Robot shell making multi-rotation gripper

Abstract

This utility model discloses a robotic gripper for shell making that can grasp multiple rotating parts. It includes a mounting box, a pressing component located at the mounting box, and a hook component rotatably mounted at the mounting box. The pressing component has a pressing rod that extends to the hook component and engages with the hook component to limit the workpiece. The hook component has at least two sets, and the mounting box contains a drive component for driving the hook components to rotate. The drive component includes a drive motor, a drive shaft connected to the drive motor, and a transmission structure. The transmission structure includes a turbine mounted on the hook component and a thread mounted on the drive shaft that meshes with the turbine, or a bevel gear set mounted on the hook component and the drive shaft. When the drive shaft rotates, it drives each hook component to rotate through the transmission structure.

Description

Technical Field

[0001] This utility model relates to a robotic gripper for production lines of slurry dipping, sand washing, and sand floating, and more particularly to a robotic gripper for making shells that can grasp multiple rotating parts at once. Background Technology

[0002] Currently, during the slurry and sand application processes, a robotic arm is first used to grip the workpiece, and then rotation is employed to improve the uniformity of the slurry and sand application, thereby enhancing the quality of the workpiece.

[0003] Patent application number 2023229837748 discloses a robotic shell-making device with a three-grip, self-rotating gripper. The device includes a shell-making robot arm. Three clamping drive structures are linearly arrayed and fixedly connected to the inner cavity of the shell-making robot arm. Three gripper assemblies are linearly arrayed and fixedly connected to the lower end of the shell-making robot arm. Each of the three gripper assemblies has a slidably connected fixing component on its inner side. A protective device is provided on the right side of each of the three clamping drive structures. A self-rotating component, consisting of a synchronous belt and a pulley, is provided within the inner cavity of the shell-making robot arm.

[0004] The aforementioned patent features three grippers that rotate via a motor, synchronous belt, and pulleys. However, the synchronous belt structure has the following problems: 1. Multiple synchronous belts are required, and each belt needs to be staggered vertically, resulting in a non-compact structure and excessive space occupation; 2. Synchronous belts are prone to loosening during use, requiring frequent tension adjustments; 3. As the number of grippers increases, using synchronous belts for transmission requires either multiple staggered synchronous belts, which significantly increases space occupation, or a multi-stage transmission structure. However, multi-stage transmission structures are affected by cumulative errors, installation errors, and elastic deformation, impacting transmission accuracy. Furthermore, multi-stage transmissions lead to decreased efficiency and increased flexibility, resulting in low system rigidity and susceptibility to tooth skipping or localized tooth deformation under overload. Utility Model Content

[0005] Based on the three shortcomings of the existing technology, this utility model provides a robotic gripper that can grasp multiple rotating parts in a single process for shell making.

[0006] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows:

[0007] The robotic shell-making multi-grip rotating manipulator includes a mounting box, a pressing component located at the mounting box, and a hook component rotatably mounted at the mounting box. The pressing component has a pressing rod that extends to the hook component and engages with the hook component to limit the workpiece. At least two sets of hook components are provided, and the mounting box contains a drive component for driving the hook components to rotate. The drive component includes a drive motor, a drive shaft connected to the drive motor, and a transmission structure. The transmission structure includes a worm gear mounted on the hook component and a threaded drive on the drive shaft that meshes with the worm gear, or a bevel gear set mounted on the hook components and the drive shaft, or a spur gear set mounted on the hook components and the drive shaft. When the drive shaft rotates, it drives each hook component to rotate through the transmission structure.

[0008] Preferably, the drive shaft has a single-section structure with the same number of threads or bevel gears as the hook assembly.

[0009] Preferably, the drive shaft is a separate multi-segment structure, with the segments connected by couplings, and the drive shaft at the transmission position of the hook assembly is provided with threads or bevel gears.

[0010] Preferably, a coupling is provided between two adjacent hook assemblies to connect the drive shaft.

[0011] Preferably, the drive motor and the drive shaft are connected by gear transmission, and the drive shaft is mounted by a bearing housing and bearing support located in the mounting box.

[0012] Preferably, the hook assembly includes a rotating seat that rotates with the mounting box and a hook body disposed on the rotating seat, with a bevel gear or worm gear fixed to the outer wall of the rotating seat.

[0013] Preferably, the hook body includes two spaced hooks, and a backing with a V-groove is provided at the gap between the two hooks.

[0014] Preferably, the rotating seat has a through hole at its rotation center, and the pressure rod is located in the through hole and moves up and down in the through hole; when the pressure rod is pressed down and extends to the hook assembly, the workpiece is pressed tightly against the hook body.

[0015] Preferably, the pressing assembly also includes a telescopic cylinder with controllable stroke, and the pressing rod is located at the output end of the telescopic cylinder.

[0016] Preferably, the bottom end of the pressure rod is provided with a limiting groove or the end of the pressure rod is provided with a pressure head with a limiting groove, the limiting groove being used for the top of the workpiece to extend into and limit its movement.

[0017] Compared with the prior art, the advantages of this utility model are: This application realizes transmission through a drive shaft and a transmission structure, wherein the transmission structure includes a worm gear structure and a bevel gear structure. Compared with synchronous belt transmission, the above two transmission structures have the advantages of compact structure and small space occupation. Especially when multiple grippers are involved, they can still ensure high precision and high load-bearing capacity transmission. Attached Figure Description

[0018] The present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. However, those skilled in the art will understand that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be construed as limiting the scope of the present invention. Furthermore, unless specifically indicated, the drawings are only schematic representations of the composition or structure of the described objects and may contain exaggerated depictions, and the drawings are not necessarily drawn to scale.

[0019] Figure 1 This is the front view of this application;

[0020] Figure 2 This is a perspective view of the present application;

[0021] Figure 3 This is a cross-sectional view of this application;

[0022] Figure 4 This is a perspective view of the present application;

[0023] Figure 5 This is a perspective view of the present application (with the mounting box removed);

[0024] Figure 6 This is a perspective view of the present application (excluding the mounting box and bearing housing);

[0025] In the diagram: 10. Mounting housing; 101. Connecting flange; 20. Hook assembly; 201. Rotary seat; 202. Hook body; 2021. Backing; 30. Drive assembly; 301. Drive motor; 302. Gear set; 303. Drive shaft; 3031. Coupling; 304. Bearing housing; 305. Thread; 306. Bearing; 307. Worm gear; 401. Telescopic cylinder; 402. Lowering rod; 4021. Lowering head. Detailed Implementation

[0026] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Those skilled in the art will appreciate that these descriptions are merely descriptive and exemplary and should not be construed as limiting the scope of protection of the present invention.

[0027] It should be noted that similar labels in the following figures indicate similar items; therefore, once an item is defined in one figure, it may not be further defined and explained in subsequent figures. Example

[0028] This embodiment mainly describes the title of the robotic shell-making multi-grasping self-rotating manipulator, as follows:

[0029] See attached document Figure 1-6 The attached diagram of this embodiment shows three hooks, and the specific design is as follows:

[0030] The robotic shell-making multi-grip rotating manipulator includes a mounting box 10, a pressing component located at the mounting box 10, and a hook assembly 20 rotatably mounted at the mounting box 10. The pressing component has a pressing rod 402 that extends to the hook assembly 20 and engages with the hook assembly 20 to limit the workpiece. The hook assembly 20 is provided with at least two sets, and the mounting box 10 is provided with a drive assembly 30 for driving the hook assembly 20 to rotate. The drive assembly 30 includes a drive motor 301, a drive shaft 303 that is drively connected to the drive motor 301, and a transmission structure. The transmission structure includes a worm gear 307 mounted on the hook assembly 20 and a thread 305 mounted on the drive shaft 303 and meshing with the worm gear 307, or the transmission structure includes a bevel gear set mounted on the hook assembly 20 and the drive shaft 303, or the transmission structure includes a spur gear set mounted on the hook assembly and the drive shaft. When the drive shaft 303 rotates, it drives each hook assembly 20 to rotate through the transmission structure. This solution achieves transmission through a drive shaft 303 and a transmission structure, including a worm gear structure and a bevel gear structure. Compared to synchronous belt drives, these two transmission structures have the advantages of compact structure and small space occupation. Furthermore, even when multiple grippers are involved, they can still ensure high precision and high load-bearing capacity. When the transmission structure uses a spur gear set, the drive motor 301 is vertically set, and multiple drive shafts 303 are required. Each drive shaft 303 is equipped with a spur gear, and the drive shafts 303 are connected by a sprocket or gear set structure.

[0031] It should be noted that the hook assembly 20 is arranged in a straight line, and the line connecting the drive shaft 303 and the hook assembly 20 is set parallel to each other. The drive shaft 303 rotates in the vertical direction, and the hook assembly 20 rotates in the horizontal direction.

[0032] When the drive shaft 303 is horizontally positioned, the transmission structure specifically includes the following two options:

[0033] Option 1: The drive shaft 303 is a single-section structure, with the same number of threads 305 or bevel gears as the hook assembly 20. In this option, the combination of the drive shaft 303 and the threads 305 is equivalent to a worm gear.

[0034] Option 2: The drive shaft 303 is a separate multi-segment structure, and the segments are connected by a coupling 3031. The drive shaft 303 at the transmission position of the hook assembly 20 is provided with a thread 305 or a bevel gear.

[0035] Preferably, a coupling 3031 is provided between two adjacent hook assemblies 20 to connect the drive shaft 303. The coupling 3031 can prevent the mutual influence of dynamic displacement and error of adjacent drive shafts 303 through which the drive shaft 303 is connected, and also has the advantages of vibration isolation.

[0036] Preferably, the drive motor 301 and the drive shaft 303 are connected by gear transmission, and the drive shaft 303 is supported and mounted by a bearing housing 304 and a bearing 306 disposed within the mounting box 10. In this design, the drive motor 301 is horizontally positioned and drives the drive shaft 303 to rotate via a gear set 302. Specifically, the bearing housing 304 has an internal accommodating space to enclose the worm gear 307, the thread 305, and the bevel gear, and the pressure rod 402 passes through the bearing housing 304.

[0037] Preferably, the hook assembly 20 includes a rotating base 201 that rotatably engages with the mounting box 10 and a hook 202 disposed on the rotating base 201. A bevel gear or worm gear 307 is fixed to the outer wall of the rotating base 201. In this embodiment, the bevel gear or worm gear 307 is passively rotated, thereby driving the hook assembly 20 to rotate. The hook 202 of the hook assembly 20 is used for hanging the workpiece.

[0038] Preferably, the hook 202 includes two spaced hooks, and a retainer 2021 with a V-groove is provided at the gap between the two hooks. After the workpiece is hung, it is located at the gap between the two hooks and is limited by the retainer 2021 to prevent the workpiece from swinging too much.

[0039] Preferably, the rotating seat 201 has a through hole at its rotation center, and the pressing rod 402 is located inside the through hole and moves up and down within it. When the pressing rod 402 extends downward to the hook assembly 20, it presses the workpiece against the hook body 202. The pressing rod 402 passes through the interior of the rotating seat 201 and can extend downward to press the workpiece. The clamping of the workpiece is achieved through the cooperation of the pressing rod 402 and the hook.

[0040] Preferably, the pressing assembly also includes a telescopic cylinder 401 with controllable stroke, and a pressing rod 402 is disposed at the output end of the telescopic cylinder 401. In this solution, the telescopic cylinder can be a telescopic pneumatic cylinder or a hydraulic cylinder, depending on the required pressing force.

[0041] Preferably, the bottom end of the pressure rod 402 is provided with a limiting groove, or the end of the pressure rod 402 is provided with a pressure head 4021 with a limiting groove. The limiting groove is used for the top of the workpiece to extend into and limit its movement. In this solution, the limiting groove is used for the top of the workpiece to extend into and limit the workpiece, preventing it from swinging.

[0042] It should be noted that the mounting box 10 is equipped with a connecting flange 101 for connecting to the robot. When in use, the entire gripper is driven by the robot to move, flip and perform other actions.

[0043] The above provides a detailed description of the robotic shell-making multi-grab, self-rotating manipulator provided by this utility model. Specific examples have been used to illustrate the principle and implementation of this utility model. The description of the above embodiments is only for the purpose of helping to understand this utility model and its core ideas. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principle of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A robotic gripper for shell making, comprising a mounting box, a pressing component located at the mounting box, and a hook assembly rotatably mounted at the mounting box. The pressing component has a pressing rod that extends to the hook assembly and engages with the hook assembly to limit the workpiece. The hook assembly has at least two sets, and the mounting box contains a drive assembly for rotating the hook assembly. The gripper is characterized by... The drive assembly includes a drive motor, a drive shaft connected to the drive motor, and a transmission structure. The transmission structure includes a worm gear mounted on the hook assembly and a threaded drive on the drive shaft that meshes with the worm gear. Alternatively, the transmission structure may include a bevel gear set mounted on the hook assembly and the drive shaft, or a spur gear set mounted on the hook assembly and the drive shaft. When the drive shaft rotates, it drives each hook assembly to rotate through the transmission structure.

2. The robotic slush molding multi-grip self-rotating mechanical gripper of claim 1, wherein, The drive shaft has a single-section structure with the same number of threads or bevel gears as the hook assembly.

3. The robotic slush molding multi-grip self-rotating mechanical gripper of claim 1, wherein, The drive shaft has a separate multi-segment structure, and the segments are connected by couplings. The drive shaft at the transmission position of the hook assembly is equipped with threads or bevel gears.

4. The robotic slush molding multi-grip self-rotating mechanical gripper of claim 3, wherein, A coupling is provided between two adjacent hook assemblies to connect the drive shaft.

5. The robotic shell-making multi-grasping, self-rotating manipulator according to any one of claims 1-4, characterized in that, The drive motor and drive shaft are connected by gear transmission, and the drive shaft is mounted by bearing housings and bearing supports located in the mounting box.

6. The robotic slush molding multi-grip self-rotating mechanical gripper of claim 1, wherein, The hook assembly includes a rotating seat that rotates with the mounting box and a hook body disposed on the rotating seat, with a bevel gear or worm gear fixed to the outer wall of the rotating seat.

7. The robotic slush molding multi-grip self-rotating mechanical gripper of claim 6, wherein, The hook body includes two spaced hooks, and a backing with a V-shaped groove is provided at the gap between the two hooks.

8. The robotic slush molding multi-grip self-rotating mechanical gripper of claim 6, wherein, The rotating seat has a through hole at its center of rotation, and the pressure rod is located inside the through hole and moves up and down within the through hole; when the pressure rod extends down to the hook assembly, it presses the workpiece against the hook body.

9. The robotic slush molding multi-grip self-rotating mechanical gripper of claim 1, wherein, The pressing assembly also includes a telescopic cylinder with controllable stroke, and the pressing rod is located at the output end of the telescopic cylinder.

10. The robotic slush molding multi-grip self-rotating mechanical gripper of claim 1 or 9, wherein, The bottom end of the pressure rod is provided with a limiting groove or the end of the pressure rod is provided with a pressure head with a limiting groove. The limiting groove is used for the top of the workpiece to extend into it for limiting.

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