Cylindrical part gripping robot

Abstract

This utility model relates to a cylindrical part gripping robot, which uses electricity as a power source. It includes: a support arm, a rotating head, gripping claw I, and gripping claw II. One end of the support arm is mounted on a slide rail of a processing device, and the other end has a rotating shaft connected to an electric drive device. The rotating head is L-shaped, with a rotating neck at a 45-degree angle to both the horizontal and vertical sides at the intersection of the L-shaped head, and this rotating neck is fixed to the rotating shaft of the support arm. Gripping claw I and gripping claw II are respectively mounted at the ends of the horizontal and vertical sides of the L-shaped rotating head. Gripping claw I includes: a housing, three claws, a drive disk, a bearing, a motor, gears, and a rear cover. Gripping claw II is the same as gripping claw I, except that a pushing mechanism, including a sliding column, a sliding plate, and a spring, is provided on the front side of the semi-closed end of the housing. The beneficial technical effect of this utility model is that it uses electricity as a power source, effectively simplifying the structure and reducing manufacturing and maintenance costs.

Description

Technical Field

[0001] This utility model relates to a cylindrical part gripping technology, and more particularly to a cylindrical part gripping robot. Background Technology

[0002] Cylindrical parts are among the most common components in the machinery industry, typically machined on lathes or combination machine tools for both internal and external diameters. With increasing automation in the machining industry, using robotic grippers to pick up and load / unload cylindrical parts onto lathes or combination machine tools has become a standard practice. Current methods for gripping cylindrical parts mostly use compressed air as the power source for the robotic grippers. Because the grippers need to frequently move between the placement area of ​​the cylindrical part and the chuck of the lathe or combination machine tool, the overall structure of the grippers is relatively complex to prevent gas leakage and facilitate gripping, resulting in high manufacturing and maintenance costs. Furthermore, to continuously supply compressed air, dedicated gas compression, storage, and transmission pipelines are required, further increasing the machining and maintenance costs of cylindrical parts. Summary of the Invention

[0003] To address the above problems, this utility model proposes a cylindrical part gripping robot.

[0004] This utility model relates to a cylindrical part gripping robot, which uses electricity as a power source and includes: a support arm, a rotating head, gripping claw I, and gripping claw II. One end of the support arm is mounted on a slide rail of a processing device, and the other end is provided with a rotating shaft, which is connected to an electric drive device. The rotating head is L-shaped, and a rotating neck is provided at the intersection of the horizontal and vertical sides of the L-shaped rotating head, forming a 45-degree angle with both the horizontal and vertical sides, and the rotating neck is fixed to the rotating shaft of the support arm. Gripping claw I and gripping claw II are respectively... Installed at the ends of the horizontal and vertical sides of an L-shaped rotary head, wherein the clamping jaw I comprises: a housing, three jaws, a drive disc, a bearing, a motor, a gear, and a rear cover; the housing is a semi-closed cylinder at one end, with three circumferentially distributed T-shaped slides at the semi-closed end of the cylindrical housing; the three jaws are three elongated jaws with a T-shaped cross-section, slidably installed within the T-shaped slides of the housing; each elongated jaw has a jaw post on its front and a threaded groove on its back; wherein, the... The claw column is located on a concentric circle with the outer shell. The threaded groove is a single planar thread cut into three evenly distributed segments. The front end of the drive disk is provided with a planar thread that matches the threaded groove of the three claws and meshes with the threaded groove of the three claws. The rear end of the drive disk is provided with circumferential internal teeth. The bearing is installed between the outer circle of the drive disk and the inner circle of the outer shell. The rotating shaft of the motor is eccentrically fixed to the inner side of the rear cover. The gear is fixed on the rotating shaft of the motor, and when the rear cover is fixed to the rear end of the outer shell, the gear meshes with the circumferential internal teeth of the rear end of the drive disk. The clamping claw II is the same as the clamping claw I, except that a pushing mechanism is also provided on the front side of the semi-closed end of the outer shell, including: sliding columns, sliding plates, and springs. There are three sliding columns, which are evenly distributed and fixed on the front side of the semi-closed end of the outer shell. The sliding plate is Y-shaped, and three legs are slidably installed on the three sliding columns. There are three springs, which are respectively fitted between the bottom side of the sliding plate of the three sliding columns and the front side of the semi-closed end of the outer shell.

[0005] Furthermore, the upper half of the claw post is fitted with a rubber or plastic sleeve.

[0006] The beneficial technical effect of this utility model of a cylindrical part gripping robot is that it uses electricity as a power source, which effectively simplifies the structure and effectively reduces manufacturing and maintenance costs. Attached Figure Description

[0007] Appendix Figure 1 This is a three-dimensional schematic diagram of the cylindrical part gripping robot of this utility model;

[0008] Appendix Figure 2 This is a three-dimensional schematic diagram of the rotating head of this utility model;

[0009] Appendix Figure 3 This is an exploded three-dimensional schematic diagram of the clamping claw I of this utility model;

[0010] Appendix Figure 4This is an exploded three-dimensional schematic diagram of the clamping claw I of this utility model from another angle;

[0011] Appendix Figure 5 This is a three-dimensional schematic diagram of the clamping claw II of this utility model;

[0012] Appendix Figure 6 This is a three-dimensional schematic diagram of the clamping claw II of this utility model in the clamping state;

[0013] Appendix Figure 7 This is a three-dimensional schematic diagram of the clamping claw II of this utility model in its placement state.

[0014] In the diagram, 1 is the support arm; 2 is the rotating head; 3 is clamping jaw I; 3-1 is the outer shell; 3-2 is the three-jaw chuck; 3-3 is the drive disc; 3-4 is the bearing; 3-5 is the motor; 3-6 is the gear; 3-7 is the rear cover; 3-8 is the rubber or plastic sleeve; 3-9 is the pushing mechanism; 3-9-1 is the sliding column; 3-9-2 is the sliding plate; 3-9-3 is the spring; 4 is clamping jaw II; A is a cylindrical part; B is the lathe or combination machine tool chuck.

[0015] The present invention provides a further description of the cylindrical part gripping robot in conjunction with the accompanying drawings and specific embodiments. Detailed Implementation

[0016] See appendix Figure 1-7 As shown in the figure, this utility model of a cylindrical part gripping robot uses electricity as a power source and includes: a support arm 1, a rotating head 2, gripping claw I 3, and gripping claw II 4 (see attached figure). Figure 1 One end of the support arm is mounted on the slide rail of the processing device, and the other end is provided with a rotating shaft, which is connected to an electric drive device; the rotating head is L-shaped, and a rotating neck is provided at the intersection of the horizontal and vertical sides of the L-shaped rotating head, which is at a 45-degree angle to both the horizontal and vertical sides, and the rotating neck is fixed on the rotating shaft of the support arm; the clamping jaws I and II are respectively installed at the ends of the horizontal and vertical sides of the L-shaped rotating head (see Appendix). Figure 2The clamping jaw I comprises: a housing 3-1, three jaws 3-2, a drive disk 3-3, a bearing 3-4, a motor 3-5, a gear 3-6, and a rear cover 3-7; the housing is a semi-closed cylinder at one end, with three circumferentially distributed T-shaped slides at the semi-closed end; the three jaws are three long, T-shaped jaws with a cross-section of T, which are slidably installed in the T-shaped slides of the housing; each long, T-shaped jaw has a jaw post on its front and a threaded groove on its back; wherein the jaw post is positioned relative to the outer... On the concentric circumference of the shell, the threaded groove is three segments evenly distributed and cut from a single planar threaded circumference; the front end of the drive disc is provided with a planar thread that matches the threaded groove of the three-jaw jack and meshes with the threaded groove of the three-jaw jack; a circumferential internal tooth is provided at the rear end of the drive disc; the bearing is installed between the outer circle of the drive disc and the inner circle of the shell; the motor shaft is eccentrically fixed to the inner side of the rear cover; the gear is fixed on the motor shaft, and when the rear cover is fixed to the rear end of the shell, the gear meshes with the circumferential internal tooth of the rear end of the drive disc (see Appendix). Figure 3 , 4 The clamping claw II is the same as the clamping claw I, except that a pushing mechanism 3-9 is also provided on the front side of the semi-closed end of the outer shell, including: sliding pillars 3-9-1, sliding plates 3-9-2, and springs 3-9-3; there are three sliding pillars, evenly distributed and fixed on the front side of the semi-closed end of the outer shell; the sliding plate is Y-shaped, with three legs slidably mounted on the three sliding pillars; there are three springs, respectively fitted between the bottom side of the sliding plates of the three sliding pillars and the front side of the semi-closed end of the outer shell (see Appendix). Figure 5 In practical use, the support arm of the cylindrical part gripping robot of this utility model is installed on the slide rail of the processing device, so that the support arm drives the gripping claws I and II to reciprocate between the placement point and the chuck of the lathe or combination machine tool. That is, the blank is transferred from the placement point to the chuck of the lathe or combination machine tool, and is clamped and processed by the chuck of the lathe or combination machine tool. After processing, the processed product is transferred from the chuck of the lathe or combination machine tool back to the placement point. The gripping claws I and II of this utility model drive the drive disk to rotate forward and backward through the forward and reverse rotation of the motor, thereby driving the three strip claws to move along their respective T-shaped slides towards or away from the center, so that the claw posts on the strip claws clamp or release the cylindrical part located at the center. To ensure that the billet can be fed into the chuck of a lathe or machine tool even when the chuck is placed horizontally, a pushing mechanism is added to clamping jaw II. When clamping jaw II releases the billet, the slide plate, pushed by a spring, pushes the billet axially into the chuck of the lathe or machine tool (see Appendix). Figure 6 , 7In the specific processing, the first piece is processed first. The clamping jaws II are moved directly above the vertically placed blank, and then moved vertically downwards, overcoming the spring tension to press the slide plate against the outer shell. The motor is then turned on to clamp the blank between the three jaw posts. Due to the clamping of the jaw posts, the spring tension cannot push the blank out of the jaw posts. The support arm moves the clamping jaws II to the chuck of the lathe or combination machine tool. The electric drive device inside the support arm rotates the rotating head 180 degrees, changing the clamping jaws II from a vertical position to a horizontal position. The blank is aligned with the chuck of the lathe or combination machine tool, and the blank is released. The blank enters the chuck of the lathe or combination machine tool under the push of the spring. The lathe or combination machine tool begins processing the blank. Simultaneously, the support arm drives clamping jaws I and II back to their placement position. The rotary head rotates 180 degrees, returning clamping jaw II to a vertical position. Clamping jaw II picks up the blank, and the support arm drives clamping jaws I and II to the chuck of the lathe or combination machine tool. At this point, the blank has been processed. Clamping jaw I removes the processed product from the chuck of the lathe or combination machine tool. The rotary head rotates 180 degrees, and clamping jaw II rotates to a horizontal position, placing the blank in the chuck of the lathe or combination machine tool. The lathe or combination machine tool begins processing the blank again. Simultaneously, the support arm drives clamping jaws I and II back to their placement position, and clamping jaw I places the processed product in a set position. The rotary head rotates 180 degrees, and clamping jaw II rotates to a vertical position, picking up the blank. The support arm drives clamping jaws I and II to the chuck of the lathe or combination machine tool, beginning the cyclic processing of the processing device. This utility model of a cylindrical part gripper uses electricity as its power source, eliminating the need for compressed air pipelines and static or dynamic seals between pipelines and components, greatly reducing the complexity of the structure and effectively reducing manufacturing or maintenance costs.

[0017] As one of the preferred technical solutions, the upper half of the claw post is fitted with a rubber or plastic sleeve 3-8. Fitting the upper half of the claw post with a rubber or plastic sleeve can, on the one hand, increase the friction between the claw post and the outer circumference of the cylindrical part, making the gripping more stable; on the other hand, it can prevent the claw post from damaging the outer surface of the cylindrical part.

[0018] Obviously, the beneficial technical effect of this utility model of cylindrical part grasping robot is that it uses electricity as a power source, which effectively simplifies the structure and effectively reduces manufacturing and maintenance costs.

Claims

1. A cylindrical part gripping robot characterized by comprising: This robotic arm uses electricity as its power source and includes: a support arm, a rotating head, gripping jaw I, and gripping jaw II. One end of the support arm is mounted on a slide rail of the processing device, and the other end is provided with a rotating shaft, which is connected to an electric drive device. The rotating head is L-shaped, and a rotating neck is provided at the intersection of the horizontal and vertical sides of the L-shaped rotating head, forming a 45-degree angle with both sides, and the rotating neck is fixed to the rotating shaft of the support arm. Gripping jaw I and gripping jaw II are respectively installed at the ends of the horizontal and vertical sides of the L-shaped rotating head. Gripping jaw I includes: a shell, three jaws, a drive disk, a bearing, a motor, a gear, and a rear cover. The shell is a semi-closed cylinder at one end, and three T-shaped slides are evenly distributed around its circumference at the semi-closed end of the shell. The three jaws are three long strip-shaped jaws with a T-shaped cross-section, which are slidably installed in the T-shaped slides of the shell. Each long strip-shaped jaw has a claw post on its front and a threaded groove on its back. The claw post is positioned to meet the outer... On the concentric circumference of the shell, the threaded groove is a single planar thread cut into three segments; the front end of the drive disk is provided with a planar thread that matches the threaded groove of the three jaws and meshes with the threaded groove of the three jaws; a circumferential internal tooth is provided at the rear end of the drive disk; the bearing is installed between the outer circle of the drive disk and the inner circle of the shell; the motor shaft is eccentrically fixed to the inner side of the rear cover; the gear is fixed on the motor shaft, and when the rear cover is fixed to the rear end of the shell, the gear meshes with the circumferential internal tooth of the rear end of the drive disk; the clamping jaw II is the same as the clamping jaw I, except that a pushing mechanism is also provided on the front side of the semi-closed end of the shell, including: sliding columns, sliding plates and springs: there are three sliding columns, which are circumferentially fixed on the front side of the semi-closed end of the shell; the sliding plate is Y-shaped, and three legs are slidably installed on the three sliding columns; there are three springs, which are respectively fitted between the bottom side of the sliding plate of the three sliding columns and the front side of the semi-closed end of the shell.

2. The cylindrical part gripping robot according to claim 1, wherein The upper half of the claw post is fitted with a rubber or plastic sleeve.

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