A robot gripper device with adjustable clamping force
By designing a robot gripper device with adjustable clamping force, and using a clamping adjustment spring and position sensor, the problem of difficult clamping force adjustment was solved, achieving moderate clamping force adjustment, reducing clamping scratches, and ensuring clamping stability and normal operation of the production line.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ZHEJIANG WANFENG AUTO WHEEL
- Filing Date
- 2025-05-29
- Publication Date
- 2026-06-02
AI Technical Summary
Existing robotic grippers have difficulty adjusting the clamping force when holding car wheel hubs. This can result in either excessive clamping force leaving marks or insufficient clamping force causing the product to fall off, affecting the product's appearance and the operation of the production line.
Design a robot gripper device with adjustable clamping force. It adopts a clamping adjustment spring and a position sensor, controls the clamping force of the gripper through a hydraulic system, and achieves appropriate clamping force adjustment through clamping force adjustment bolts and elastic clamping.
It achieves moderate adjustment of clamping force, reduces scratches on the wheel hub surface, and ensures clamping stability and normal operation of the production line.
Smart Images
Figure CN224310651U_ABST
Abstract
Description
Technical fields:
[0001] This utility model relates to the field of wheel hub processing equipment technology, and more specifically to a robot gripper device with adjustable clamping force. Background technology:
[0002] In the automotive wheel manufacturing process, the handling of raw, semi-finished, and finished products between various stages is now largely handled by robots and roller conveyor lines, replacing manual labor. In practical applications, during the raw material processing stage, the clamping force requirements for the robot's grippers are not very stringent; as long as the product is held firmly to prevent it from falling during transport, it is acceptable.
[0003] Compared to handling finished products or products entering the painting process, the clamping force control of robot handling grippers is much improved. If the clamping force is too tight, it will leave gripper marks on the product surface, affecting the appearance of the product surface. If the clamping force is too light, the product is easy to fall off, causing the normal production line to stop running, or leaving scratches on the product.
[0004] This necessitates the design of a robotic gripper for such applications, whose clamping force can be easily and quickly adjusted to ensure appropriate gripping and minimal scratches. Utility Model Content:
[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a robot gripper device with adjustable clamping force. It can adjust the clamping spring so that the gripper can elastically clamp the hub, making the clamping degree moderate. While ensuring clamping, it leaves virtually no scratches and meets the clamping requirements.
[0006] The solution of this utility model to the aforementioned technical problem is:
[0007] A robot gripper device with adjustable gripping force includes a fixed frame, with movable blocks provided on the left and right sides of the fixed frame, and multiple grippers mounted on the top surface of each of the two movable blocks.
[0008] The top surfaces of the two movable blocks are fixed or formed with connecting parts near each other. The bottom ends of the left and right grippers are movably connected to the corresponding connecting parts through hinge shafts. The bottom ends of the right grippers are installed with clamping force adjusting bolts at the far ends. The bottom of the screw part of the clamping force adjusting bolt extends out of the bottom surface of the gripper and is inserted into the corresponding insertion hole formed on the top surface of the movable block. The bottom end of the screw part of the clamping force adjusting bolt is screwed into the screw hole formed in the middle of the bottom surface of the insertion hole. The clamping adjustment spring is inserted into the insertion hole, with its bottom end bearing on the bottom end of the insertion hole and its top end bearing on the bottom surface of the corresponding gripper.
[0009] The clamp is a bent part, which includes a vertical part and a downwardly inclined part formed at the bottom of the vertical part. A vertical hole extending downward is formed on the top surface of the middle part of the downwardly inclined part. A horizontal hole extending outward is formed on the lower side wall of the vertical hole. The horizontal hole extends outward from the outer side wall of the downwardly inclined part. A downwardly extending lower through hole is formed in the middle of the bottom surface of the vertical hole. The bottom end of the lower through hole corresponds vertically to the corresponding insertion hole. The rotating part of the clamping force adjusting bolt is located in the vertical hole. The screw part of the clamping force adjusting bolt is inserted into the lower through hole. The lower part of the screw part extends out of the lower through hole.
[0010] The top surface of the movable block on one side of the insertion hole is formed with a downward-extending stepped through hole. The upper part of the stepped through hole is a large-diameter hole segment, and the lower part is a small-diameter hole segment. The position sensor is inserted in the small-diameter hole segment of the stepped through hole, and the sensing part at its top is located in the large-diameter hole segment. The top of the sensing end of the position sensor faces the bottom surface of the corresponding gripper.
[0011] A middle fixing block is fixed in the middle of the fixing frame. The middle part of the transverse guide rod is fixed to the upper part of the middle fixing block. The end of the transverse guide rod is fixed to the upper part of the left and right side plates of the fixing frame. The transverse guide rod is inserted into the transverse guide through hole formed in the upper part of the moving block. Guide sleeves are placed on the inner side walls of both ends of the transverse guide through hole of the moving block. The transverse guide rod is inserted into the corresponding guide sleeve, and its outer side wall is in close contact with the inner side wall of the guide sleeve.
[0012] The outstanding effect of this utility model is:
[0013] Compared with existing technologies, it can use the clamping adjustment spring to allow the jaws to elastically clamp the wheel hub, resulting in a moderate clamping degree. While ensuring clamping, it leaves virtually no scratches and meets clamping requirements. Attached image description:
[0014] Figure 1 This is a partial structural diagram of the present invention in the clamping state;
[0015] Figure 2 yes Figure 1 A magnified view of a portion of the image;
[0016] Figure 3 This is a partial structural diagram of the present invention, showing a gripper on one side clamping the other side without clamping. Detailed implementation method:
[0017] For example, see below. Figures 1 to 3 As shown, a robot gripper device with adjustable clamping force includes a fixed frame 10. The fixed frame 10 has movable blocks 11 on both the left and right sides, and multiple grippers 20 are installed on the top surface of the two movable blocks 11.
[0018] Both movable blocks 11 have a connecting part 111 fixed or formed at the top surface of their close proximity. The bottom ends of the left and right grippers 20 are movably connected to the corresponding connecting parts 111 via hinge shafts. The bottom ends of the right grippers 20 are each equipped with a clamping force adjusting bolt 30 at the bottom of their far distances. The bottom of the screw part of the clamping force adjusting bolt 30 extends out of the bottom surface of the gripper 20 and is inserted into the corresponding insertion hole 112 formed on the top surface of the movable block 11. The bottom end of the screw part of the clamping force adjusting bolt 30 is screwed into the screw hole formed in the middle of the bottom surface of the insertion hole 112. The clamping adjusting spring 1 is inserted into the insertion hole 112, with its bottom end bearing on the bottom end of the insertion hole 112 and its top end bearing on the bottom surface of the corresponding gripper 20.
[0019] Furthermore, the gripper 20 is a bent part, which includes a vertical part and a downwardly inclined part 21 formed at the bottom of the vertical part. A vertical hole extending downward is formed on the top surface of the middle part of the downwardly inclined part 21. A horizontal hole 211 extending outward is formed on the lower side wall of the vertical hole. The horizontal hole 211 extends outward from the outer side wall of the downwardly inclined part 21. A downwardly extending lower through hole 212 is formed in the middle of the bottom surface of the vertical hole. The bottom end of the lower through hole 212 corresponds vertically to the corresponding insertion hole 112. The rotating part of the clamping force adjusting bolt 30 is located in the vertical hole. The screw part of the clamping force adjusting bolt 30 is inserted into the lower through hole 212. The lower part of the screw part extends out of the lower through hole 212.
[0020] This structure allows the clamping force adjusting bolt 30 to be installed by extending it through the vertical hole. During subsequent adjustment, the rotating part of the clamping force adjusting bolt 30 can be rotated by extending it through the horizontal hole 211, making the adjustment convenient.
[0021] Furthermore, the top surface of the movable block 11 on one side of the insertion hole 112 is formed with a downwardly extending stepped through hole 113. The upper part of the stepped through hole 113 is a large-diameter section, and the lower part is a small-diameter section. The position sensor 2 is inserted into the small-diameter section of the stepped through hole 113, with its sensing part at the top located in the large-diameter section. The top of the sensing end of the position sensor 2 faces the bottom surface of the corresponding gripper 20. In this embodiment, the position sensor 2 is electrically connected to the control host via an electrical connection wire. This is a conventional structure and will not be described in detail here.
[0022] Furthermore, the middle fixing block 13 is fixed in the middle of the fixing frame 10, the middle part of the transverse guide rod 14 is fixed on the upper part of the middle fixing block 13, and the end of the transverse guide rod 14 is fixed on the upper part of the left and right side plates of the fixing frame 10 (two transverse guide rods 14 can be set in parallel front and rear). The transverse guide rod 14 is inserted into the transverse guide through hole formed in the upper part of the moving block 11. The inner sidewalls of the transverse guide through hole at both ends of the moving block 11 are fitted with guide sleeves 115. The transverse guide rod 14 is inserted into the corresponding guide sleeve 115, and its outer sidewall is in close contact with the inner sidewall of the guide sleeve 115.
[0023] Furthermore, the bottom surfaces of the two side plates of the fixing frame 10 are formed with upwardly extending first vertical holes 16. The upper side wall of the first vertical holes 16 is formed with side through holes. A guide rod 17 is connected to the side through holes. The guide rod 17 is inserted into the oil inlet guide hole 116 formed in the middle of the outer side wall of the moving block 11. A sealing ring 117 is stuck on the inner side wall of the outer end of the oil inlet guide hole 116. The outer side of the guide rod 17 is in close contact with the inner side wall of the sealing ring 117. The middle through hole of the guide rod 17 communicates with the side through hole and the oil inlet guide hole 116.
[0024] Furthermore, the lower left and right sides of the intermediate fixed block 13 are both fixed with transverse guide sleeves 131, and transverse push rods 132 are inserted into the transverse guide sleeves 131. The outer end of the transverse push rod 132 extends out of the corresponding transverse guide sleeve 131 and is fixed to the lower part of the corresponding moving block 11. The transverse guide sleeve 131 is provided with a return spring 133 inside. One end of the return spring 133 is applied to the inner end of the transverse push rod 132, and the other end is applied to one side wall of the lower part of the intermediate fixed block 13.
[0025] In this embodiment, the bottom of the first vertical hole 16 is connected to the oil outlet pipe of the hydraulic system. When the hub 100 is clamped, the hydraulic system is first operated to allow oil to enter the first vertical hole 16, pushing the two moving blocks 11 to move relative to each other. During this process, limit sleeves are fixed on the left and right sides of the transverse guide rod 14, which can limit the position movement of the two moving blocks 11. When the two moving blocks 11 come together, the hub 100 is clamped by the jaws 20 on the left and right sides. During the clamping process, the clamping adjustment spring 1 makes the jaws 20 clamp slowly, reducing the impact on the hub 100 and achieving a good clamping effect.
[0026] When the two moving blocks 11 move relative to each other, the clamping adjustment spring 1 is continuously compressed, causing the bottom surface of the gripper 20 to move downwards until the sensing end of the position sensor 2 senses the bottom surface of the gripper 20, indicating that the gripper 20 has been clamped in place. After the control host receives this sensing signal, it controls the corresponding hydraulic system to stop the oil supply and achieve a pressure holding state.
[0027] Its clamping force is moderate, leaving virtually no scratches, and meets clamping needs.
[0028] When the moving blocks 11 move relative to each other, the return spring 133 can make the two moving blocks 11 move slowly relative to each other, ensuring stable movement. When the oil supply stops and the pressure holding stops, the elastic restoring force of the return spring 133 can realize the return of the moving blocks 11 to their original position.
[0029] During the clamping process, the initial position of the clamping jaw 20, i.e., the inclination of the clamping jaw 20, can be adjusted by rotating the clamping force adjusting bolt 30. In this state, the bottom surface of the rotating part of the clamping force adjusting bolt 30 presses against the bottom surface of the vertical hole.
[0030] 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 robot gripper device with adjustable clamping force, comprising a stationary frame (10), characterized in that: The fixed frame (10) is provided with movable blocks (11) on both the left and right sides, and multiple grippers (20) are installed on the top surface of the two movable blocks (11); The top surfaces of the two movable blocks (11) are fixed or formed with connecting parts (111) near each other. The bottom ends of the left and right grippers (20) are movably connected to the corresponding connecting parts (111) via hinge shafts. The bottom ends of the right grippers (20) are installed with clamping force adjusting bolts (30) far apart from each other. The bottom of the screw part of the clamping force adjusting bolt (30) extends out of the bottom surface of the gripper (20) and is inserted into the corresponding insertion hole (112) formed on the top surface of the movable block (11). The bottom end of the screw part of the clamping force adjusting bolt (30) is screwed into the screw hole formed in the middle of the bottom surface of the insertion hole (112). The clamping adjusting spring (1) is inserted into the insertion hole (112), with its bottom end bearing on the bottom end of the insertion hole (112) and its top end bearing on the bottom surface of the corresponding gripper (20).
2. A robot gripper device with adjustable clamping force according to claim 1, characterized in that: The clamp (20) is a bent part, which includes a vertical part and a downwardly inclined part (21) formed at the bottom of the vertical part. A vertical hole extending downward is formed on the top surface of the middle part of the downwardly inclined part (21). A horizontal hole (211) extending outward is formed on the lower side wall of the vertical hole. The horizontal hole (211) extends outward from the outer side wall of the downwardly inclined part (21). A downwardly extending lower through hole (212) is formed in the middle of the bottom surface of the vertical hole. The bottom end of the lower through hole (212) corresponds vertically to the corresponding insertion hole (112). The rotating part of the clamping force adjusting bolt (30) is in the vertical hole. The screw part of the clamping force adjusting bolt (30) is inserted into the lower through hole (212). The lower part of the screw part extends out of the lower through hole (212).
3. The robot gripper device of claim 1, wherein: The top surface of the movable block (11) on one side of the insertion hole (112) is formed with a downwardly extending stepped through hole (113). The upper part of the stepped through hole (113) is a large-diameter hole segment, and the lower part is a small-diameter hole segment. The position sensor (2) is inserted in the small-diameter hole segment of the stepped through hole (113), and its top sensing part is located in the large-diameter hole segment. The top of the sensing end of the position sensor (2) faces the bottom surface of the corresponding gripper (20).
4. The robot gripper device of claim 1, wherein: The middle of the fixed frame (10) is fixed with a middle fixed block (13), the middle of the transverse guide rod (14) is fixed on the upper part of the middle fixed block (13), the end of the transverse guide rod (14) is fixed on the upper part of the left and right side plates of the fixed frame (10), the transverse guide rod (14) is inserted into the transverse guide through hole formed on the upper part of the moving block (11), the inner sidewalls of the transverse guide through hole of the moving block (11) are fitted with guide sleeves (115), the transverse guide rod (14) is inserted into the corresponding guide sleeve (115), and its outer sidewall is in close contact with the inner sidewall of the guide sleeve (115).
5. A robot gripper device with adjustable clamping force according to claim 4, characterized in that: The bottom surfaces of the two side plates of the fixing frame (10) are formed with an upwardly extending first vertical hole (16). The upper side wall of the first vertical hole (16) is formed with a side through hole. A guide rod (17) is connected to the side through hole. The guide rod (17) is inserted into the oil inlet guide hole (116) formed in the middle of the outer side wall of the moving block (11). A sealing ring (117) is placed on the inner side wall of the outer end of the oil inlet guide hole (116). The outer side of the guide rod (17) is in close contact with the inner side wall of the sealing ring (117). The middle through hole of the guide rod (17) is connected to the side through hole and the oil inlet guide hole (116).
6. A robot gripper device with adjustable clamping force according to claim 4, characterized in that: The lower left and right sides of the intermediate fixed block (13) are fixed with transverse guide sleeves (131), and transverse push rods (132) are inserted in the transverse guide sleeves (131). The outer end of the transverse push rod (132) extends out of the corresponding transverse guide sleeve (131) and is fixed to the lower part of the corresponding moving block (11). The transverse guide sleeve (131) is provided with a return spring (133). One end of the return spring (133) is applied to the inner end of the transverse push rod (132), and the other end is applied to one side wall of the lower part of the intermediate fixed block (13).