Multi-station synchronous grabbing type hub transfer gripper device

Abstract

This utility model discloses a multi-station synchronous gripping wheel hub transfer gripper device, comprising a robotic arm, a profile frame, a connecting plate, and gripper assemblies. The connecting plate is fixedly mounted on the profile frame and connected to the robotic arm. A set of gripper assemblies is symmetrically arranged on the side of the profile frame away from the connecting plate. The connecting plate connects the robotic arm and the profile frame, and the symmetrically arranged gripper assemblies on both sides enable synchronous gripping at multiple stations. The gripper assemblies are driven by telescopic cylinders, in conjunction with linear guide rail pairs and a gear and rack transmission mechanism, ensuring that the sliding plates on both sides move synchronously in opposite directions, driving the gripper to precisely open and close the mounting profile and clamping components.

Description

Technical Field

[0001] This utility model relates to the technical field of wheel hub transfer equipment, specifically a multi-station synchronous gripping wheel hub transfer gripper device. Background Technology

[0002] In the manufacturing process of automotive wheel hubs, hub transfer is a crucial step. Traditional wheel hub transfer grippers typically can only grip a single hub at a time, resulting in low transfer efficiency and failing to meet the demands of large-scale production. Furthermore, existing grippers often fail to secure the hubs properly, leading to wobbling and loss during transfer, impacting both production efficiency and safety. In addition, traditional grippers are complex in structure, making maintenance and repair difficult and increasing production costs. Therefore, there is an urgent need to design a wheel hub transfer gripper that enables simultaneous, stable, and simple multi-station gripping. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] The technical problem this invention aims to solve is that traditional wheel hub transfer gripper devices can typically only grip a single wheel hub at a time, resulting in low transfer efficiency and failing to meet the needs of large-scale production.

[0005] (II) Technical Solution

[0006] To solve the above problems, this utility model provides the following technical solution:

[0007] A multi-station synchronous gripping wheel hub transfer gripper device includes a robot arm, a profile frame, a connecting plate, and a gripper assembly. The connecting plate is fixedly mounted on the profile frame and connected to the robot arm. The gripper assembly has a set of grippers symmetrically arranged on the side of the profile frame away from the connecting plate.

[0008] The gripper assembly includes a cylinder base plate, a telescopic cylinder, a set of linear guide rails, a set of sliding plates, a set of racks and pinions, a set of gripper mounting profiles and clamping components;

[0009] The cylinder base plate is fixedly mounted on the profile frame, and a set of linear guide rail pairs are symmetrically arranged on both sides of the lower end face of the cylinder base plate. A set of sliding plates are respectively connected to the sliders on the two linear guide rail pairs. The cylinder body of the telescopic cylinder is inherently connected to the upper end face of the cylinder base plate through the cylinder mounting seat. Its telescopic rod is inherently connected to the upper end face of the sliding plate on the side away from the cylinder body of the telescopic cylinder through a T-shaped connecting block. A set of spur racks is inherently connected to the sides of the two sliding plates. The gear is arranged between the two spur racks and meshes with both spur racks simultaneously. A rotating shaft is fixedly provided in the middle of the gear, and the rotating shaft is connected to the middle of the cylinder base plate through a bearing with a seat. Two gripper mounting profiles are respectively fixedly mounted on the lower end face of the two sliding plates. Each gripper mounting profile is provided with multiple clamping parts.

[0010] Furthermore, the clamping component includes an adjusting horizontal plate, two L-shaped connecting plates, and two clamping blocks. The adjusting horizontal plate is provided with multiple locking holes. When the L-shaped connecting plates are connected to the adjusting horizontal plate, they are connected by screws engaging with the locking holes. The two clamping blocks are respectively fixedly mounted on the two L-shaped connecting plates.

[0011] Furthermore, the clamping block is made of nylon material, and the end of the clamping block away from the L-shaped connecting plate is designed as a convex arc structure. The clamping block is connected to the L-shaped connecting plate by means of screws and threaded holes.

[0012] Furthermore, the adjusting cross plate is connected to the gripper mounting profile by bolts.

[0013] Furthermore, the sliding plate is provided with multiple weight-reducing holes.

[0014] Furthermore, a detection base plate is provided at one end near the telescopic cylinder telescopic rod, and a position sensor facing the T-shaped connecting block is provided on the detection base plate.

[0015] (III) Beneficial Effects

[0016] The beneficial effects of this utility model are:

[0017] 1. This utility model, by setting a set of symmetrical gripper components, and each gripper mounting profile is equipped with multiple clamping parts, can realize multi-station synchronous gripping of wheel hubs, which greatly improves the transfer efficiency of wheel hubs.

[0018] 2. This utility model utilizes the cooperation of a telescopic cylinder, linear guide pair, rack and pinion, and gears to achieve synchronous opening and closing of the two gripper mounting profiles. The structure is simple, and the transmission is stable and reliable. The design of the adjusting horizontal plate and L-shaped connecting plate of the clamping components allows the distance between the clamping blocks to be adjusted according to the wheel hub size, making it highly adaptable. The nylon clamping blocks and the outwardly convex arc structure effectively protect the wheel hub surface and improve clamping stability. The weight-reducing holes on the sliding plate and the position sensor on the detection base plate reduce the load on the device and improve the gripping accuracy, further optimizing the device's performance. Attached image description:

[0019] Figure 1 This is a perspective view of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the gripper assembly of this utility model. Figure 1 ;

[0021] Figure 3 This is a schematic diagram of the structure of the gripper assembly of this utility model. Figure 2 ;

[0022] Figure 4 This is a schematic diagram of the structure of the gripper assembly of this utility model. Figure 3 ;

[0023] Figure 5 This is a schematic diagram of the structure of the clamping component of this utility model.

[0024] In the diagram, the markings are: 1-robotic arm; 2-profile frame; 3-connecting plate; 4-gripper assembly; 401-cylinder base plate; 402-telescopic cylinder; 403-linear guide pair; 404-sliding plate; 405-straight rack; 406-gear; 407-gripper mounting profile; 408-clamping component; 408a-adjusting cross plate; 408b-L-shaped connecting plate; 408c-clamping block; 408d-locking hole; 409-T-shaped connecting block; 410-rotating shaft; 411-bearing with seat; 5-detection base plate; 6-position sensor. Detailed Implementation

[0025] 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.

[0026] In the description of this utility model, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0027] Please see Figures 1-5 The multi-station synchronous gripping hub transfer device shown includes a robotic arm 1, a profile frame 2, a connecting plate 3, and a gripper assembly 4. The connecting plate 3 is fixedly mounted on the profile frame 2 and connected to the robotic arm 1. The connecting plate 3 securely connects the profile frame 2 and the robotic arm 1, enabling the robotic arm 1 to drive the entire gripper device to move. A set of gripper assemblies 4 is provided, symmetrically arranged on the side of the profile frame 2 away from the connecting plate 3.

[0028] The gripper assembly 4 comprises two parts, including a cylinder base plate 401, a telescopic cylinder 402, a set of linear guide rail pairs 403, a set of sliding plates 404, a set of racks 405, a gear 406, a set of gripper mounting profiles 407, and a clamping component 408. The cylinder base plate 401 is fixedly mounted on the profile frame 2, providing a stable mounting base for the gripper assembly 4. The set of linear guide rail pairs 403 is symmetrically arranged on both sides of the lower end face of the cylinder base plate 401, providing guidance and support for the sliding of the sliding plates 404. The set of sliding plates 404 are respectively connected to the sliders on the two linear guide rail pairs 403, enabling them to slide smoothly on the linear guide rail pairs 403. The cylinder body of the telescopic cylinder 402 is inherently connected to the upper end face of the cylinder base plate 401 through the cylinder mounting seat. Its telescopic rod is inherently connected to the upper end face of the sliding plate 404 on the side away from the cylinder body of the telescopic cylinder 402 through the T-shaped connecting block 409. When the telescopic cylinder 402 is working, the extension and retraction of its telescopic rod can drive the sliding plate 404 connected to it to slide on the linear guide pair 403. A set of spur racks 405 are inherently connected to the sides of two sliding plates 404. A gear 406 is disposed between the two spur racks 405 and meshes with both racks simultaneously. A rotating shaft 410 is fixedly disposed in the middle of the gear 406, and the rotating shaft 410 is connected to the middle of the cylinder base plate 401 through a bearing 411. Thus, when one sliding plate 404 slides under the drive of the telescopic cylinder 402, the meshing transmission between the spur racks 405 and the gear 406 enables the other sliding plate 404 to move synchronously in the opposite direction, thereby realizing the synchronous opening and closing of the two gripper mounting profiles 407. The two gripper mounting profiles 407 are fixedly disposed on the lower end faces of the two sliding plates 404. Each gripper mounting profile 407 is provided with multiple clamping elements 408, which can simultaneously grip multiple hubs, improving transfer efficiency.

[0029] Furthermore, the clamping component 408 includes an adjusting horizontal plate 408a, two L-shaped connecting plates 408b, and two clamping blocks 408c. The adjusting horizontal plate 408a is provided with multiple locking holes 408d. When the L-shaped connecting plates 408b are connected to the adjusting horizontal plate 408a, they are connected by screws engaging with the locking holes 408d. By adjusting the position of the L-shaped connecting plates 408b on the adjusting horizontal plate 408a, the distance between the two clamping blocks 408c can be adjusted to accommodate wheel hubs of different sizes. The two clamping blocks 408c are respectively fixedly mounted on the two L-shaped connecting plates 408b.

[0030] Furthermore, the clamping block 408c is made of nylon, which has good wear resistance and flexibility, and can effectively protect the surface of the wheel hub from scratches when gripping it. The end of the clamping block 408c away from the L-shaped connecting plate 408b is designed with an outward convex arc structure. This structure can better fit the outer contour of the wheel hub and improve the clamping stability of the wheel hub. The clamping block 408c is connected to the L-shaped connecting plate 408b by screws and threaded holes, which is convenient for disassembly and replacement.

[0031] Furthermore, the adjusting plate 408a is connected to the gripper mounting profile 407 by bolts, which facilitates the installation and adjustment of the clamping component 408.

[0032] Furthermore, the sliding plate 404 is provided with multiple weight-reducing holes to reduce the weight of the sliding plate 404, reduce the load on the telescopic cylinder 402, and also reduce material costs.

[0033] Furthermore, a detection base plate 5 is provided at one end of the telescopic rod near the telescopic cylinder 402. The detection base plate 5 is equipped with a position sensor 6 facing the T-shaped connecting block 409. The position sensor 6 can detect the position of the telescopic rod of the telescopic cylinder 402 in real time, thereby accurately controlling the opening and closing degree of the gripper assembly 4 to ensure accurate gripping and release of the wheel hub.

[0034] Working principle:

[0035] The robotic arm 1, as the motion carrier of the device, after receiving instructions from the control system, drives the connecting plate 3, the profile frame 2 and the gripper assemblies 4 on both sides to move directly above the wheel hub storage or transfer station according to the preset path.

[0036] Once the device is moved to the designated position, the telescopic cylinder 402 begins to operate. The cylinder body of the telescopic cylinder 402 is fixed to the cylinder base plate 401 via a cylinder mounting seat. Its telescopic rod extends out and is connected to the right sliding plate 404 via a T-shaped connecting block 409, thereby pulling the right sliding plate 404 to slide to the right along the linear guide pair 403.

[0037] Simultaneously, the rack 405 fixed to the side of the right sliding plate 404 moves to the right. Since the gear 406 meshes with both racks 405 simultaneously, the movement of the right rack 405 causes the gear 406 to rotate counterclockwise, which in turn drives the left rack 405 to move to the left, causing the left sliding plate 404 to slide to the left along the corresponding linear guide pair 403. Through this gear and rack meshing transmission method, the synchronous reverse movement of the two sliding plates 404 is achieved, ultimately causing the gripper mounting profile 407 fixed to the lower end face of the sliding plate 404 and the clamping member 408 thereon to open, preparing for gripping the wheel hub. The plate continues to descend above the wheel hub. At this point, an external vision system or other positioning device accurately confirms the wheel hub position, ensuring that the clamping member 408 accurately aligns with the wheel hub. Once the position is confirmed, the telescopic rod of the telescopic cylinder 402 retracts, causing the two sliding plates 404 to move in the opposite direction, closing the clamping member 408.

[0038] The clamping block 408c in the clamping component 408 is made of nylon, and the end away from the L-shaped connecting plate 408b is designed with an outwardly convex arc structure. This structure can closely fit the outer contour of the wheel hub. As the clamping component 408 closes, multiple clamping blocks 408c clamp the wheel hub from different positions. A single clamping block 408c can provide a large clamping force. The multiple sets of clamping components 408 work together to stably grip a single wheel hub, ensuring that the wheel hub will not fall or wobble even under maximum load conditions.

[0039] A position sensor 6 is installed on the detection base plate 5 near one end of the telescopic rod of the telescopic cylinder 402, with its detection direction aligned with the T-shaped connecting block 409. Throughout the clamping process, the position sensor 6 monitors the position of the T-shaped connecting block 409 in real time, thereby accurately obtaining the displacement information of the sliding plate 404.

[0040] When the position sensor 6 detects that the displacement error of the sliding plate 404 exceeds the set range, it will send a signal back to the control system. The control system automatically adjusts the air pressure of the telescopic cylinder 402 according to the feedback signal, thereby changing the extension and retraction of the cylinder telescopic rod, correcting the position of the sliding plate 404, ensuring that the opening and closing degree of the clamping component 408 meets the requirements, achieving accurate clamping and stable gripping of the wheel hub, and ensuring precise control of the clamping force.

[0041] After successfully clamping the wheel hub, the robot arm 1 follows the preset path again, driving the device to transfer the wheel hub to the target station. Upon reaching the target station, the telescopic rod of the telescopic cylinder 402 extends again, causing the clamping component 408 to open. After the wheel hub loses the clamping force, it is accurately placed in the target position, completing the entire wheel hub transfer process.

[0042] The symmetrical gripper assemblies 4 on both sides can work independently or synchronously. Multiple clamping parts 408 on a single gripper mounting profile 407 can clamp multiple wheel hubs at the same time, realizing synchronous gripping and transfer at multiple workstations, which greatly improves the efficiency of wheel hub transfer and meets the needs of efficient and precise transfer on modern wheel hub production lines.

[0043] The embodiments are detailed, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the present invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0044] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-station synchronous grabbing type hub transfer gripper device, characterized in that: It includes a robotic arm (1), a profile frame (2), a connecting plate (3) and a gripper assembly (4). The connecting plate (3) is fixedly mounted on the profile frame (2) and connected to the robotic arm (1). The gripper assembly (4) has a set of symmetrically arranged on the side of the profile frame (2) away from the connecting plate (3). The gripper assembly (4) includes a cylinder base plate (401), a telescopic cylinder (402), a set of linear guide rail pairs (403), a set of sliding plates (404), a set of straight racks (405), a gear (406), a set of gripper mounting profiles (407), and a clamping component (408). The cylinder base plate (401) is fixedly mounted on the profile frame (2), and a set of linear guide rail pairs (403) are symmetrically arranged on both sides of the lower end face of the cylinder base plate (401). A set of sliding plates (404) are respectively connected to the sliders on the two linear guide rail pairs (403). The cylinder body of the telescopic cylinder (402) is inherently connected to the upper end face of the cylinder base plate (401) through the cylinder mounting seat. Its telescopic rod is inherently connected to the upper end face of the sliding plate (404) on the side away from the cylinder body of the telescopic cylinder (402) through the T-shaped connecting block (409). A set of straight racks (405) are... The gear (406) is inherently connected to the sides of the two sliding plates (404), and is disposed between the two racks (405) and meshes with the two racks (405) at the same time. A rotating shaft (410) is fixedly provided in the middle of the gear (406), and the rotating shaft (410) is connected to the middle of the cylinder base plate (401) through a bearing (411). Two gripper mounting profiles (407) are respectively fixedly disposed on the lower end face of the two sliding plates (404), and each gripper mounting profile (407) is provided with multiple clamping members (408).

2. The multi-station synchronous gripping hub transfer gripper device according to claim 1, characterized in that: The clamping member (408) includes an adjusting horizontal plate (408a), two L-shaped connecting plates (408b) and two clamping blocks (408c). The adjusting horizontal plate (408a) is provided with a plurality of locking holes (408d). When the L-shaped connecting plate (408b) is connected to the adjusting horizontal plate (408a), it is connected by screws engaging with the locking holes (408d). The two clamping blocks (408c) are respectively fixedly mounted on the two L-shaped connecting plates (408b).

3. The multi-station synchronous gripping hub transfer gripper device according to claim 2, characterized in that: The clamping block (408c) is made of nylon material, and the end of the clamping block (408c) away from the L-shaped connecting plate (408b) is designed with an outward convex arc structure. The clamping block (408c) is connected to the L-shaped connecting plate (408b) by means of screws and threaded holes.

4. The multi-station synchronous gripping hub transfer gripper device according to claim 3, characterized in that: The adjusting plate (408a) is connected to the gripper mounting profile (407) by bolts.

5. The multi-station synchronous gripping hub transfer gripper device according to claim 1, characterized in that: The sliding plate (404) is provided with multiple weight reduction holes.

6. The multi-station synchronous gripping hub transfer gripper device according to claim 1, characterized in that: A detection base plate (5) is also provided at one end of the telescopic rod near the telescopic cylinder (402), and a position sensor (6) facing the T-shaped connecting block (409) is provided on the detection base plate (5).

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