular block, a rectangular groove, a drive motor, a bidirectional screw, and a moving block. The output end of the multi-axis mechanical adjusting arm is fixedly connected to the side wall of the rectangular block. The rectangular groove is formed on the side wall of the rectangular block away from the multi-axis mechanical adjusting arm. The drive motor is mounted on one end of the rectangular block, and the bidirectional screw is rotatably mounted in the rectangular groove. The moving blocks are threaded onto both ends of the bidirectional screw, and the moving blocks are connected to the ends of the control plates away from the mechanical gripper.

[0008] Furthermore, the present invention is improved in that the first moving device includes a first fixed block, a first groove, a first threaded rod, a first slider and a first motor. The first groove is provided at the top of the first fixed block. The first threaded rod is rotatably installed in the first groove. The first motor is installed at one end of the first threaded rod through the first groove. The first slider is threaded on the first threaded rod. The top of the first slider is connected to the bottom wall of the multi-axis mechanical adjusting arm.

[0009] Furthermore, the present invention is improved in that the second moving device includes a second fixed block, a second groove, a second threaded rod, a second slider, and a second motor. The second groove is provided at the top of the second fixed block, and the second threaded rod is rotatably installed in the second groove. One end of the second threaded rod passes through the second groove and is installed with the second motor. The first slider is threadedly installed on the second threaded rod, and the top wall of the first slider is fixedly connected to the bottom wall of the first fixed block.

[0010] Furthermore, the present invention is improved in that mounting plates are installed on the lower side walls at both ends of the second fixing block, and multiple sets of mounting holes are provided on the mounting plates.

[0011] Furthermore, the present invention is improved in that the first fixing block and the first fixing block are designed to be perpendicularly intersecting.

[0012] Furthermore, an improvement of this utility model is that the drive motor, the first motor, and the second motor are all servo motors.

[0013] Furthermore, an improvement of this utility model is that the end of the mechanical gripper is equipped with a flexible rubber pad.

[0014] (III) Beneficial Effects

[0015] Compared with the prior art, this utility model provides a novel gripping mechanism for axle manipulator, which has the following beneficial effects:

[0016] The novel gripping mechanism of this axle manipulator, through an adjustable device, controls the rotation of a bidirectional screw via a drive motor. The two ends of the bidirectional screw have threads in opposite directions, allowing two moving blocks to move synchronously towards or away from each other. This enables flexible adjustment of the distance between the two sets of mechanical grippers, achieving precise movement of the two sets of grippers towards or away from each other. This design allows for precise adjustment of the spacing between the grippers, ensuring a tight fit between the mechanical grippers and the axle, reducing the risk of the axle slipping, and significantly improving the accuracy and stability of the gripping process.

[0017] The novel gripping mechanism of this axle manipulator, through the arrangement of a first moving device and a second moving device, allows for precise control of the horizontal forward and backward position of the multi-axis mechanical adjusting arm and the entire gripping mechanism via the cooperation of a first threaded rod and a first slider. The second moving device, through the cooperation of a second threaded rod and a second slider, allows for precise control of the horizontal left and right position of the multi-axis mechanical adjusting arm and the entire gripping mechanism. Both the first and second moving devices are driven by motors and controlled by a control system. By receiving feedback information from an external vision system, the control system can automatically adjust the position of the gripping mechanism without manual intervention, thus improving the level of automation. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention from a first angle;

[0019] Figure 2 This is a three-dimensional structural diagram of the present invention from a first angle;

[0020] Figure 3 In this utility model Figure 2 A magnified structural diagram of part A;

[0021] Figure 4 This is a schematic diagram of the three-dimensional structure of the mechanical gripper of this utility model.

[0022] In the diagram: 1. Base; 2. Multi-axis mechanical adjusting arm; 3. Mechanical gripper; 4. Control panel; 5. Rectangular block; 6. Rectangular groove; 7. Drive motor; 8. Bidirectional screw; 9. Moving block; 10. First fixed block; 11. First groove; 12. First threaded rod; 13. First slider; 14. First motor; 15. Second fixed block; 16. Second groove; 17. Second threaded rod; 18. Second slider; 19. Second motor; 20. Mounting plate; 21. Mounting hole; 22. Flexible rubber pad. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Please see Figure 1-4A novel gripping mechanism for an axle manipulator includes a base 1, a multi-axis mechanical adjusting arm 2, a mechanical gripper 3, an adjusting device, a first moving device, and a second moving device. The multi-axis mechanical adjusting arm 2 is mounted on the top of the base 1, and the second moving device is mounted on the bottom wall of the base 1 via the first moving device. Two sets of control plates 4 are mounted on the output end of the multi-axis mechanical adjusting arm 2 via the adjusting device, and the mechanical gripper 3 is mounted on the output end of each of the two sets of control plates 4. The adjusting device includes a rectangular block 5, a rectangular groove 6, a drive motor 7, a bidirectional screw 8, and a moving block 9. The output end of the multi-axis mechanical adjusting arm 2 is fixedly connected to the side wall of the rectangular block 5. The rectangular groove 6 is formed on the side wall of the rectangular block 5 away from the multi-axis mechanical adjusting arm 2. The drive motor 7 is mounted on one end of the rectangular block 5. The bidirectional screw 8 is rotatably mounted in the rectangular groove 6. The moving blocks 9 are threaded onto both ends of the bidirectional screw 8. The moving blocks 9 are located away from the control plates 4 and away from the mechanical gripper 3. One end of the gripper 3 is connected. In this embodiment, during use, an external vision system (such as an industrial camera) is used to identify the position of the axle and transmit the position information to the control system. The control system drives the first moving device and the second moving device according to the target position to adjust the lateral and longitudinal positions of the base 1. At the same time, the control system uses the multi-axis mechanical adjustment arm 2 to precisely move the mechanical gripper 3 above the axle or to the target position. The drive motor 7 is started, which drives the bidirectional screw 8 to rotate. The left and right ends of the bidirectional screw 8 have threads in opposite directions, so the two moving blocks 9 will move towards each other or separate. The movement of the moving blocks 9 drives the control plate 4 to move synchronously. The two sets of control plates 4 drive the two sets of mechanical grippers 3 to move away from or closer to each other. The distance between the two sets of mechanical grippers is adjustable. The distance between the two sets of mechanical grippers 3 can be flexibly adjusted according to the size of the axle, reducing the wear of a single gripper and extending the service life of the gripper. The two sets of mechanical grippers 3 work together to make the gripping force evenly distributed on the surface of the axle, effectively protecting the quality of the axle and making the gripping of the axle more stable.

[0025] Preferably, in this embodiment, the first moving device includes a first fixing block 10, a first groove 11, a first threaded rod 12, a first slider 13, and a first motor 14. The first fixing block 10 has the first groove 11 at its top end. The first threaded rod 12 is rotatably installed in the first groove 11. One end of the first threaded rod 12 passes through the first groove 11 and is fitted with the first motor 14. The first slider 13 is threaded onto the first threaded rod 12. The top end of the first slider 13 is connected to the bottom wall of the multi-axis mechanical adjusting arm 2. When it is necessary to adjust the front and rear position of the multi-axis mechanical adjusting arm 2, the control system moves the first... When motor 14 sends a command and starts, it drives the first threaded rod 12 to rotate. Since the first slider 13 and the first threaded rod 12 are connected by a thread, the rotational motion is converted into linear motion, causing the first slider 13 to move horizontally along the direction of the first threaded rod 12. The top of the first slider 13 is connected to the bottom wall of the multi-axis mechanical adjustment arm 2. Therefore, the movement of the first slider 13 will drive the entire gripping mechanism (including the multi-axis mechanical adjustment arm 2 and the mechanical gripper 3) to move horizontally, thereby achieving precise adjustment of the position of the first slider 13. When the gripping mechanism moves to the target position, the first motor 14 stops working, and the first slider 13 maintains its current position.

[0026] Preferably, in this embodiment, the second moving device includes a second fixed block 15, a second groove 16, a second threaded rod 17, a second slider 18, and a second motor 19. The second fixed block 15 has a second groove 16 at its top end. The second threaded rod 17 is rotatably mounted within the second groove 16. One end of the second threaded rod 17 passes through the second groove 16 and is mounted with the second motor 19. The first slider 13 is threaded onto the second threaded rod 17. The top wall of the first slider 13 is fixedly connected to the bottom wall of the first fixed block 10. When it is necessary to adjust the left and right positions of the multi-axis mechanical adjusting arm 2, the control... The system sends a command to the second motor 19. After the second motor 19 starts, it drives the second threaded rod 17 to rotate. Since the second slider 18 and the second threaded rod 17 are connected by a thread, the rotational motion is converted into linear motion, causing the second slider 18 to move left and right along the direction of the second threaded rod 17. The top wall of the second slider 18 is connected to the bottom wall of the first fixed block 10. Therefore, the movement of the second slider 18 will drive the entire first moving device (including the first fixed block 10, the first slider 13 and the multi-axis mechanical adjusting arm 2) to rise and fall in the left and right directions. When the gripping mechanism moves to the target height, the second motor 19 stops working, and the second slider 18 maintains its current position.

[0027] Preferably, in this embodiment, mounting plates 20 are installed on the lower sidewalls at both ends of the second fixing block 15. The mounting plates 20 have multiple sets of mounting holes 21. The presence of multiple sets of mounting holes 21 allows the second fixing block 15 to be adapted to different types of support platforms or ground structures by selecting different hole positions. For example, bolts, screws or other fasteners can be used to fix the mounting plates 20 to the workbench, the ground or a special bracket. By selecting different mounting hole 21 positions, the angle or direction of the second fixing block 15 can be adjusted to a certain extent, thereby optimizing the spatial layout of the entire robotic arm system.

[0028] Preferably, in this embodiment, the first fixing block 10 and the second fixing block 15 are designed to be perpendicularly intersecting. The first fixing block 10 is responsible for movement in the front-back direction (via the first moving device), while the second fixing block 15 is responsible for movement in the left-right direction (via the second moving device). The perpendicularly intersecting design of the two enables the entire system to achieve precise positioning on the X-axis and Y-axis.

[0029] Preferably, in this embodiment, the drive motor 7, the first motor 14 and the second motor 19 are all servo motors. The servo motors have a high-resolution encoder feedback system, which can achieve precise position control at the millimeter level or even the micrometer level. This allows the linear movement of the mechanical gripper 3 and the adjustment position of the mechanical gripper 3 to achieve extremely high precision.

[0030] Preferably, in this embodiment, the end of the mechanical gripper 3 is equipped with a flexible rubber pad 22. The flexible rubber pad 22 is soft and elastic, which can effectively avoid scratches, indentations or other forms of damage caused when the mechanical gripper 3 directly contacts the axle surface.

[0031] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0032] Although 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 these 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 novel gripping mechanism for an axle manipulator, comprising a base (1), a multi-axis mechanical adjusting arm (2), a mechanical gripper (3), an adjusting device, a first moving device, and a second moving device, characterized in that: A multi-axis mechanical adjustment arm (2) is installed at the top of the base (1). A second moving device is installed on the bottom wall of the base (1) through the first moving device. Two sets of control plates (4) are installed at the output end of the multi-axis mechanical adjustment arm (2) through the adjustment device. The mechanical gripper (3) is installed at the output end of both sets of control plates (4). The adjustment device includes a rectangular block (5), a rectangular groove (6), a drive motor (7), a bidirectional screw (8), and a moving block (9). The output end of the multi-axis mechanical adjustment arm (2) is fixedly connected to the side wall of the rectangular block (5). The rectangular groove (6) is opened on the side wall of the rectangular block (5) away from the multi-axis mechanical adjustment arm (2). The drive motor (7) is installed at one end of the rectangular block (5). The bidirectional screw (8) is rotatably installed in the rectangular groove (6). The moving block (9) is threaded on both the left and right ends of the bidirectional screw (8). The moving block (9) is connected to the end of the control plate (4) away from the mechanical gripper (3).

2. The novel gripping mechanism of the axle robot according to claim 1, characterized in that: The first moving device includes a first fixed block (10), a first groove (11), a first threaded rod (12), a first slider (13), and a first motor (14). The first fixed block (10) has the first groove (11) at its top end. The first threaded rod (12) is rotatably installed in the first groove (11). The first motor (14) is installed through the first groove (11) at one end of the first threaded rod (12). The first slider (13) is threaded onto the first threaded rod (12). The top end of the first slider (13) is connected to the bottom wall of the multi-axis mechanical adjusting arm (2).

3. The novel gripping mechanism of the axle robot according to claim 2, characterized in that: The second moving device includes a second fixed block (15), a second groove (16), a second threaded rod (17), a second slider (18), and a second motor (19). The second fixed block (15) has a second groove (16) at its top end. The second threaded rod (17) is rotatably installed in the second groove (16). The second motor (19) is installed through the second groove (16) at one end of the second threaded rod (17). The first slider (13) is threaded onto the second threaded rod (17). The top wall of the first slider (13) is fixedly connected to the bottom wall of the first fixed block (10).

4. The novel gripping mechanism of an axle robot according to claim 3, characterized in that: Mounting plates (20) are installed on the lower side walls at both ends of the second fixing block (15), and multiple sets of mounting holes (21) are provided on the mounting plates (20).

5. The novel gripping mechanism of an axle robot according to claim 4, characterized in that: The first fixing block (10) and the first fixing block (10) are designed to be vertically intersecting.

6. The novel gripping mechanism of an axle robot according to claim 5, characterized in that: The drive motor (7), the first motor (14), and the second motor (19) are all servo motors.

7. The novel gripping mechanism of an axle robot according to claim 6, characterized in that: The mechanical gripper (3) is equipped with a flexible rubber pad (22) at its end.

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