CN212978374U - Mechanical arm - Google Patents

Abstract

The present disclosure relates to a robot arm comprising a base (1), a robot arm (2), a first clamp (31) and a second clamp (32), at least one of the first clamp (31) and the second clamp (32) being movably mounted on the robot arm (2) in position, so that the relative position between the first clamp (31) and the second clamp (32) can be changed to be suitable for gripping a plurality of workpieces in cooperation with each other. Therefore, the manipulator provided by the disclosure can adapt to various workpieces without installing a new clamp, and the utilization rate is high.

Description

Mechanical arm

Technical Field

The disclosure relates to the field of mechanical automation equipment, in particular to a manipulator.

Background

On the vehicle production line, mostly use the manipulator to receive the order and get or release the work piece, reduce artifical the participation, improve production automation, wherein, the manipulator snatchs the work piece and drives the work piece and accomplish corresponding operation, for example welding, rubber coating etc. the manipulator includes the base, the arm that stretches out from the base and installs the anchor clamps on the arm, installs a plurality of anchor clamps on the arm, and a plurality of anchor clamps cooperate each other in order to snatch the work piece.

In a vehicle production line, for non-standard workpieces such as vehicle doors, vehicle bottom plates and the like, the positions suitable for being clamped by the clamp are different due to different vehicle types, natural sizes and natural shapes.

However, in the existing manipulator, a plurality of clamps are fixedly mounted on the manipulator, the relative positions of the clamps are fixed, and the clamps cooperate with each other to grab fixed types of workpieces, while vehicle models are continuously improved and innovated, nonstandard workpieces such as vehicle doors and vehicle bottom plates are also continuously changed, in order to grab new workpieces, a new manipulator is generally selected to be added on a production line, or the original manipulator is modified, that is, a new clamp is added on the original manipulator to grab new workpieces in cooperation with the original clamp, so that not only is the cost increased, but also the mounting space on the manipulator is limited, the added clamps are also limited, and the types of workpieces which the modified manipulator can adapt to are still limited and fixed.

SUMMERY OF THE UTILITY MODEL

The purpose of this disclosure is to provide a manipulator, this manipulator need not to install new anchor clamps just can adapt to multiple work piece, and the high-usage.

In order to achieve the above object, the present disclosure provides a robot including a base, a robot arm, a first gripper, and a second gripper, at least one of the first gripper and the second gripper being movably mounted on the robot arm in position so that a relative position between the first gripper and the second gripper can be changed to be suitable for gripping a plurality of kinds of workpieces in cooperation with each other.

Optionally, the workpiece has two opposite clamping sides in a first direction, the first clamp is fixedly mounted on the mechanical arm, the first clamp and the second clamp are arranged opposite to each other in the first direction, and the second clamp can linearly reciprocate along the first direction to adjust a distance from the first clamp in the first direction so as to adapt to a change in the distance between the two clamping sides in the first direction.

Optionally, a driving mechanism is fixedly mounted on the mechanical arm, the second clamp is mounted on the driving mechanism, and the driving mechanism can drive the second clamp to linearly reciprocate along the first direction.

Optionally, the driving mechanism is a servo electric cylinder, and the second clamp is mounted on a linear slide rail of the servo electric cylinder.

Optionally, the number of the first clamps is multiple and arranged at intervals, and the number of the second clamps is multiple and arranged at intervals.

Optionally, a mounting bracket is mounted on the driving mechanism, and the plurality of second clamps are mounted on the mounting bracket.

Optionally, the first clamp and the second clamp can extend out or retract in a second direction to be close to or away from the workpiece, a positioning pin extending in the second direction is installed on the mechanical arm close to the first clamp, a positioning hole matched with the positioning pin is formed in the workpiece, and the first direction is perpendicular to the second direction.

Optionally, the number of the positioning pins is three, the three positioning pins are not collinear, and the number of the positioning holes is the same as that of the positioning pins and corresponds to that of the positioning pins one to one.

Optionally, the base is fixedly installed on the production line, and the mechanical arm includes a main arm, a support arm, and a clamp bracket, the support arm is connected between the clamp bracket and the main arm, and the first clamp and the driving mechanism are both installed on the clamp bracket, wherein the main arm has two opposite ends, one end of the main arm is pivotally connected to the base through a first rotating shaft extending along an X direction, the support arm is pivotally connected to the other end of the main arm through a second rotating shaft extending along the X direction, and the clamp bracket is pivotally connected to the support arm through a third rotating shaft extending along a Y direction, and the Y direction is perpendicular to the X direction.

Through the technical scheme, the mechanical arm can drive the first clamp and the second clamp to move to the position corresponding to the workpiece, the first clamp and the second clamp mutually cooperate to extend out towards the workpiece to grab the workpiece, so that the relative position between the first clamp and the second clamp can be changed, the size and the shape of different workpieces can be adapted, therefore, when the workpiece has a new shape and/or size, the original mechanical arm can be adapted to the new workpiece, a new mechanical arm does not need to be added on a production line for the new workpiece, or the clamp is added on the original mechanical arm to enable the shape and/or the size of the new workpiece to be adapted, and the problem is solved. Therefore, the manipulator provided by the disclosure can adapt to various workpieces without installing a new clamp, and the utilization rate is high.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a perspective schematic view of a robot provided in accordance with some embodiments of the present disclosure;

figure 2 is a schematic perspective view of a clamp mount, a first clamp, and a second clamp of a robot assembled together, provided in accordance with some embodiments of the present disclosure;

figure 3 is a schematic perspective view of a drive mechanism of a robot and a second clamp mounted together, provided in accordance with some embodiments of the present disclosure.

Description of the reference numerals

1-base, 2-mechanical arm, 21-main arm, 22-supporting arm, 23-clamp support, 31-first clamp,

32-a second clamp, 4-a driving mechanism, 5-a mounting bracket, 6-a positioning pin, 71-a first rotating shaft,

72-second axis of rotation, 73-third axis of rotation.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, the use of the directional words such as "up and down" means up and down in the direction of gravity, consistent with the vertical direction, unless otherwise stated. "inner and outer" are the inner and outer of the respective component part profiles. The terms "first, second, etc. are used herein only for distinguishing one element from another and are not necessarily order or importance. In the following description, when referring to the figures, the same reference numbers in different figures denote the same or similar elements, unless otherwise explained.

Usually, in a production line, a robot is provided next to each station for holding a workpiece arriving at the station, the type of workpiece being fixed, the robot also being designed for gripping the workpiece. However, due to continuous upgrading and upgrading of products, workpieces can also have changes in size and shape, and multiple workpieces appear, at the moment, an original manipulator is difficult to better adapt to new workpieces obtained after upgrading and upgrading, and the manipulator needs to be replaced or the original manipulator needs to be modified, so that the problems that the utilization rate of the original manipulator is low, and the upgrading cost is high are caused.

In view of the above problems, the present disclosure provides a robot arm including a base 1, a robot arm 2, a first gripper 31 and a second gripper 32, at least one of the first gripper 31 and the second gripper 32 being movably mounted on the robot arm 2 in position so that a relative position between the first gripper 31 and the second gripper 32 can be changed to be suitable for gripping a plurality of kinds of workpieces in cooperation with each other, according to some embodiments of the present disclosure.

Through the technical scheme, the mechanical arm 2 can drive the first clamp 31 and the second clamp 32 to move to the positions corresponding to the workpieces, the first clamp 31 and the second clamp 32 mutually match and extend out towards the workpieces to grab the workpieces, so that the relative position between the first clamp 31 and the second clamp 32 can be changed, the mechanical arm can adapt to the sizes and shapes of different workpieces, therefore, when the workpieces have new shapes and/or sizes, the original mechanical arm can adapt to the new workpieces, a new mechanical arm does not need to be added on a production line for the new workpieces, or the clamps are added on the original mechanical arm to enable the shapes and/or sizes of the new workpieces to be met, and the problems are solved. Therefore, the manipulator provided by the disclosure can adapt to various workpieces without installing a new clamp, and the utilization rate is high.

For some complex workpieces, more clamps may be needed to cooperate with each other to clamp the workpiece, and those skilled in the art may add clamps according to the kind of workpiece to be used, and make some or all of the clamps movably mounted on the robot arm 2 to adapt to the updated workpiece, and the disclosure is not limited thereto.

According to some embodiments of the present disclosure, the workpiece has two opposite clamping sides in a first direction, the first clamp 31 is fixedly mounted on the robot arm 2, the first clamp 31 and the second clamp 32 are oppositely arranged in the first direction, and the second clamp 32 can linearly reciprocate along the first direction to adjust the distance from the first clamp 31 in the first direction to adapt to the change of the distance between the two clamping sides in the first direction. That is, both clamping sides of the workpiece are used to be clamped by the first clamp 31 and the second clamp 32, respectively, and after the dimension of the workpiece in the first direction is changed, the second clamp 32 may be moved to enable the distance between the first clamp 31 and the second clamp 32 to be adapted to the new distance between the both clamping sides of the new workpiece.

According to some embodiments of the present disclosure, the driving mechanism 4 may be fixedly mounted on the robot arm 2, and the second clamp 32 is mounted on the driving mechanism 4, and the driving mechanism 4 may drive the second clamp 32 to linearly reciprocate along the first direction.

The drive mechanism 4 may be configured in any suitable manner, and alternatively, the drive mechanism 4 may be a servo-electric cylinder, the second clamp 32 being mounted on a linear slide of the servo-electric cylinder, and actuation of the servo-electric cylinder driving movement of the second clamp 32. The servo electric cylinder has the advantage of high movement precision, and is easy to realize the precise control of the movement position of the second clamp 32 and the precise matching of the first clamp 31 and the second clamp 32.

Here, the manipulator may further be provided with a control system for clamping and releasing the first clamp 31 and the second clamp 32, and controlling the driving mechanism 4 to drive the second clamp 32, which are all easily implemented by those skilled in the art and will not be described herein again.

In order to realize stable clamping of a workpiece, the number of the first clamps 31 can be multiple and arranged at intervals, and the number of the second clamps 32 can be multiple and arranged at intervals, so that each clamping side edge of the workpiece can be clamped by the multiple clamps, for example, for a vehicle bottom plate, as a sheet metal part, two opposite clamping side edges of the vehicle bottom plate are respectively clamped by the two first clamps 31 and the two second clamps 32, so that stable clamping can be realized, and here, the number of the first clamps 31 and the number of the second clamps 32 are designed according to the shape and the size of the workpiece to be clamped, and the disclosure is not limited.

The plurality of second clamps 32 may be respectively mounted on different driving mechanisms 4, or may be all mounted on the same driving mechanism 4, which may be selected according to the actual situation of the workpiece, and the disclosure is not limited thereto, for example, as shown in the figure, the mounting bracket 5 is mounted on the driving mechanism 4, and the plurality of second clamps 32 are all mounted on the mounting bracket 5, so that the plurality of second clamps 32 simultaneously move in the first direction by the same distance, and the number of driving mechanisms 4 is reduced while a new workpiece is clamped, thereby reducing the cost. The specific configuration of the mounting bracket 5 may be designed according to actual needs (for example, it may be configured in the form shown in fig. 3), which is easily implemented by those skilled in the art, and the present disclosure is not limited thereto.

When the arm 2 drives the first clamp 31 and the second clamp 32 to approach the workpiece to clamp the workpiece, in order to enable the first clamp 31 and the second clamp 32 to accurately reach two clamping sides of the workpiece after extending out to accurately clamp the workpiece, in some specific embodiments provided by the present disclosure, both the first clamp 31 and the second clamp 32 can extend out or retract in the second direction to approach or keep away from the workpiece, a positioning pin 6 extending in the second direction is installed on the arm 2 near the first clamp 31, a positioning hole adapted to the positioning pin 6 is provided on the workpiece, and the first direction is perpendicular to the second direction. Thus, in the first direction, the distance between the positioning pin 6 and the first clamp 31 is fixed, and the distance between the positioning hole and the clamping side edge of the workpiece corresponding to the first clamp 31 is fixed, so that the two distances are kept consistent, after the mechanical arm 2 drives the first clamp 31 and the second clamp 32 to approach the workpiece, as long as the positioning fit of the positioning pin 6 and the positioning hole is realized, the position accuracy of the first clamp 31 and the second clamp 32 relative to the workpiece can be ensured, and at the moment, the first clamp 31 and the second clamp 32 are driven to extend out along the second direction to approach and clamp the workpiece, so that the rapid and accurate clamping is realized; and because the positioning pin 6 is matched with the positioning hole in a positioning way, the workpiece can be limited to move, and the workpiece is prevented from being pushed by the clamp to move in the clamping process. Generally, a positioning sensor or the like is disposed on the robot arm 2 to realize the positioning matching between the positioning pin 6 and the positioning hole, which are common technical means in the art and will not be described herein.

Alternatively, the number of the positioning pins 6 can be three, the three positioning pins 6 are not collinear, and the number of the positioning holes is the same as that of the positioning pins 6 and corresponds to that of the positioning holes 6 one by one, so that after the three positioning pins 6 are matched with the corresponding positioning holes in a positioning manner, the position of the workpiece relative to the first fixture 31 is fixed, the positioning is accurate, and the workpiece is limited to move randomly.

According to some embodiments of the present disclosure, the base 1 is fixedly installed on a production line, the robot arm 2 includes a main arm 21, an arm 22, and a clamp bracket 23, the arm 22 is connected between the clamp bracket 23 and the main arm 21, the first clamp 31 and the driving mechanism 4 are both installed on the clamp bracket 23, wherein the main arm 21 has opposite ends, one end of the main arm 21 is pivotally connected to the base 1 by a first rotating shaft 71 extending in an X direction, the arm 22 is pivotally connected to the other end of the main arm 21 by a second rotating shaft 72 extending in the X direction, the clamp bracket 23 is pivotally connected to the arm 22 by a third rotating shaft 73 extending in a Y direction, and the Y direction is perpendicular to the X direction. Here, the X direction may be a horizontal direction, so that a workpiece is placed at a station below the main arm 21, the position of the other end of the main arm 21 in the vertical direction, that is, the height of the clamp in the vertical direction, can be adjusted by rotating the main arm 21 about the first rotating shaft 71, the included angle between the clamp support 23 and the vertical direction can be adjusted by rotating the main arm 21 about the second rotating shaft 72, so that the position of the clamp relative to the workpiece can be better adjusted to clamp the workpiece, or the placement angle when releasing the workpiece can be adjusted when transporting the workpiece to a next station, and the clamp support 23 rotates about the third rotating shaft 73, so that the position of the clamp relative to the station can be more flexibly adjusted, especially when the number of the first clamps 31 is plural, and/or when the number of the second clamps 32 is plural, the clamp support 23 and the arm 22 can be rotated to adapt to the change of the shape of the clamping side edge of the workpiece, so as to stably clamp the workpiece.

In addition, in the present disclosure, the first clamp 31 and the second clamp 32 may be both pneumatic type clamps, and the main arm 21, the arm 22 and the clamp bracket 23 may be driven to rotate by a pneumatic structure, and the pneumatic structures may be controlled by the control assembly, and may be hydraulic or electric, which is not limited in the present disclosure.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (8)

1. A robot hand, characterized in that it comprises a base (1), a robot arm (2), a first clamp (31) and a second clamp (32), at least one of said first clamp (31) and said second clamp (32) being movably mounted on said robot arm (2) in a position such that the relative position between said first clamp (31) and said second clamp (32) can be changed to be suitable for gripping a plurality of workpieces in cooperation with each other, said workpieces having two opposite gripping sides in a first direction, said first clamp (31) being fixedly mounted on said robot arm (2), said first clamp (31) and said second clamp (32) being arranged opposite in said first direction, said second clamp (32) being linearly reciprocable in said first direction to adjust the distance from said first clamp (31) in said first direction to adapt the distance between said two gripping sides in said first direction The distance varies.

2. The manipulator according to claim 1, characterized in that a driving mechanism (4) is fixedly mounted on the robot arm (2), the second clamp (32) is mounted on the driving mechanism (4), and the driving mechanism (4) can drive the second clamp (32) to reciprocate linearly in the first direction.

3. A manipulator according to claim 2, characterized in that the drive mechanism (4) is a servo-cylinder, the second gripper (32) being mounted on a linear slide of the servo-cylinder.

4. The manipulator according to claim 2, characterized in that the first clamps (31) are provided in plurality and spaced apart from each other, and the second clamps (32) are provided in plurality and spaced apart from each other.

5. The manipulator according to claim 4, wherein a mounting bracket (5) is mounted on the driving mechanism (4), and a plurality of the second jigs (32) are mounted on the mounting bracket (5).

6. The manipulator according to claim 1, wherein the first clamp (31) and the second clamp (32) are each capable of extending or retracting in a second direction to approach or depart from the workpiece, a positioning pin (6) extending in the second direction is mounted on the robot arm (2) near the first clamp (31), a positioning hole adapted to the positioning pin (6) is provided on the workpiece, and the first direction and the second direction are perpendicular to each other.

7. The manipulator according to claim 6, characterized in that the number of the positioning pins (6) is three, and the three positioning pins (6) are not collinear, and the number of the positioning holes is the same as the number of the positioning pins (6) and corresponds to one another.

8. Manipulator according to any of claims 2 to 7, wherein the base (1) is fixedly mounted on a production line, the robot arm (2) comprising a main arm (21), a boom (22) and a gripper bracket (23), the boom (22) being connected between the gripper bracket (23) and the main arm (21), the first gripper (31) and the drive mechanism (4) being mounted on the gripper bracket (23),

wherein the main arm (21) has two opposite ends, one end of the main arm (21) is pivotally connected to the base (1) by a first rotating shaft (71) extending along an X direction, the arm (22) is pivotally connected to the other end of the main arm (21) by a second rotating shaft (72) extending along the X direction, and the clamp bracket (23) is pivotally connected to the arm (22) by a third rotating shaft (73) extending along a Y direction, the Y direction being perpendicular to the X direction.

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