A robot gripper that automatically indexes

Abstract

This utility model discloses an automatic tooth-aligning robot gripper, belonging to the field of industrial automation technology. It includes a robot mounting base and four adjusting rings. The four adjusting rings are rotatably connected to a coordinate stage. Infrared sensors are fixedly connected to the surfaces of each of the four adjusting rings. Connecting plugs are inserted into the interior of each of the four adjusting rings, and sensing plates are fixedly connected to the surfaces of each of the four connecting plugs. This utility model, by setting up a multi-linked rotating arm, can drive a device to simultaneously perform tooth-aligning and gripping operations on multiple toothed workpieces in conjunction with a rotating component and tooth-aligning rings. When workpiece misalignment occurs, it can drive the rotating component and tooth-aligning rings to adjust synchronously, ensuring the completion of tooth-aligning and gripping of the toothed workpiece. The workpiece can then be transferred using the multi-linked rotating arm, requiring no manual intervention throughout the process. This significantly improves tooth-aligning and gripping efficiency, adapts to the high-efficiency operation requirements of automated production lines, and effectively replaces traditional manual operation.

Description

Technical Field

[0001] This utility model belongs to the field of industrial automation technology, specifically relating to a robotic gripper with automatic tooth alignment. Background Technology

[0002] Automatic tooth-aligning robotic grippers are specialized end effectors in the field of industrial robots. Their core function is to achieve automatic positioning, precise tooth alignment, and stable clamping of toothed workpieces through integrated mechanical structures and sensing and control components, without the need for manual calibration of the tooth meshing position.

[0003] The existing toothed workpiece clamping operation requires manual positioning to complete the clamping, which is not only inefficient but also difficult to adapt to the high-efficiency operation requirements of automated production lines. Therefore, an automatic tooth-aligning robotic gripper is needed to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to provide an automatic tooth-aligning robotic gripper to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an automatic tooth-aligning robot gripper, comprising a robot mounting base and four adjusting rings, the four adjusting rings being rotatably connected to a coordinate stage, infrared sensors being fixedly connected to the surfaces of the four adjusting rings, connecting plugs being inserted into the interior of the four adjusting rings, sensing plates being fixedly connected to the surfaces of the four connecting plugs, the four sensing plates being located in the sensing areas of the four infrared sensors, springs being fixedly connected to the tops of the four connecting plugs, the tops of the four springs being fixedly connected to the inner walls of the four adjusting rings, external racks being fixedly connected to the bottoms of the four connecting plugs, tooth-aligning rings being fixedly connected to the bottoms of the four external racks, internal splines being formed on the inner walls of the four tooth-aligning rings, and inlets being fixedly connected to the bottoms of the four external racks.

[0006] By setting up a multi-link rotating arm on the machine, in conjunction with a rotating component and a toothed ring, a device can be driven to perform synchronous tooth clamping operations on multiple toothed workpieces. When a workpiece is misaligned, the rotating component and the toothed ring can be driven to adjust synchronously to ensure that the toothed workpiece is clamped. Afterwards, the workpiece can be transferred with the help of the multi-link rotating arm on the machine. No manual intervention is required throughout the process. This not only greatly improves the tooth clamping efficiency and meets the high-efficiency operation requirements of automated production lines, but also effectively replaces the traditional manual operation mode.

[0007] As a preferred embodiment, the top of the robot mounting base is fixedly connected to a combination column.

[0008] As a preferred embodiment, the top of the combined column is fixedly connected to an assembly.

[0009] As a preferred embodiment, the surface of the assembly is fixedly connected with power transmission lines.

[0010] As a preferred embodiment, the top of the assembly is rotatably connected to a multi-link rotating arm.

[0011] As a preferred embodiment, one end of the multi-link rotating arm of the machine is fixedly connected to a rotating component.

[0012] As a preferred embodiment, the rotating component has an internal power transmission interface.

[0013] As a preferred embodiment, a coordinate stage is fixedly connected to the bottom of the rotating component.

[0014] As a preferred embodiment, the coordinate stage has four coordinate positioning holes inside.

[0015] By setting up a precise positioning system consisting of a sensing plate, spring, and infrared sensor, the alignment status of the workpiece and the internal spline teeth can be monitored in real time. When the workpiece is misaligned, the spring compression drives the connecting plug and the sensing plate to rise, so that the sensing plate enters the sensing area of ​​the infrared sensor. The sensor captures the signal and feeds it back to the control terminal to ensure timely and accurate tooth adjustment. After the workpiece is matched, the spring elastically resets and drives the structure to reset, completing the tooth alignment and improving the tooth alignment accuracy.

[0016] Compared with the prior art, the beneficial effects of this utility model are: This invention, by setting up a multi-link rotating arm on the machine, can simultaneously perform toothed workpiece clamping operations with a rotating component and a toothed ring driving the device. When the workpiece is misaligned, it can drive the rotating component and the toothed ring to adjust synchronously, ensuring that the toothed workpiece is clamped. Afterwards, the workpiece can be transferred with the help of the multi-link rotating arm on the machine. The entire process requires no manual intervention, which can not only greatly improve the tooth clamping efficiency and adapt to the high-efficiency operation requirements of automated production lines, but also effectively replace the traditional manual operation mode.

[0017] This invention utilizes a precise positioning system consisting of a sensing plate, a spring, and an infrared sensor to monitor the alignment of the workpiece and the internal spline teeth in real time. When the workpiece is misaligned, the spring compression causes the connecting plug and the sensing plate to rise, allowing the sensing plate to enter the sensing area of ​​the infrared sensor. The sensor captures the signal and feeds it back to the control terminal, ensuring timely and accurate tooth alignment. After the workpiece is matched, the spring elastically resets, causing the structure to reset, completing the tooth alignment and improving the tooth alignment accuracy. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the coordinate stage of this utility model; Figure 3 This is a partial cross-sectional structural diagram of the present invention; Figure 4 This utility model Figure 3 Enlarged structural diagram at point A; Figure 5 This utility model Figure 3 Enlarged structural diagram at point B.

[0019] In the diagram: 1. Robot mounting base; 2. Combined column; 3. Assembly component; 4. Power transmission line; 5. Multi-link rotating arm of the robot; 6. Rotating component; 7. Power transmission interface; 8. Coordinate stage; 9. Coordinate positioning hole; 10. Adjustment ring; 11. Infrared sensor; 12. Connecting plug; 13. Sensing plate; 14. Spring; 15. External rack; 16. Gear ring; 17. Internal spline; 18. Inlet. Detailed Implementation

[0020] The present invention will be further described below with reference to the embodiments.

[0021] The following embodiments are used to illustrate the present invention, but should not be used to limit the scope of protection of the present invention. The conditions in the embodiments can be further adjusted according to specific conditions, and simple improvements to the method of the present invention under the premise of the concept of the present invention are all within the scope of protection claimed by the present invention.

[0022] Please see Figure 1-5 This utility model provides an automatic tooth-aligning robot gripper, including a robot mounting base 1 and four adjusting rings 10. The four adjusting rings 10 are rotatably connected to a coordinate stage 8. Infrared sensors 11 are fixedly connected to the surfaces of the four adjusting rings 10. Connecting plugs 12 are inserted into the interior of each of the four adjusting rings 10. Sensing plates 13 are fixedly connected to the surfaces of each of the four connecting plugs 12, located within the sensing areas of the four infrared sensors 11. Springs 14 are fixedly connected to the tops of each of the four connecting plugs 12, with the tops of the springs 14 fixedly connected to the inner walls of the four adjusting rings 10. External racks 1 are fixedly connected to the bottoms of each of the four connecting plugs 12. 5. The bottom of each of the four external racks 15 is fixedly connected to a toothed ring 16. The inner walls of the four toothed rings 16 are respectively provided with internal splines 17. The bottom of each of the four external racks 15 is fixedly connected to an inlet 18. By setting up a multi-link rotating arm 5, the rotating component 6 and the toothed rings 16 can drive the device to carry out synchronous toothed clamping operations on multiple toothed workpieces. When the workpiece is misaligned, the rotating component 6 and the toothed rings 16 can be driven to adjust synchronously to ensure that the toothed workpiece is clamped. Afterwards, the workpiece can be transferred with the help of the multi-link rotating arm 5. No manual intervention is required throughout the process. This can not only greatly improve the toothed clamping efficiency and meet the high-efficiency operation requirements of automated production lines, but also effectively replace the traditional manual operation mode.

[0023] The top of the robot mounting base 1 is fixedly connected to the combined column 2.

[0024] The top of the composite column 2 is fixedly connected to the assembly component 3.

[0025] The surface of assembly 3 is fixedly connected with a power transmission line 4.

[0026] The top of assembly 3 is rotatably connected to a multi-link rotating arm 5.

[0027] One end of the machine's multi-link rotating arm 5 is fixedly connected to a rotating component 6.

[0028] The rotating part 6 has a power transmission interface 7 inside.

[0029] The bottom of the rotating component 6 is fixedly connected to a coordinate platform 8.

[0030] The coordinate stage 8 has four coordinate positioning holes 9 inside. Through the precise positioning system consisting of the sensing plate 13, spring 14 and infrared sensor 11, the alignment status of the workpiece and the internal spline tooth 17 can be monitored in real time. When the workpiece is misaligned, the spring 14 is compressed, which drives the connecting plug 12 and the sensing plate 13 to rise, so that the sensing plate 13 enters the sensing area of ​​the infrared sensor 11. The sensor captures the signal and feeds it back to the control terminal to ensure timely and accurate tooth adjustment. After the workpiece is matched, the spring 14 elastically resets, which drives the structure to reset, completes the tooth alignment and improves the tooth alignment accuracy.

[0031] Working principle and usage process of this utility model: In operation, first fix the robot mounting base 1, connect the multi-link rotary arm 5 to the assembly 3 via the combination column 2, connect the power supply line 4 and the power interface 7 to supply power, and then use the coordinate positioning hole 9 of the coordinate stage 8 to calibrate the initial position of the gripper; then the multi-link rotary arm 5 drives the device to approach the toothed workpiece, so that the workpiece enters the toothed ring 16 through the inlet 18. If the workpiece is misaligned with the internal spline teeth 17 of the inner wall of the toothed ring 16, the spring 14 will be compressed, and the connecting plug 12 will slide upward along the inner wall of the adjusting ring 10, driving the sensing plate 13 to rise to the sensing area of ​​the infrared sensor 11. The device then sends a signal, and the built-in control unit drives the multi-link rotating arm 5 and the rotating component 6 to adjust the coordinate stage 8, which in turn drives the toothed ring 16 and the internal spline teeth 17 to rotate synchronously until the workpiece is successfully matched with the internal spline teeth 17. At this time, the spring 14 returns to its original position. When the infrared sensor 11 detects that the workpiece and the internal spline teeth 17 are fully engaged, the adjusting ring 10 stops rotating, the toothed ring 16 clamps the workpiece, and the multi-link rotating arm 5 transfers the workpiece to the target position, completing the transfer. The whole system achieves automatic tooth alignment and clamping of toothed workpieces through infrared sensing positioning and mechanical linkage adjustment, replacing manual operation to meet the needs of automated production.

[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. An automatic tooth-aligning robot gripper, comprising a robot mounting base (1) and four adjusting rings (10), characterized in that: The four adjustment rings (10) are rotatably connected to the coordinate stage (8). Infrared sensors (11) are fixedly connected to the surface of the four adjustment rings (10). Connecting plugs (12) are inserted into the interior of the four adjustment rings (10). Sensing plates (13) are fixedly connected to the surface of the four connecting plugs (12). The four sensing plates (13) are located in the sensing area of ​​the four infrared sensors (11). Springs (14) are fixedly connected to the top of the four connecting plugs (12). The top of the four springs (14) is fixedly connected to the inner wall of the four adjustment rings (10). External racks (15) are fixedly connected to the bottom of the four connecting plugs (12). Gear rings (16) are fixedly connected to the bottom of the four external racks (15). Internal splines (17) are opened on the inner wall of the four gear rings (16). Inlet ports (18) are fixedly connected to the bottom of the four external racks (15).

2. The robotic gripper with automatic tooth alignment according to claim 1, characterized in that: The top of the robot mounting base (1) is fixedly connected to a combination column (2).

3. The robotic gripper with automatic tooth alignment according to claim 2, characterized in that: The top of the combined column (2) is fixedly connected to the assembly (3).

4. The robotic gripper with automatic tooth alignment according to claim 3, characterized in that: The surface of the assembly (3) is fixedly connected with a power transmission line (4).

5. The robotic gripper with automatic tooth alignment according to claim 4, characterized in that: The top of the assembly (3) is rotatably connected to a multi-link rotating arm (5).

6. The robotic gripper with automatic tooth alignment according to claim 5, characterized in that: One end of the machine's multi-link rotating arm (5) is fixedly connected to a rotating component (6).

7. The robotic gripper with automatic tooth alignment according to claim 6, characterized in that: The rotating component (6) has a power transmission interface (7) inside.

8. The robotic gripper with automatic tooth alignment according to claim 7, characterized in that: The bottom of the rotating component (6) is fixedly connected to a coordinate platform (8).

9. The robotic gripper with automatic tooth alignment according to claim 8, characterized in that: The coordinate stage (8) has four coordinate positioning holes (9) inside.

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