CN117067244A

CN117067244A - Manipulator device

Info

Publication number: CN117067244A
Application number: CN202311349959.1A
Authority: CN
Inventors: 黄秋瑞; 陈忠杰
Original assignee: Wanxiang Digital Intelligence Chongqing Co ltd; Wanxiang Qianchao Co Ltd
Current assignee: Wanxiang Digital Intelligence Chongqing Co ltd; Wanxiang Qianchao Co Ltd
Priority date: 2023-10-18
Filing date: 2023-10-18
Publication date: 2023-11-17

Abstract

The present invention relates to a manipulator device. The manipulator device comprises a first grabbing mechanism, a second grabbing mechanism, a third grabbing mechanism, a position adjusting mechanism and a mounting seat, wherein the first grabbing mechanism is used for grabbing a first workpiece, the second grabbing mechanism is used for grabbing a second workpiece, and the third grabbing mechanism is used for grabbing a third workpiece. Along length direction, first snatch the mechanism and install the first end at the mount pad, second snatch the mechanism and install the second end at the mount pad with the third snatch the mechanism, and second snatch the mechanism and the third snatch the mechanism and distribute in proper order along the width direction perpendicular with length direction. The position adjusting mechanism is connected to the middle of the mounting seat and used for adjusting the positions of the first grabbing mechanism, the second grabbing mechanism, the third grabbing mechanism and the mounting seat. The first grabbing mechanism, the second grabbing mechanism and the third grabbing mechanism are arranged on the mounting base, so that the three parts can be grabbed at one time, the degree of automation is high, and the production efficiency is improved.

Description

Manipulator device

Technical Field

The invention relates to the technical field of robots, in particular to a manipulator device.

Background

With the development of upgrading and converting planning of industrial industry in China, the automatic transformation requirement for labor-intensive industry is more and more intense. The automatic transformation of the industrial industry mainly uses a manipulator to replace manual assembly, and a workpiece to be assembled is grabbed from a feeding station through the manipulator and moved to an assembly station for assembly.

In the prior art, when the mechanical arm is utilized to assemble products, the mechanical arm is used for grabbing a workpiece to carry out feeding, when the number of the workpieces contained in a certain product is large, the workpiece is required to be clamped for multiple times and then discharged, the assembly of the products can be completed, the production efficiency of industrial products is difficult to improve, and the market competitiveness of enterprises is reduced.

Disclosure of Invention

In order to solve the problem that the existing manipulator device can not simultaneously grasp a plurality of parts, the invention provides a manipulator device which comprises a first grasping mechanism, a second grasping mechanism, a third grasping mechanism, a position adjusting mechanism and a mounting seat, wherein,

the first grabbing mechanism is used for grabbing a first workpiece, the second grabbing mechanism is used for grabbing a second workpiece, and the third grabbing mechanism is used for grabbing a third workpiece;

the first grabbing mechanism is arranged at the first end of the mounting seat along the length direction, the second grabbing mechanism and the third grabbing mechanism are arranged at the second end of the mounting seat, and the second grabbing mechanism and the third grabbing mechanism are sequentially distributed along the width direction perpendicular to the length direction;

The position adjusting mechanism is connected to the middle of the mounting seat and used for adjusting the positions of the first grabbing mechanism, the second grabbing mechanism, the third grabbing mechanism and the mounting seat.

In some embodiments, the position adjustment mechanism includes a translation assembly and a rotation assembly, wherein,

the first end of the rotating assembly is connected to the middle of the mounting seat, and the rotating assembly is used for driving the first grabbing mechanism, the second grabbing mechanism, the third grabbing mechanism and the mounting seat to rotate along a first axis relative to the translation assembly;

the second end of the rotating component is connected with the translation component, and the translation component is used for driving the first grabbing mechanism, the second grabbing mechanism, the third grabbing mechanism, the mounting seat and the rotating component to move.

In some embodiments, the mount is mirror symmetrical about a second axis perpendicular to the length direction, and the position adjustment mechanism is connected to the second axis.

In some embodiments, the second and third gripping mechanisms are identical in shape, size, and weight and are disposed at the second end of the mount in mirror symmetry with respect to the second axis.

In some embodiments of the present invention, in some embodiments,

the first grabbing mechanism comprises a first clamping jaw, a second clamping jaw and a first driving assembly, wherein the first driving assembly is arranged at the first end of the mounting seat; at least one of the first clamping jaw and the second clamping jaw is connected with the first driving assembly, and the first driving assembly is used for driving at least one of the first clamping jaw and the second clamping jaw to move along the width direction;

the first clamping jaw comprises a first clamping surface and a second clamping surface, and the included angles of the first clamping surface and the second clamping surface are the same with the height direction; the second clamping jaw comprises a third clamping surface and a fourth clamping surface, and the included angles of the third clamping surface and the fourth clamping surface are the same as the included angles of the height direction; the height direction is perpendicular to both the length direction and the width direction.

In some embodiments, the outer wall surface of the first workpiece is provided with a first clamping groove; the first grabbing mechanism further comprises a first mounting piece and a second mounting piece;

the first clamping jaw is provided with a second clamping groove, and an opening of the second clamping groove is at least partially positioned on the first clamping surface and/or the second clamping surface; a third clamping groove is formed in the second clamping jaw, and an opening of the third clamping groove is at least partially positioned on the third clamping surface and/or the fourth clamping surface;

The first end of the first mounting piece is used for being detachably connected with the first clamping groove, and the second end of the first mounting piece is used for being detachably connected with the second clamping groove;

the first end of the second mounting piece is used for being detachably connected with the first clamping groove, and the second end of the second mounting piece is used for being detachably connected with the third clamping groove.

In some embodiments, the first clamping surface and the third clamping surface are disposed mirror symmetrically with respect to a central axis of the first workpiece, and the second clamping surface and the fourth clamping surface are disposed mirror symmetrically with respect to the central axis of the first workpiece; the first driving assembly is used for driving the first clamping jaw and the second clamping jaw to move along the width direction at the same time, so that the positions of central axes of the first workpieces with different sizes are the same when the first grabbing mechanism grabs the first workpieces with different sizes.

In some embodiments, the second grasping mechanism includes a third jaw, a fourth jaw, and a second drive assembly, wherein at least a portion of an outer peripheral surface of the third jaw and at least a portion of an outer peripheral surface of the fourth jaw are located on a first cylindrical surface;

The second driving assembly is installed at the second end of the mounting seat, the third clamping jaw and the fourth clamping jaw are connected with the second driving assembly, and the second driving assembly is used for driving the third clamping jaw and the fourth clamping jaw to jointly move towards or away from the central axis of the first cylindrical surface.

In some embodiments, the second gripping mechanism further comprises a fifth jaw connected to the second drive assembly, at least a portion of the outer peripheral surface of the third jaw, at least a portion of the outer peripheral surface of the fourth jaw, and at least a portion of the outer peripheral surface of the fifth jaw all lying on the first cylindrical surface; the third clamping jaw, the fourth clamping jaw and the fifth clamping jaw are uniformly distributed around the central axis of the first cylindrical surface; the second driving assembly is used for driving the third clamping jaw, the fourth clamping jaw and the fifth clamping jaw to move towards or away from the central axis of the first cylindrical surface together.

In some embodiments, the third clamping jaw comprises a first grabbing part and a first limiting part which are sequentially arranged along the height direction, and the fourth clamping jaw comprises a second grabbing part and a second limiting part which are sequentially arranged along the height direction;

The outer peripheral surfaces of the first grabbing part and the second grabbing part are both positioned on the first cylindrical surface; the first limiting part and the second limiting part are used for limiting the second workpiece to move along the height direction.

In some embodiments, the second grasping mechanism further comprises a first mounting post, a first spring, a first bracket, and a second bracket; the second end of the mounting seat is provided with a first mounting hole;

the first mounting column is arranged along the height direction, and the first end of the first mounting column penetrates through the first mounting hole and is fixedly connected with the first bracket; the second end of the first mounting column is fixedly connected with the second bracket; the first spring is sleeved at the second end of the first mounting column, and two ends of the first spring are clamped between the upper end face of the second bracket and the lower end face of the first end of the first mounting column;

the second driving component is fixedly connected with the second bracket; along the height direction, the mounting seat is positioned between the first bracket and the second bracket.

In some embodiments, the number of the first mounting posts, the first springs, and the first mounting holes is N, N being greater than or equal to 2; the central axes of all the first mounting holes are positioned on the second cylindrical surface.

In some embodiments, the third gripping mechanism comprises a sixth jaw, a seventh jaw, and a third drive assembly, wherein at least a portion of the outer peripheral surface of the sixth jaw and at least a portion of the outer peripheral surface of the seventh jaw are located on a second cylindrical surface;

the third driving assembly is installed at the second end of the installation seat, the sixth clamping jaw and the seventh clamping jaw are connected with the third driving assembly, and the third driving assembly is used for driving the sixth clamping jaw and the seventh clamping jaw to jointly move towards or away from the central axis of the second cylindrical surface.

In some embodiments, the third gripping mechanism further comprises an eighth jaw connected to the third drive assembly, at least a portion of the outer peripheral surface of the sixth jaw, at least a portion of the outer peripheral surface of the seventh jaw, and at least a portion of the outer peripheral surface of the eighth jaw all being located on the second cylindrical surface; the sixth clamping jaw, the seventh clamping jaw and the eighth clamping jaw are uniformly distributed around the central axis of the second cylindrical surface;

the third driving assembly is used for driving the sixth clamping jaw, the seventh clamping jaw and the eighth clamping jaw to move towards or away from the central axis of the second cylindrical surface together.

In some embodiments, the sixth clamping jaw comprises a third grabbing part and a third limiting part which are sequentially arranged along the height direction, and the seventh clamping jaw comprises a fourth grabbing part and a fourth limiting part which are sequentially arranged along the height direction;

the outer peripheral surfaces of the third grabbing part and the fourth grabbing part are both positioned on the second cylindrical surface; the third limiting part and the fourth limiting part are used for limiting the movement of the third workpiece along the height direction.

In some embodiments, the third grasping mechanism further comprises a second mounting post, a second spring, a third bracket, and a fourth bracket; the second end of the mounting seat is provided with a second mounting hole;

the second mounting column is arranged along the height direction, and the first end of the second mounting column penetrates through the second mounting hole and is fixedly connected with the third bracket; the second end of the second mounting column is fixedly connected with the fourth bracket; the second spring is sleeved at the second end of the second mounting column, and two ends of the second spring are clamped between the upper end face of the fourth bracket and the lower end face of the first end of the second mounting column;

the third driving assembly is fixedly connected with the fourth bracket; along the height direction, the mounting seat is positioned between the third bracket and the fourth bracket.

In some embodiments, the number of the second mounting posts, the second springs, and the second mounting holes is M, M being greater than or equal to 2; and the central axes of all the second mounting holes are positioned on the third cylindrical surface.

In some embodiments, the robotic device further comprises a first ranging mechanism mounted at the first end of the mount for detecting a direction of placement of the second workpiece.

In some embodiments, the robotic device further comprises a second ranging mechanism mounted at the first end of the mount for detecting a direction of placement of the third workpiece.

In some embodiments, the robotic device further comprises a first rack, a first gear, and a fifth bracket; the first rack is arranged at the first end of the mounting seat along the width direction, and the first rack is positioned between the second grabbing mechanism and the third grabbing mechanism;

the first gear is meshed with the first rack, the first end of the fifth bracket is fixedly connected with the first gear, and the first ranging mechanism is fixedly connected with the second end of the fifth bracket.

In some embodiments, the robotic device further comprises a second gear, a sixth bracket, and a second ranging mechanism; the second distance measuring mechanism is used for detecting the placement direction of the third workpiece;

the second gear is meshed with the first rack, the first end of the sixth support is fixedly connected with the second gear, and the second ranging mechanism is fixedly connected with the second end of the sixth support.

In some embodiments, the first ranging mechanism includes a first light sensor that emits light at an angle greater than or equal to 30 degrees and less than or equal to 45 degrees to the height direction.

In some embodiments, the first ranging mechanism includes a second light sensor that emits light at an angle greater than or equal to 30 degrees and less than or equal to 45 degrees to the height direction.

In some embodiments, the robot apparatus further includes a support seat for supporting the second and third workpieces in order in a height direction such that the second and third workpieces may be sleeved on an outer circumferential surface of the first workpiece when pressure in the height direction is applied to the first workpiece.

In order to solve the problem that the existing manipulator device cannot grasp a plurality of parts simultaneously, the invention has the following advantages:

the manipulator device comprises a first grabbing mechanism, a second grabbing mechanism, a third grabbing mechanism, a position adjusting mechanism and a mounting seat, wherein the first grabbing mechanism is used for grabbing a first workpiece, the second grabbing mechanism is used for grabbing a second workpiece, and the third grabbing mechanism is used for grabbing a third workpiece. Along length direction, first snatch the mechanism and install the first end at the mount pad, second snatch the mechanism and install the second end at the mount pad with the third snatch the mechanism, and second snatch the mechanism and the third snatch the mechanism and distribute in proper order along the width direction perpendicular with length direction. The position adjusting mechanism is connected to the middle of the mounting seat and used for adjusting the positions of the first grabbing mechanism, the second grabbing mechanism, the third grabbing mechanism and the mounting seat. The first grabbing mechanism, the second grabbing mechanism and the third grabbing mechanism are arranged on the mounting base, so that the three parts can be grabbed at one time, the degree of automation is high, and the production efficiency is improved.

Drawings

Fig. 1 is a schematic structural diagram of a manipulator device according to an embodiment of the present invention in a first view angle when clamping a workpiece;

Fig. 2 is a schematic structural view of a second grabbing mechanism and a third grabbing mechanism according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a mounting base and a first grabbing mechanism under a second view angle according to an embodiment of the present invention;

FIG. 4 shows a top view of a mount and a first grasping mechanism provided by an embodiment of the invention;

fig. 5 is a schematic diagram illustrating an assembly mode of all workpieces clamped by a manipulator device according to an embodiment of the present invention.

Reference numerals: 01-a first workpiece; 02-a second workpiece; 03-a third workpiece; 04-position adjusting mechanism; 41-a translation assembly; 42-a rotating assembly; 05-mounting seats; 51-a first mounting hole; 52-a second mounting hole; 06-a first grasping mechanism; 61-a first jaw; 611-a first clamping surface; 612-a second clamping surface; 613-a second clamping groove; 62-a second jaw; 621-a third clamping surface; 622-fourth clamping face; 623-a third clamping groove; 63-a first drive assembly; 07-a second grasping mechanism; 71-a third jaw; 711-a first grip; 712-a first stop; 72-fourth jaw; 721-a second grip; 722-a second limit part; 73-a fifth jaw; 74-a second drive assembly; 75-a first mounting post; 76—a first spring; 77-a first scaffold; 78-a second bracket; 08-a third grasping mechanism; 81-sixth jaw; 811-a third grasping portion; 812-third limit part; 82-seventh jaw; 821-fourth grasping portions; 822-a fourth limit part; 83-eighth jaw; 84-a third drive assembly; 85-a second mounting post; 86-a second spring; 87-a third bracket; 88-fourth rack; 91-a first ranging mechanism; 92-a second ranging mechanism; 93-a first rack; 95-fifth bracket; 97-sixth rack; 98-supporting seats; 99-hydraulic press; x-length direction; y-width direction; z-height direction; a-a first axis; and B-a second axis.

Detailed Description

The disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those of ordinary skill in the art to better understand and thus practice the present disclosure, and are not meant to imply any limitation on the scope of the present disclosure.

As used herein, the term "comprising" and variants thereof are to be interpreted as meaning "including but not limited to" open-ended terms. The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment. The term "another embodiment" is to be interpreted as "at least one other embodiment".

In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present application will be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction. May be a mechanical connection, or an electrical connection. May be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "first," "second," and the like, are used primarily to distinguish between different devices, elements, or components (the particular species and configurations may be the same or different), and are not used to indicate or imply the relative importance and number of devices, elements, or components indicated. Unless otherwise indicated, the meaning of "a plurality" is two or more.

As shown in fig. 1 to 4, the present embodiment discloses a manipulator device including a first gripping mechanism 06, a second gripping mechanism 07, a third gripping mechanism 08, a position adjusting mechanism 04, and a mount 05, wherein the first gripping mechanism 06 is used for gripping a first workpiece 01, the second gripping mechanism 07 is used for gripping a second workpiece 02, and the third gripping mechanism 08 is used for gripping a third workpiece 03.

Along the length direction X, the first grabbing mechanism 06 is mounted at a first end of the mounting base 05, the second grabbing mechanism 07 and the third grabbing mechanism 08 are mounted at a second end of the mounting base 05, and the second grabbing mechanism 07 and the third grabbing mechanism 08 are sequentially distributed along the width direction Y perpendicular to the length direction X.

The position adjusting mechanism 04 is connected to the middle of the mounting seat 05 and is used for adjusting the positions of the first grabbing mechanism 06, the second grabbing mechanism 07, the third grabbing mechanism 08 and the mounting seat 05.

In this embodiment, the shape and size of the portion where the first gripping mechanism 06 will contact the first workpiece 01 match the shape and size of the first workpiece 01, the portion where the second gripping mechanism 07 will contact the second workpiece 02 matches the shape and size of the second workpiece 02, and the portion where the third gripping mechanism 08 will contact the third workpiece 03 matches the shape and size of the third workpiece 03, wherein the first workpiece 01, the second workpiece 02, and the third workpiece 03 may all be the same or different, or both may be the same.

In the present embodiment, the first grabbing mechanism 06 is mounted at a first end of the mounting base 05, the second grabbing mechanism 07 and the third grabbing mechanism 08 are mounted at a second end of the mounting base 05, and the second grabbing mechanism 07 and the third grabbing mechanism 08 are sequentially distributed along a width direction Y perpendicular to the length direction X. The types, shapes and sizes of the first grabbing mechanism 06, the second grabbing mechanism 07 and the third grabbing mechanism 08 are not limited, and can be reasonably selected according to practical application requirements. For example, the device can be one of a mechanical gripper, an electromagnet and a negative pressure sucker.

In this embodiment, the position adjusting mechanism 04 is used to adjust the positions of the first grabbing mechanism 06, the second grabbing mechanism 07, the third grabbing mechanism 08 and the mounting base 05, so that the first grabbing mechanism 06, the second grabbing mechanism 07, the third grabbing mechanism 08 and the mounting base 05 can move in a certain space, so as to grab and transport the workpiece.

In this embodiment, the mounting base 05 is used for mounting the first grabbing mechanism 06, the second grabbing mechanism 07 and the third grabbing mechanism 08, and the specific shape and size of the mounting base 05 are not limited, and may be selected according to practical application requirements.

In this embodiment, when the feeding operation is performed by using the manipulator device, the position adjustment mechanism 04 may first drive the mounting seat 05 to move to the feeding position, and simultaneously or sequentially control the first grabbing mechanism 06, the second grabbing mechanism 07, and the third grabbing mechanism 08 to grab the corresponding first workpiece 01, the second workpiece 02, and the third workpiece 03, and after grabbing, the first workpiece 01, the second workpiece 02, and the third workpiece 03 are moved to the designated assembly positions by the position adjustment mechanism 04. The gripping sequence of the first workpiece 01, the second workpiece 02 and the third workpiece 03 by the manipulator device is not limited, and can be reasonably selected according to actual application requirements.

In some embodiments, as shown in fig. 1 and 3, the position adjustment mechanism 04 includes a translation assembly 41 and a rotation assembly 42, where a first end of the rotation assembly 42 is connected to a middle portion of the mounting base 05, and the rotation assembly 42 is configured to rotate the first grabbing mechanism 06, the second grabbing mechanism 07, the third grabbing mechanism 08, and the mounting base 05 relative to the translation assembly 41 along the first axis a.

The second end of the rotating component 42 is connected with the translating component 41, and the translating component 41 is used for driving the first grabbing mechanism 06, the second grabbing mechanism 07, the third grabbing mechanism 08, the mounting base 05 and the rotating component 42 to move.

In this embodiment, the translation assembly 41 is configured to drive the first grabbing mechanism 06, the second grabbing mechanism 07, the third grabbing mechanism 08, the mounting base 05 and the rotation assembly 42 to move between the feeding position and the assembling position, and the rotation assembly 42 is configured to drive the first grabbing mechanism 06, the second grabbing mechanism 07, the third grabbing mechanism 08 and the mounting base 05 to rotate along the first axis a relative to the translation assembly 41. Wherein the first axis a is perpendicular to the height direction Z. When assembling a plurality of workpieces, after the workpieces are moved to the assembling positions by utilizing the translation assembly 41, the workpieces can be assembled by only rotating the rotation assembly 42, and the positioning mode is relatively simple.

In some embodiments, as shown in fig. 1, 3 and 4, the mounting base 05 is mirror symmetrical with respect to a second axis B perpendicular to the length direction X, and the position adjustment mechanism 04 is connected to the second axis B.

In this embodiment, the mounting base 05 is disposed in mirror symmetry about the second axis B, and the position adjusting mechanism 04 is disposed on the second axis B, so that the weight of the mounting base 05 is more uniform, and the mounting process and the working process are more stable.

In some embodiments, as shown in fig. 2 and 4, the second 07 and third 08 gripping mechanisms are identical in shape, size and weight and are disposed at the second end of the mount 05 in mirror symmetry with respect to the second axis B.

In this embodiment, the second grabbing mechanism 07 and the third grabbing mechanism 08 have the same shape, size and weight, and are disposed at the second end of the mounting base 05 in a mirror symmetry manner with respect to the second axis B, so that the uniformity of the counterweight can be further ensured, and the mounting process and the working process are smoother.

In some embodiments, as shown in fig. 2 and 4, the first grasping mechanism 06 includes a first jaw 61, a second jaw 62, and a first drive assembly 63, wherein the first drive assembly 63 is mounted at a first end of the mount 05. At least one of the first and second jaws 61 and 62 is connected to a first driving assembly 63, and the first driving assembly 63 is used to drive at least one of the first and second jaws 61 and 62 to move in the width direction Y.

The first clamping jaw 61 comprises a first clamping surface 611 and a second clamping surface 612, and the first clamping surface 611 and the second clamping surface 612 have the same included angle with the height direction Z. The second jaw 62 includes a third clamping surface 621 and a fourth clamping surface 622, both of which include the same angle with respect to the height direction Z as the third clamping surface 621 and the fourth clamping surface 622. The height direction Z is perpendicular to both the length direction X and the width direction Y.

In the present embodiment, as shown in fig. 1, 2 and 4, the first driving assembly 63 is configured to drive the first clamping jaw 61 and/or the second clamping jaw 62 to move in the width direction Y, and the clamping and releasing of the first workpiece 01 is completed by approaching or moving away the first clamping jaw 61 and the second clamping jaw 62. The first clamping jaw 61 comprises a first clamping surface 611 and a second clamping surface 612, the second clamping jaw 62 comprises a third clamping surface 621 and a fourth clamping surface 622, and the first clamping surface 611, the second clamping surface 612, the third clamping surface 621 and the fourth clamping surface 622 are matched, so that the first workpiece 01 can be centered, and the first workpieces 01 with different sizes can be matched. The included angle between the first clamping surface 611 and the second clamping surface 612 is greater than 0 degrees and less than 180 degrees, the included angle between the third clamping surface 621 and the fourth clamping surface 622 is greater than 0 degrees and less than 180 degrees, and the relative positions among the first clamping surface 611, the second clamping surface 612, the third clamping surface 621 and the fourth clamping surface 622 are not limited, and can be reasonably selected according to practical application requirements.

In some embodiments, the first workpiece 01 has a first clamping groove (not shown) on an outer wall surface thereof. The first gripping mechanism 06 further includes a first mount (not shown) and a second mount (not shown).

The first clamping jaw 61 is provided with a second clamping groove 613, and an opening of the second clamping groove 613 is at least partially located on the first clamping surface 611 and/or the second clamping surface 612. The second clamping jaw 62 is provided with a third clamping groove 623, and an opening of the third clamping groove 623 is at least partially located on the third clamping surface 621 and/or the fourth clamping surface 622.

The first end of the first mounting piece is used for being detachably connected with the first clamping groove, and the second end of the first mounting piece is used for being detachably connected with the second clamping groove 613.

The first end of the second mounting piece is used for being detachably connected with the first clamping groove, and the second end of the second mounting piece is used for being detachably connected with the third clamping groove 623.

In the present embodiment, a first clamping groove is provided on the outer wall surface of the first workpiece 01, a second clamping groove 613 is provided on the first clamping jaw 61, a third clamping groove 623 is provided on the second clamping jaw 62, a first mounting member is provided in the second clamping groove 613, and a second mounting member is provided in the third clamping groove 623. For heavier first work piece 01, can set up first joint groove at first work piece 01 outer wall, the cooperation in rethread first installed part, second installed part and first joint groove can make the work piece clamp get the effect better, be difficult for droing.

In this embodiment, since the first mounting member is detachably connected with the second clamping groove 613, the second mounting member is detachably connected with the third clamping groove 623, so that when the first workpiece 01 with different shapes and sizes is clamped in practical application, the corresponding first mounting member and second mounting member can be replaced according to whether the first clamping groove and the shape of the clamping groove are formed in the first workpiece 01, and when one mounting member and/or the second mounting member are damaged and cannot be continuously used, only the first mounting member and the second mounting member need to be replaced independently, which is beneficial to saving the manufacturing and using costs of the device.

In some embodiments, as shown in fig. 4, the first clamping surface 611 and the third clamping surface 621 are disposed mirror symmetrically with respect to the central axis of the first workpiece 01, and the second clamping surface 612 and the fourth clamping surface 622 are disposed mirror symmetrically with respect to the central axis of the first workpiece 01. The first driving assembly 63 is configured to drive the first clamping jaw 61 and the second clamping jaw 62 to move along the width direction Y at the same time, so that when the first grabbing mechanism 06 grabs the first workpieces 01 with different sizes, the positions of the central axes of the first workpieces 01 with different sizes are the same.

In the present embodiment, by arranging the first clamping surface 611 and the third clamping surface 621 in mirror symmetry with respect to the central axis of the first workpiece 01, the second clamping surface 612 and the fourth clamping surface 622 are arranged in mirror symmetry with respect to the central axis of the first workpiece 01, the processing of the first clamping jaw 61 and the second clamping jaw 62 is made easier, and the central axis position of the first workpiece 01 is facilitated to be controlled during clamping.

In some embodiments, as shown in fig. 2 and 4, the second grasping mechanism 07 includes a third jaw 71, a fourth jaw 72, and a second drive assembly 74, wherein at least a portion of an outer peripheral surface of the third jaw 71 and at least a portion of an outer peripheral surface of the fourth jaw 72 are located on a first cylindrical surface (not shown).

A second drive assembly 74 is mounted at the second end of the mounting base 05, and the third jaw 71 and the fourth jaw 72 are connected to the second drive assembly 74, and the second drive assembly 74 is used for driving the third jaw 71 and the fourth jaw 72 to move together towards or away from the central axis of the first cylindrical surface.

In the present embodiment, the outer circumferential surfaces of the third jaw 71 and the fourth jaw 72 are used to contact with the inner circumferential surface of the second workpiece 02, and the second gripping mechanism 07 can be adapted to workpieces of different sizes by driving the third jaw 71 and the fourth jaw 72 to move together toward or away from the central axis of the first cylindrical surface by the second driving assembly 74.

In some embodiments, as shown in fig. 2, 3 and 4, the second gripping mechanism 07 further includes a fifth jaw 73, the fifth jaw 73 being connected to the second driving assembly 74, at least part of the outer circumferential surface of the third jaw 71, at least part of the outer circumferential surface of the fourth jaw 72 and at least part of the outer circumferential surface of the fifth jaw 73 being located on the first cylindrical surface. The third jaw 71, the fourth jaw 72 and the fifth jaw 73 are evenly distributed around the central axis of the first cylindrical surface. The second drive assembly 74 is used to drive the third jaw 71, the fourth jaw 72 and the fifth jaw 73 together towards or away from the central axis of the first cylindrical surface.

In this embodiment, the third clamping jaw 71, the fourth clamping jaw 72 and the fifth clamping jaw 73 are arranged around the central axis of the first cylindrical surface through the fifth clamping jaw 73, wherein the outer circumferential surfaces of the third clamping jaw 71 and the fourth clamping jaw 72 are all located on the same cylindrical surface, and the clamping effect is more stable through three points.

In some embodiments, as shown in fig. 2, 3 and 4, the third jaw 71 includes a first grasping portion 711 and a first limiting portion 712 sequentially disposed in the height direction Z, and the fourth jaw 72 includes a second grasping portion 721 and a second limiting portion 722 sequentially disposed in the height direction Z.

The outer peripheral surfaces of the first grip portion 711 and the second grip portion 721 are each located on the first cylindrical surface. The first and second stopper portions 712 and 722 serve to restrict the movement of the second workpiece 02 in the height direction Z in common.

In the present embodiment, by providing the first grasping portion 711 and the first limiting portion 712 on the third jaw 71, and providing the second grasping portion 721 and the second limiting portion 722 on the fourth jaw 72, the second grasping mechanism 07 can be limited in grasping the second workpiece 02, preventing the second grasping mechanism 07 from grasping more than one second workpiece 02 at a time.

In some embodiments, as shown in fig. 2, the second grasping mechanism 07 further includes a first mounting post 75, a first spring 76, a first bracket 77, and a second bracket 78. The second end of the mounting block 05 has a first mounting hole 51.

The first mounting post 75 is disposed along the height direction Z, and a first end of the first mounting post 75 passes through the first mounting hole 51 and is fixedly connected to the first bracket 77. A second end of the first mounting post 75 is fixedly coupled to a second bracket 78. The first spring 76 is sleeved on the second end of the first mounting post 75, and two ends of the first spring 76 are clamped between the upper end face of the second bracket 78 and the lower end face of the first end of the first mounting post 75.

The second drive assembly 74 is fixedly coupled to a second bracket 78. Along the height direction Z, the mount 05 is located between the first bracket 77 and the second bracket 78.

In this embodiment, as shown in fig. 2, the second grabbing mechanism 07 passes through the first mounting hole 51 through the first mounting post 75, the first spring 76 is sleeved on the first mounting post 75, and the first mounting post 75 and the first spring 76 are fixed by using the first bracket 77 and the second bracket 78, so that the second grabbing mechanism 07 can achieve a buffering effect through the first spring 76 in the process of grabbing the second workpiece 02, and damage to the manipulator or the second workpiece 02 is avoided.

In some embodiments, as shown in fig. 2, the number of first mounting posts 75, first springs 76, and first mounting holes 51 is N, N being greater than or equal to 2. The central axes of all the first mounting holes 51 are located on a second cylindrical surface (not shown).

In the present embodiment, the second grasping mechanism 07 can obtain a more balanced cushioning effect by providing the plurality of first mounting posts 75 and the plurality of first springs 76.

In some embodiments, as shown in fig. 2, the third grasping mechanism 08 includes a sixth jaw 81, a seventh jaw 82, and a third drive assembly 84, wherein at least a portion of the outer peripheral surface of the sixth jaw 81 and at least a portion of the outer peripheral surface of the seventh jaw 82 are located on the second cylindrical surface.

A third driving assembly 84 is mounted at the second end of the mounting base 05, and the sixth clamping jaw 81 and the seventh clamping jaw 82 are connected with the third driving assembly 84, and the third driving assembly 84 is used for driving the sixth clamping jaw 81 and the seventh clamping jaw 82 to move towards or away from the central axis of the second cylindrical surface together.

In the present embodiment, the outer circumferential surfaces of the sixth jaw 81 and the seventh jaw 82 are used to contact with the inner circumferential surface of the third workpiece 03, and the third gripping mechanism 08 can be adapted to workpieces of different sizes by driving the sixth jaw 81 and the seventh jaw 82 to move together toward or away from the central axis of the second cylindrical surface by the second driving assembly 74.

In some embodiments, as shown in fig. 2 and 4, the third gripping mechanism 08 further includes an eighth jaw 83, the eighth jaw 83 being connected to the third driving assembly 84, at least part of the outer circumferential surface of the sixth jaw 81, at least part of the outer circumferential surface of the seventh jaw 82, and at least part of the outer circumferential surface of the eighth jaw 83 being located on the second cylindrical surface. The sixth clamping jaw 81, the seventh clamping jaw 82 and the eighth clamping jaw 83 are evenly distributed around the central axis of the second cylindrical surface.

The third drive assembly 84 is used to drive the sixth, seventh and eighth jaws 81, 82, 83 together towards or away from the central axis of the second cylindrical surface.

In this embodiment, the clamping effect is more stable by the clamping by the three points through the eighth clamping jaw 83 which is arranged on the same cylindrical surface on the outer circumferential surfaces of the parts of the sixth clamping jaw 81 and the seventh clamping jaw 82 and the sixth clamping jaw 81, the seventh clamping jaw 82 and the eighth clamping jaw 83 are arranged around the central axis of the first cylindrical surface.

In some embodiments, as shown in fig. 2, 3 and 4, the sixth jaw 81 includes a third grasping portion 811 and a third limiting portion 812 sequentially disposed in the height direction Z, and the seventh jaw 82 includes a fourth grasping portion 821 and a fourth limiting portion 822 sequentially disposed in the height direction Z.

The outer peripheral surfaces of the third grip portion 811 and the fourth grip portion 821 are each located on the second cylindrical surface. The third limiting portion 812 and the fourth limiting portion 822 are used to limit the movement of the third workpiece 03 in the height direction Z together.

In the present embodiment, by providing the third grasping portion 811 and the third limiting portion 812 on the sixth jaw 81 and providing the fourth grasping portion 821 and the fourth limiting portion 822 on the seventh jaw 82, the third grasping mechanism 08 can be limited in grasping the third workpiece 03, preventing the third grasping mechanism 08 from grasping more than one third workpiece 03 at a time.

In some embodiments, as shown in fig. 2, 3 and 4, the third grasping mechanism 08 further includes a second mounting post 85, a second spring 86, a third bracket 87, and a fourth bracket 88. The second end of the mounting block 05 has a second mounting hole 52.

The second mounting post 85 is disposed along the height direction Z, and a first end of the second mounting post 85 passes through the second mounting hole 52 and is fixedly connected to the third bracket 87. A second end of the second mounting post 85 is fixedly coupled to a fourth bracket 88. The second spring 86 is sleeved at the second end of the second mounting post 85, and two ends of the second spring 86 are clamped between the upper end face of the fourth bracket 88 and the lower end face of the first end of the second mounting post 85.

The third drive assembly 84 is fixedly coupled to a fourth bracket 88. The mount 05 is located between the third bracket 87 and the fourth bracket 88 in the height direction Z.

In this embodiment, the third grabbing mechanism 08 passes through the second mounting hole 52 through the second mounting post 85, the second spring 86 is sleeved on the second mounting post 85, and the third bracket 87 and the fourth bracket 88 are used to fix the second mounting post 85 and the second spring 86, so that the third grabbing mechanism 08 can achieve a buffering effect through the second spring 86 in the process of grabbing the third workpiece 03, and damage to the manipulator or the third workpiece 03 is avoided.

In some embodiments, as shown in fig. 2, the number of second mounting posts 85, second springs 86, and second mounting holes 52 is M, M being greater than or equal to 2. The central axes of all the second mounting holes 52 are located on the third cylindrical surface.

In the present embodiment, a more uniform cushioning effect of the third grasping mechanism 08 can be obtained by providing a plurality of second mounting posts 85 and a plurality of second springs 86.

In some embodiments, as shown in fig. 3, the robot apparatus further includes a first ranging mechanism 91 mounted at the first end of the mounting base 05, and the first ranging mechanism 91 is configured to detect a placement direction of the second workpiece 02.

In the present embodiment, the first distance measuring mechanism 91 is used to detect the placement direction of the second workpiece 02, so that it is possible to ensure that the second workpiece 02 is not reversely attached.

In some embodiments, as shown in fig. 3, the robot apparatus further includes a second ranging mechanism 92 mounted at the first end of the mounting base 05, and the second ranging mechanism 92 is configured to detect a placement direction of the third workpiece 03.

In the present embodiment, the second distance measuring mechanism 92 is used to detect the placement direction of the third workpiece 03, so that it is possible to ensure that the third workpiece 03 is not reversely mounted.

In some embodiments, as shown in fig. 3, the robot apparatus further includes a first rack 93, a first gear (not shown), and a fifth bracket 95. The first rack 93 is mounted at a first end of the mount 05 in the width direction Y, and the first rack 93 is located between the second gripping mechanism 07 and the third gripping mechanism 08.

The first gear is engaged with the first rack 93, a first end of the fifth bracket 95 is fixedly connected with the first gear, and the first ranging mechanism 91 is fixedly connected with a second end of the fifth bracket 95.

In this embodiment, the position of the first ranging mechanism 91 is adjustable through the first rack 93, the first gear and the fifth bracket 95, so that workpieces with different shapes and sizes can be detected, and meanwhile, the space utilization rate is improved due to the gear-rack structure, so that the adjustment space of the first ranging mechanism 91 is larger.

In some embodiments, as shown in fig. 3, the robotic device further includes a second gear (not shown), a sixth bracket 97, and a second ranging mechanism 92. The second distance measuring mechanism 92 is used to detect the placement direction of the third workpiece 03.

The second gear is meshed with the first rack 93, a first end of the sixth bracket 97 is fixedly connected with the second gear, and the second ranging mechanism 92 is fixedly connected with a second end of the sixth bracket 97.

In this embodiment, the second ranging mechanism 92 is adjustable in position through the second rack, the second gear and the sixth bracket 97, so that workpieces with different shapes and sizes can be detected, and meanwhile, the rack-and-pinion structure is beneficial to improving the space utilization rate, so that the adjusting space of the second ranging mechanism 92 is larger.

In some embodiments, as shown in fig. 3, the first ranging mechanism 91 includes a first light sensor, where an angle between the light emitted by the first light sensor and the height direction Z is greater than or equal to 30 degrees and less than or equal to 45 degrees.

In this embodiment, the included angle between the optical fiber emitted by the first light sensor and the height direction Z is set to be greater than or equal to 30 degrees and less than or equal to 45 degrees, so that the first light sensor has a simpler structure and can ensure the detection effect.

In some embodiments, as shown in fig. 3, the first ranging mechanism 91 includes a second light sensor, and an angle between the light emitted by the second light sensor and the height direction Z is greater than or equal to 30 degrees and less than or equal to 45 degrees.

In this embodiment, the included angle between the optical fiber emitted by the second light sensor and the height direction Z is set to be greater than or equal to 30 degrees and less than or equal to 45 degrees, so that the second light sensor has a simpler structure and can ensure the detection effect.

In some embodiments, as shown in fig. 5, the robot apparatus further includes a support base 98, and the support base 98 is configured to support the second workpiece 02 and the third workpiece 03 in sequence along the height direction Z, so that the second workpiece 02 and the third workpiece 03 can be sleeved on the outer peripheral surface of the first workpiece 01 when a pressure along the height direction Z is applied to the first workpiece 01.

In this embodiment, by providing the supporting seat 98 with a corresponding structure, the second workpiece 02 and the third workpiece 03 can be placed on the supporting seat 98 at the same time, and the hydraulic press 99 applies the pressure along the height direction Z to the first workpiece 01, so that the second workpiece 02 and the third workpiece 03 are sleeved on the outer peripheral surface of the first workpiece 01 at one time, and the installation process can be simpler.

As can be seen from the above description of the embodiments of the present application, the manipulator device disclosed in the embodiments of the present application includes a first gripping mechanism 06, a second gripping mechanism 07, a third gripping mechanism 08, a position adjusting mechanism 04, and a mounting base 05, where the first gripping mechanism 06 is used to grip a first workpiece 01, the second gripping mechanism 07 is used to grip a second workpiece 02, and the third gripping mechanism 08 is used to grip a third workpiece 03. Along the length direction X, the first grabbing mechanism 06 is mounted at a first end of the mounting base 05, the second grabbing mechanism 07 and the third grabbing mechanism 08 are mounted at a second end of the mounting base 05, and the second grabbing mechanism 07 and the third grabbing mechanism 08 are sequentially distributed along the width direction Y perpendicular to the length direction X. The position adjusting mechanism 04 is connected to the middle of the mounting seat 05 and is used for adjusting the positions of the first grabbing mechanism 06, the second grabbing mechanism 07, the third grabbing mechanism 08 and the mounting seat 05. Set up first mechanism 06, second and snatch mechanism 07 and third and snatch mechanism 08 on mount pad 05, can realize snatching the disposable of three part, degree of automation is higher, is favorable to improving production efficiency.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of implementing the disclosure, and that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure.

Claims

1. A manipulator device is characterized in that,

the manipulator device comprises a first grabbing mechanism, a second grabbing mechanism, a third grabbing mechanism, a position adjusting mechanism and a mounting seat, wherein,

2. The robot apparatus according to claim 1, wherein,

3. The robot apparatus according to claim 2, wherein,

the outer wall surface of the first workpiece is provided with a first clamping groove; the first grabbing mechanism further comprises a first mounting piece and a second mounting piece;

4. The robot apparatus according to claim 2, wherein,

the first clamping surface and the third clamping surface are arranged in mirror symmetry relative to the central axis of the first workpiece, and the second clamping surface and the fourth clamping surface are arranged in mirror symmetry relative to the central axis of the first workpiece; the first driving assembly is used for driving the first clamping jaw and the second clamping jaw to move along the width direction at the same time, so that the positions of central axes of the first workpieces with different sizes are the same when the first grabbing mechanism grabs the first workpieces with different sizes.

5. The robot apparatus according to claim 1, wherein,

the second grabbing mechanism comprises a third clamping jaw, a fourth clamping jaw and a second driving assembly, wherein at least part of the outer peripheral surface of the third clamping jaw and at least part of the outer peripheral surface of the fourth clamping jaw are positioned on a first cylindrical surface;

6. The robot apparatus according to claim 5, wherein,

the third clamping jaw comprises a first grabbing part and a first limiting part which are sequentially arranged along the height direction, and the fourth clamping jaw comprises a second grabbing part and a second limiting part which are sequentially arranged along the height direction;

the outer peripheral surfaces of the first grabbing part and the second grabbing part are both positioned on the first cylindrical surface; the first limiting part and the second limiting part are used for limiting the second workpiece to move along the height direction;

the height direction is perpendicular to both the length direction and the width direction.

7. The robot apparatus according to claim 6, wherein,

the second grabbing mechanism further comprises a first mounting column, a first spring, a first bracket and a second bracket; the second end of the mounting seat is provided with a first mounting hole;

8. The robot apparatus according to claim 1, wherein,

the manipulator device further comprises a first ranging mechanism, a first rack, a first gear and a fifth bracket, wherein the first ranging mechanism, the first rack, the first gear and the fifth bracket are arranged at the first end of the mounting seat;

the first distance measuring mechanism is used for detecting the placement direction of the second workpiece;

the first rack is arranged at the first end of the mounting seat along the width direction, and the first rack is positioned between the second grabbing mechanism and the third grabbing mechanism; the first gear is meshed with the first rack, the first end of the fifth bracket is fixedly connected with the first gear, and the first ranging mechanism is fixedly connected with the second end of the fifth bracket.

9. The robot apparatus according to claim 8, wherein,

the first distance measuring mechanism comprises a first light sensor, and an included angle between light emitted by the first light sensor and the height direction is larger than or equal to 30 degrees and smaller than or equal to 45 degrees; the height direction is perpendicular to both the length direction and the width direction.

10. The robot apparatus according to claim 1, wherein,

the manipulator device further comprises a supporting seat, wherein the supporting seat is used for sequentially supporting the second workpiece and the third workpiece along the height direction, so that the second workpiece and the third workpiece can be sleeved on the outer peripheral surface of the first workpiece when pressure along the height direction is applied to the first workpiece; the height direction is perpendicular to both the length direction and the width direction.