Mechanical hand clamping mechanism for processing of safety belt tube

Abstract

The application discloses a mechanical hand clamping mechanism for safety belt pipe machining, and relates to the field of clamping mechanisms, which comprises a mounting plate for connecting a mechanical arm, two cross plates are arranged on the two sides of the mounting plate, the end of the cross plate is connected with a vertical plate, the cross plate is vertically distributed with the mounting plate, the vertical plate is vertically distributed with the cross plate, a pneumatic clamping jaw is installed on the side end of the vertical plate away from the mounting plate, two moving parts of one of the pneumatic clamping jaws are respectively fixed with outer clamping rods for clamping the safety belt pipe from the outside, and two moving parts of the other pneumatic clamping jaw are respectively fixed with inner clamping rods for clamping the safety belt pipe from the inside. The device can clamp straight pipes by clamping from the outside through the outer clamping rods, clamp bent pipes by inserting into one end of the bent pipe through the inner clamping rods and supporting to open, and adopt different clamping positions when clamping pipes with different shapes, so that better clamping effect is realized, and further convenience is brought to feeding and discharging.

Description

Technical Field

[0001] This application relates to the field of clamping mechanisms, and in particular to a robotic clamping mechanism for processing seatbelt tubes. Background Technology

[0002] The core of seat belt tube processing lies in precise forming and stable connection. Taking the groove fixing method as an example, the tube is first bent according to the design, and an open groove is cut on the side of the tube using an open groove punching machine. During the cutting, a semi-circular support component is placed to keep the tube shape stable. Then, a groove is punched on one side of the open groove to facilitate subsequent leveling. Finally, the outer part of the open groove is flattened using a mold or punching machine to ensure that its joint position with the cover is accurate and the connection is stable. The entire process takes into account both precision and efficiency.

[0003] In the loading and unloading of safety belt tubes, the straight tube-shaped raw material needs to be clamped into the tube bending equipment. Then, the bent tube is placed on the stamping production line. Generally, a robotic arm is used in conjunction with mechanical grippers to clamp the tube. However, the existing mechanical grippers can only clamp the tube from the outside or the inside. Clamping from the outside is inconvenient for placing bent tubes, and clamping from the inside is inconvenient for retrieving straight tubes. Summary of the Invention

[0004] In order to improve the technical problem that the seat belt tube clamping mechanism can only clamp in one direction, this application provides a robotic arm clamping mechanism for seat belt tube processing.

[0005] The robotic gripper mechanism for processing seatbelt tubes provided in this application adopts the following technical solution:

[0006] A robotic gripper mechanism for processing seatbelt tubes includes a mounting plate for connecting a robotic arm. Two horizontal plates are provided on both sides of the mounting plate, and vertical plates are connected to the ends of the horizontal plates. The horizontal plates are perpendicular to the mounting plate, and the vertical plates are perpendicular to the horizontal plates. A pneumatic gripper is installed on the side of the vertical plate away from the mounting plate. One of the pneumatic grippers has an outer gripping rod fixed to each of its two moving parts for gripping the seatbelt tube from the outside. The other pneumatic gripper has an inner gripping rod fixed to each of its two moving parts for gripping the seatbelt tube from the inside.

[0007] By adopting the above technical solution, straight pipes can be clamped by external clamping rods, and bent pipes can be clamped by internal clamping rods extending from one end of the bent pipe and spreading it open. Different clamping parts can be used when clamping pipes of different shapes, thereby achieving better clamping effect and further facilitating loading and unloading.

[0008] Preferably, the horizontal plate is hinged to the vertical plate and the mounting plate respectively, and a first adjustment mechanism is provided between the horizontal plate and the vertical plate to adjust the angle between the horizontal plate and the vertical plate. A second adjustment mechanism is provided between the two horizontal plates to adjust the unfolding angle of the two horizontal plates.

[0009] By adopting the above technical solution, when the two clamping positions conflict with each other, the unfolding angle of the two horizontal plates and the angle between the horizontal and vertical plates can be adjusted so that when the robotic arm uses one pneumatic gripper to place or clamp, the structure on the other pneumatic gripper will not hinder the current operation, and it can adapt to more different loading and unloading angles and positions.

[0010] Preferably, the first adjustment mechanism includes a first extension plate fixed on a horizontal plate and a second extension plate fixed on a vertical plate, and a compression spring is provided between the first extension plate and the second extension plate. A tension wire is connected to the second extension plate. A through hole is provided in the middle of the first extension plate. The other end of the tension wire passes through the compression spring and the through hole. A rotating rod is rotatably provided on the horizontal plate. A take-up roller is installed on the rotating rod. The other end of the tension wire is wound around the take-up roller. A rotating component is provided on the take-up roller.

[0011] By adopting the above technical solution, the rotating component drives the rotating rod to rotate, which can then be used to wind or release the tension wire through the take-up roller. Combined with the supporting force of the compression spring, the angle between the horizontal and vertical plates can be adjusted.

[0012] Preferably, the second adjusting mechanism includes a bidirectional cylinder located between the two horizontal plates, and the two piston ends of the bidirectional cylinder are respectively connected to the two rotating rods via universal joints.

[0013] By adopting the above technical solution, the universal joint can create a hinge effect between the rotating rod and the double-acting cylinder. As the double-acting cylinder extends, the angle between the two horizontal plates will change. At this time, the angle between the double-acting cylinder and the horizontal plate will change, and the universal joint can maintain the continuity of transmission.

[0014] Preferably, two symmetrically distributed limiting rods are fixed on the mounting plate, and there are two piston rods at one end of the bidirectional cylinder, with the limiting rod located between the two piston rods and abutting against the cylinder end of the bidirectional cylinder.

[0015] By adopting the above technical solution, the two limiting rods limit the cylinder body of the bidirectional cylinder from both sides, thereby ensuring that the angle between the two horizontal plates and the mounting plate remains consistent and improving clamping stability.

[0016] Preferably, the rotating assembly includes a dual-head motor mounted on a bidirectional cylinder, with widened gears fixed on both ends of the dual-head motor shafts, and transmission gears rotatably mounted on both ends of the bidirectional cylinder, with the transmission gears meshing with the widened gears, and one end of the universal joint being fixedly connected to the transmission gears.

[0017] By adopting the above technical solution, the dual-head motor drives the widened gear to rotate, and the widened gear, transmission gear and universal joint drive the rotating rod to rotate. The included angle of the two horizontal plates will not affect the rotation transmission when adjusted.

[0018] Preferably, the eaves at both ends of the through hole are provided with rounded corners, and the inner wall of the through hole is provided with a lubricating coating.

[0019] By adopting the above technical solution, the lubricating coating can reduce the friction between the tension wire and the inner wall of the through hole and extend its service life.

[0020] Preferably, the inner width of the take-up roller is the same as the diameter of the tension wire.

[0021] By adopting the above technical solution, the tension wire can only be stacked in a single layer on the take-up roller, ensuring that the take-up and unwinding lengths of the tension wire are consistent when the two take-up rollers rotate at the same angle.

[0022] In summary, this application includes at least one of the following beneficial technical effects:

[0023] 1. Straight pipes are clamped from the outside by the outer clamping rod, while bent pipes are clamped by the inner clamping rod extending into and spreading from one end. Different clamping points can be used when clamping pipes of different shapes to achieve better clamping effect and further facilitate loading and unloading. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall isometric structure of this application;

[0025] Figure 2 This is a schematic diagram of the overall planar structure of this application;

[0026] Figure 3 For this application Figure 2 Enlarged structural diagram at point A;

[0027] Figure 4 This is a partial three-dimensional structural diagram of this application.

[0028] Reference numerals: 1. Mounting plate; 2. Horizontal plate; 3. Vertical plate; 4. Pneumatic gripper; 5. Outer clamping rod; 6. Inner clamping rod; 7. Compression spring; 8. Tension wire; 9. Rotating rod; 10. Take-up roller; 11. Two-way cylinder; 12. Universal joint; 13. Limiting rod; 14. Dual-head motor; 15. Widened gear; 16. Transmission gear. Detailed Implementation

[0029] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0030] This application discloses a robotic gripping mechanism for processing seatbelt tubes.

[0031] Example 1

[0032] Reference Figure 1 , Figure 2 A robotic gripper mechanism for processing seat belt tubes includes a mounting plate 1 for connecting a robotic arm. Two horizontal plates 2 are hinged to both sides of the mounting plate 1, and a second adjustment mechanism is provided between the two horizontal plates 2. A vertical plate 3 is hinged to the end of the horizontal plate 2, and a first adjustment mechanism is provided between the vertical plate 3 and the horizontal plate 2. The horizontal plates 2 are perpendicular to the mounting plate 1, and the vertical plate 3 is perpendicular to the horizontal plate 2. A pneumatic gripper 4 is installed on the side of the vertical plate 3 away from the mounting plate 1. An outer gripping rod 5 is fixed to two moving parts of one of the pneumatic grippers 4 for gripping the seat belt tube from the outside, and an inner gripping rod 6 is fixed to two moving parts of the other pneumatic gripper 4 for gripping the seat belt tube from the inside.

[0033] With the above settings, appropriate clamping methods can be adopted for pipes of different shapes during pipe clamping operations: for straight pipes, the outer clamping rod 5 can be used for clamping; for curved pipes, the inner clamping rod 6 extends from one end and spreads out to clamp the curved pipe. The clamping position can be flexibly selected according to the shape of the pipe, significantly improving the clamping effect and making the loading and unloading process more convenient. If two clamping positions conflict, the unfolding angle of the two horizontal plates 2 and the angle between the horizontal plate 2 and the vertical plate 3 can be adjusted to ensure that when the robotic arm uses one pneumatic gripper 4, the structure on the other pneumatic gripper 4 will not interfere with the current operation, thus adapting to more diverse loading and unloading angles and positions.

[0034] Reference Figure 1 , Figure 2 and Figure 3 The first adjusting mechanism comprises a first extension plate fixed to the horizontal plate 2 and a second extension plate fixed to the vertical plate 3. A compression spring 7 is installed between the first and second extension plates. A tension wire 8 is connected to the second extension plate. A through hole is provided in the middle of the first extension plate. One end of the tension wire 8 is connected to the second extension plate, and the other end passes through the compression spring 7 and the through hole in sequence. Both ends of the through hole are rounded, and a lubricating coating is provided on the inner wall of the through hole. A rotating rod 9 is rotatably provided on the horizontal plate 2. A take-up roller 10 is installed on the rotating rod 9. The other end of the tension wire 8 after passing through the through hole is wound around the take-up roller 10. The inner width of the take-up roller 10 is the same as the diameter of the tension wire 8. The take-up roller 10 is also equipped with a rotating component for driving its rotation.

[0035] With the above settings, the rotating component drives the rotating rod 9 to rotate, which allows the tension wire 8 to be wound or released by the take-up roller 10. With the support force of the compression spring 7, the angle between the horizontal plate 2 and the vertical plate 3 can be adjusted. Moreover, the tension wire 8 can only be stacked in a single layer on the take-up roller 10. When the two take-up rollers 10 rotate at the same angle, the winding and unwinding lengths of the tension wire 8 are consistent. In addition, the lubricating coating can reduce the friction between the tension wire 8 and the inner wall of the through hole and extend its service life.

[0036] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 The second adjustment mechanism includes a bidirectional cylinder 11 disposed between two horizontal plates 2. The two piston ends of the bidirectional cylinder 11 are connected to two rotating rods 9 via universal joints 12. Two symmetrically distributed limiting rods 13 are fixed on the mounting plate 1. The two piston rods at one end of the bidirectional cylinder 11 are two in number, and the two limiting rods 13 are positioned precisely between the two piston rods. The limiting rods 13 abut against the cylinder body end of the bidirectional cylinder 11, thereby achieving precise limiting and adjustment functions.

[0037] With the above settings, the two limiting rods 13 restrict the position of the bidirectional cylinder 11, ensuring that the bidirectional cylinder 11 is located between the two horizontal plates 2, thereby making the horizontal plates 2 always symmetrically distributed during adjustment, making the structure more stable. Moreover, the universal joint 12 can create a hinge effect between the rotating rod 9 and the bidirectional cylinder 11. As the bidirectional cylinder 11 extends, the angle between the two horizontal plates 2 will change. At this time, the angle between the bidirectional cylinder 11 and the horizontal plate 2 will change, and the universal joint 12 can maintain the continuity of transmission.

[0038] refer to Figure 3 and Figure 4 The rotating assembly includes a dual-head motor 14 fixed to a bidirectional cylinder 11, with widened gears 15 fixedly connected to the shafts at both ends of the motor 14. At both ends of the bidirectional cylinder 11, transmission gears 16 are rotatably mounted, each transmission gear 16 meshing with a corresponding widened gear 15. Furthermore, one end of a universal joint 12 is fixedly connected to the transmission gear 16, thus enabling power transmission and rotational adjustment.

[0039] With the above setup, the dual-head motor 14 drives the widened gear 15 to rotate, and through the widened gear 15, the transmission gear 16 and the universal joint 12 drive the rotating rod 9 to rotate. When the angle of the two horizontal plates 2 is adjusted, the transmission gear 16 will move outward. At this time, the meshing position moves outward to the widened gear 15, and power transmission can still be carried out. When the included angle of the two horizontal plates 2 is adjusted, it will not affect the rotation transmission.

[0040] The implementation principle of the robotic gripper mechanism for processing seatbelt tubes in this application embodiment is as follows:

[0041] In pipe clamping operations, straight pipes can be clamped using the outer clamping rod 5; for curved pipes, the inner clamping rod 6 extends from one end and spreads out to clamp the curved pipe. The clamping position can be flexibly selected according to the shape of the pipe, significantly improving the clamping effect and making the loading and unloading process more convenient. If two clamping positions conflict, the extension and retraction of the two horizontal plates 2 and the angle between the horizontal plate 2 and the vertical plate 3 can be adjusted by the extension and retraction of the bidirectional cylinder 11, and the angle between the vertical plate 3 and the horizontal plate 2 can be adjusted by the rotation of the dual-head motor 14. This allows the two pneumatic grippers 4 to be adjusted to different positions, ensuring that when the robotic arm uses one pneumatic gripper 4, the structure on the other pneumatic gripper 4 will not interfere with the current operation, thus adapting to more diverse loading and unloading angles and positions.

[0042] In summary, this device can use different clamping points when clamping pipes of different shapes, thereby achieving a better clamping effect and further facilitating loading and unloading.

[0043] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A robotic gripping mechanism for processing seatbelt tubes, comprising a mounting plate (1) for connecting the robotic arm, characterized in that: The mounting plate (1) has two horizontal plates (2) on both sides. The ends of the horizontal plates (2) are connected to vertical plates (3). The horizontal plates (2) are perpendicular to the mounting plate (1), and the vertical plates (3) are perpendicular to the horizontal plates (2). Pneumatic grippers (4) are installed on the side of the vertical plates (3) away from the mounting plate (1). One of the pneumatic grippers (4) has two moving parts with external clamping rods (5) fixed on them for clamping the seat belt tube from the outside. The other pneumatic gripper (4) has two moving parts with internal clamping rods (6) fixed on them for clamping the seat belt tube from the inside.

2. The robotic gripping mechanism for processing seatbelt tubes according to claim 1, characterized in that: The horizontal plate (2) is hinged to the vertical plate (3) and the mounting plate (1) respectively. A first adjustment mechanism is provided between the horizontal plate (2) and the vertical plate (3) to adjust the angle between the horizontal plate (2) and the vertical plate (3). A second adjustment mechanism is provided between the two horizontal plates (2) to adjust the unfolding angle of the two horizontal plates (2).

3. The robotic gripping mechanism for processing seatbelt tubes according to claim 2, characterized in that: The first adjustment mechanism includes a first extension plate fixed on the horizontal plate (2) and a second extension plate fixed on the vertical plate (3). A compression spring (7) is provided between the first extension plate and the second extension plate. A tension wire (8) is connected to the second extension plate. A through hole is provided in the middle of the first extension plate. The other end of the tension wire (8) passes through the compression spring (7) and the through hole. A rotating rod (9) is rotatably provided on the horizontal plate (2). A take-up roller (10) is installed on the rotating rod (9). The other end of the tension wire (8) is wound around the take-up roller (10). A rotating component is provided on the take-up roller (10).

4. The robotic gripping mechanism for processing seatbelt tubes according to claim 3, characterized in that: The second adjustment mechanism includes a two-way cylinder (11) located between two horizontal plates (2), and the two piston ends of the two-way cylinder (11) are connected to two rotating rods (9) respectively through universal joints (12).

5. The robotic gripping mechanism for processing seatbelt tubes according to claim 4, characterized in that: Two symmetrically distributed limiting rods (13) are fixed on the mounting plate (1). There are two piston rods at one end of the bidirectional cylinder (11), and the limiting rod (13) is located between the two piston rods. The limiting rod (13) abuts against the cylinder end of the bidirectional cylinder (11).

6. The robotic gripping mechanism for processing seatbelt tubes according to claim 4, characterized in that: The rotating assembly includes a double-headed motor (14) mounted on a bidirectional cylinder (11). Widened gears (15) are fixed on the rotating shafts at both ends of the double-headed motor (14). Transmission gears (16) are rotatably arranged at both ends of the bidirectional cylinder (11), and the transmission gears (16) mesh with the widened gears (15). One end of the universal joint (12) is fixedly connected to the transmission gears (16).

7. The robotic gripping mechanism for processing seatbelt tubes according to claim 3, characterized in that: Both ends of the through hole are rounded, and a lubricating coating is provided on the inner wall of the through hole.

8. The robotic gripping mechanism for processing seatbelt tubes according to claim 3, characterized in that: The inner width of the take-up roller (10) is the same as the diameter of the tension wire (8).

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