TWI426009B - Manipulator - Google Patents

Description

Robot

The present invention relates to a robot, and more particularly to a robot for use in machining.

During the processing of the workpiece, the formed workpiece is usually clamped and fixed, and then the outside is subjected to grinding, spraying, and the like. When the workpiece needs to be processed more, the workpiece is usually fixed on a rotating fixture, and the rotation of the rotating fixture is used to realize processing of the plurality of parts.

A manipulator includes a power unit, a rotary head coupled to the power unit, a rotating shaft, a rotating wheel fixedly coupled to the rotating shaft, and a clamp. By rotating the rotary head by the power unit, the rotary head rotates the rotating wheel, the rotating shaft and the clamp together, so that the workpiece on the clamp is rotated to different positions to be processed. The clamp of such a robot can clamp and fix a general workpiece. However, for a workpiece that is easily deformed, such as a frame or a casing, the workpiece cannot be properly clamped, and the workpiece may be deformed due to excessive force.

In view of the above, it is necessary to provide a robot that can protect a workpiece during processing.

A manipulator for clamping and fixing a workpiece, comprising a power device, a first rotating member connected to the power device, a clamping device fixedly connected with the first rotating member, and a clamping device a first clamping member and a second clamping member, the first clamping member and the second clamping member cooperate to form a receiving space substantially adapted to the shape of the workpiece, and the robot further comprises a connecting component fixedly connected to the second clamping member And a positioning component connected to the connecting component, the positioning component positioning the second clamping component to rotate and telescopically move relative to the first clamping component before the second clamping component cooperates with the first clamping component, and the connecting component enables the second clamping component The piece moves together with the first clamping member to cover and fix the workpiece in the accommodating space, and exposes the edge of the workpiece to the outside of the clamping device to process the edge of the workpiece, the robot also includes An adsorption device fixedly connected to the first rotating member, the adsorption device passes through the first clamping member, the adsorption device comprises a plurality of suction cups, and the first clamping member is provided with a plurality of through grooves corresponding to the plurality of suction cups The suction cup passes through the through groove to adsorb the workpiece.

The positioning component of the robot can rotate and telescopically move relative to the first clamping member before the second clamping member cooperates with the first clamping member, and the connecting component can cooperate with the first clamping member. Movement, therefore, facilitates the pick-and-place of the workpiece, and allows the workpiece to be wrapped and fixed in the accommodating space of the clamping device, leaving only the edge to be processed outside the clamping device, thereby protecting the workpiece and avoiding the occurrence of the workpiece Deformation.

100‧‧‧manipulator

11, 61‧‧‧ ontology

10‧‧‧Powerplant

13‧‧‧Connecting Department

20‧‧‧First rotating part

30‧‧‧Adsorption device

31‧‧‧Support board

33‧‧‧Sucker

35‧‧‧ Connecting rod

40‧‧‧Clamping device

41‧‧‧First clamping part

43‧‧‧Second grip

411‧‧‧through slot

431‧‧‧through hole

45‧‧‧ screws

47‧‧‧ accommodation space

50‧‧‧Resistance

60‧‧‧ drive

63‧‧‧Activities

65‧‧‧ fixed plate

70‧‧‧Second rotating parts

71‧‧‧Installation holes

80‧‧‧Connecting components

81‧‧‧Rotary axis

811‧‧‧ receiving hole

813‧‧‧First assembly hole

815‧‧‧Second assembly hole

819‧‧‧step surface

83‧‧‧ bearing

90‧‧‧ Positioning components

91‧‧‧ Positioning axis

911‧‧‧ head

913‧‧‧ pole

93‧‧‧ Positioning board

95‧‧‧Locating pin

97‧‧‧Flexible parts

99‧‧‧ Stud

300‧‧‧Workpiece

301‧‧‧floor

303‧‧‧ side wall

200‧‧‧grinding equipment

201‧‧‧ grinding wheel

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view showing the working state of a manipulator according to an embodiment of the present invention.

2 is an exploded perspective view of the robot and the workpiece shown in FIG. 1.

3 is an exploded perspective view of the driving device, the connecting assembly and the positioning assembly of the robot shown in FIG. 2.

Figure 4 is a schematic cross-sectional view of the robot shown in Figure 1 taken along the line IV-IV.

Figure 5 is an enlarged view of the V of the robot shown in Figure 4.

Referring to FIG. 1 to FIG. 3 , the robot 100 includes the power device 10 , the first rotating member 20 , the adsorption device 30 and the clamping device 40 fixedly connected to the first rotating member 20 , and the fixed connection with the adsorption device 30 . The device 50, the driving device 60 connected to the power unit 10, the second rotating member 70 connected to the driving device 60, the connecting assembly 80 and the positioning assembly 90.

The power unit 10 includes a body 11 and a connecting portion 13.

The first rotating member 20 is fixedly coupled to the connecting portion 13 of the power unit 10 and is driven to rotate by the power unit 10.

The adsorption device 30 includes a support plate 31, a suction cup 33 fixedly coupled to the support plate, and a connecting rod 35 located at the center of the support plate 31. The adsorption device 30 is fixedly coupled to the first rotating member 20 by being inserted into the first rotating member 20 by the connecting rod 35. The number of the suction cups 33 is plural, and is determined according to the size of the workpiece 300 to be adsorbed. In the present embodiment, the number of the suction cups 33 is four, which are respectively located at the four corners of the support plate 31.

The clamping device 40 includes a first clamping member 41 and a second clamping member 43 that cooperates with the first clamping member 41. The first clamping member 41 is fixedly connected to the supporting plate 31 of the adsorption device 30 by means of a screw 45. The first clamping member 41 is provided with four through grooves 411 corresponding to the suction cups 33. A through hole 431 is defined in the second clamping member 43. The first clamping member 41 and the second clamping member 43 are assembled to form a receiving space 47. The receiving space 47 is substantially identical in shape to the workpiece 300 to firmly hold the workpiece 300 and protect the workpiece 300.

The resisting member 50 is fixedly coupled to the support plate 31 of the adsorption device 30 by screws 45. The resisting member 50 is partially received in the first holding member 41 of the holding device 40, and the other portion is extended from the first holding member 41 and passes through the workpiece 300 and the second holding member 43.

The driving device 60 is a rotary pressing cylinder, and includes a body 61 and a movable member 63. Activity piece 63 The body 61 is moved up and down and in-plane. The driving device 60 is connected to the connecting portion 13 of the power unit 10 via a fixing plate 65.

Referring to FIG. 2 and FIG. 3 simultaneously, one end of the second rotating member 70 is connected to the movable member 63 of the driving device 60, and moves along with the movable member 63 of the driving device 60, and the mounting hole 71 is opened through the other end.

Referring to FIG. 3 to FIG. 5 simultaneously, the connecting assembly 80 includes a rotating shaft 81 and a bearing 83. A receiving hole 811 is formed in the rotating shaft 81. The receiving hole 811 is a stepped hole, and includes a first mounting hole 813 having a larger radial dimension and a second mounting hole 815 having a smaller radial dimension. The junction of the first fitting hole 813 and the second fitting hole 815 has a stepped surface 819. One end of the rotating shaft 81 passes through the mounting hole 71 of the second rotating member 70, and is rotatably connected to the second rotating member 70 by the bearing 83, and the other end is fixedly coupled with the second clamping member 43 so that the second clamping member 43 is fixed. The second rotating member 70 is rotatable relative to the second rotating member 70.

The positioning assembly 90 includes a positioning shaft 91, a positioning plate 93, a positioning pin 95, an elastic member 97, and a stud 99. The positioning shaft 91 includes a head portion 911 and a rod portion 913 extending perpendicularly from an end surface of the head portion 911. The head portion 911 of the positioning shaft 91 is received in the first fitting hole 813 of the rotating shaft 81. The rod portion 913 extends through the second fitting hole 815 of the rotating shaft 81, and the rotating shaft 81 is connected to the positioning plate 93 by the stud 99. The positioning shaft 91 is non-rotatably connected to the rotating shaft 81. The cross-section of the rod portion 913 of the positioning shaft 91 and the second mounting hole 815 of the rotating shaft 81 are both non-circular. In this embodiment, the rod portion 913 and the rotating shaft 81 of the positioning shaft 91 are provided. The second assembly hole 815 has a square cross section. The positioning pin 95 is fixed to the positioning plate 93 and abuts against the second rotating member 70. The elastic member 97 is sleeved on the rod portion 913 of the positioning shaft 91, and one end is opposite to the head portion of the positioning shaft 91, and the other end is connected with the first fitting hole 813 and the second fitting hole 815 of the receiving hole 811 of the rotating shaft 81. The step surface 819 is offset.

Please refer to FIG. 2, FIG. 3 and FIG. 4 at the same time. When assembling the robot 100, the fixing plate 65 and After the connecting portion 13 of the power unit 10 is fixedly connected, the first rotating member 20 is connected to the power unit 10 through the fixing plate 65, and the adsorption device 30 is fixedly coupled to the first rotating member 20, and the first holding member of the holding device 40 The 41 and the resisting member 50 are connected by a screw 45 and an adsorption device 30. The body 61 of the driving device 60 is fixedly coupled to the fixing plate 65, and the movable member 63 is coupled to the second rotating member 70. After the rotating shaft 81 is fixedly coupled to the second clamping member 43, the rotating shaft 81 passes through the mounting hole 71 of the second rotating member 70 and cooperates with the bearing 83 in the mounting hole 71 to be rotatably coupled with the second rotating member 70. The positioning pin 95 is fixed to the positioning plate 93. After the elastic member 97 is sleeved on the positioning shaft 91, the positioning shaft 91 is fixedly connected to the positioning plate 93 through the receiving hole 811 of the rotating shaft 81. When the elastic member 97 is in the natural state, the positioning pin 95 abuts against the second rotating member 70, and the positioning assembly 90 is fixedly coupled to the second rotating member 70.

The workpiece 300 can be a component such as a housing or a frame. In the embodiment, the workpiece 300 is a housing component, and includes a bottom plate 301 and a sidewall 303 perpendicular to the bottom plate 301.

Referring to FIG. 1 to FIG. 4 simultaneously, the robot 100 and the grinding wheel 201 are combined into a grinding apparatus 200.

When the workpiece 300 is gripped by the robot 100, the movable member 63 is first driven to drive the movable member 63 to move and rotate the second clamping member 43 downwardly relative to the first clamping member 41, and then the suction cup of the adsorption device 30. 33 absorbs the workpiece 300 and passes the resist 50 through the workpiece 300. The movable member 63 is driven again by the driving device 60 to move the second clamping member 43 relative to the first clamping member 41, and the two are matched to fix the workpiece 300 therebetween, and the edge of the workpiece 300 is The edges of a clamping member 41 and a second clamping member 43 are flush and face the grinding wheel 201 of the grinding apparatus 200.

The workpiece 300 is ground using the grinding device 200. When the workpiece 300 is fixed in the clamping device 40, the resisting member 50 is inserted into the receiving hole 811 of the rotating shaft 81 through the through hole 431 of the second clamping member 43. Holding the head 911 of the positioning shaft 91 and compressing the elastic member 97 to position The shaft 91 moves away from the second clamping member 43, the positioning pin 95 and the second rotating member 70 are also separated, and the positioning assembly 90 is rotatable relative to the second rotating member 70. At this time, the edge of the workpiece 300 can be ground by driving the grinding wheel 201 to rotate. After one of the edges of the workpiece 300 is processed, the first rotating member 20 is driven to rotate by the power unit 10, and the clamping device 40 is also rotated, thereby driving the workpiece 300 to rotate, so that the grinding wheel 201 performs the plurality of edges of the workpiece 300. machining.

Since the receiving space 47 of the clamping device 40 and the shape of the workpiece 300 are substantially identical, when the force is large for machining the workpiece, the workpiece 300 can be protected, and the vertical state of the sidewall 303 and the bottom plate 301 can be maintained, thereby preventing the workpiece 300 from being deformed. Wait.

In addition, the connection assembly 80 and the positioning assembly 90 are arranged to abut or separate the positioning pin 95 from the second rotating member 70. When the second clamping member 43 is separated from the first clamping member 41, the positioning pin 95 abuts against the second rotating member 70, so that the second clamping member 43 and the second rotating member 70 are fixedly connected, so that After the second clamping member 43 rotates with the second rotating member 70, the second clamping member 43 cooperates well with the first clamping member 41. When the second clamping member 43 cooperates with the first clamping member 41 to clamp the workpiece 300, the resisting member 50 separates the positioning pin 95 from the second rotating member 70, so that the second clamping member 43 can rotate relative to the second member. The piece 70 is rotated to effect processing of different parts.

In summary, the present invention complies with the requirements of the invention patent and submits a patent application according to law. However, the above is only a preferred embodiment of the present invention, and equivalent modifications or variations made by those skilled in the art will be included in the following claims.

10‧‧‧Powerplant

13‧‧‧Connecting Department

30‧‧‧Adsorption device

41‧‧‧First clamping part

47‧‧‧ accommodation space

60‧‧‧ drive

81‧‧‧Rotary axis

91‧‧‧ Positioning axis

913‧‧‧ pole

95‧‧‧Locating pin

99‧‧‧ Stud

11‧‧‧Ontology

20‧‧‧First rotating part

40‧‧‧Clamping device

43‧‧‧Second grip

50‧‧‧Resistance

65‧‧‧ fixed plate

83‧‧‧ bearing

911‧‧‧ head

93‧‧‧ Positioning board

97‧‧‧Flexible parts

300‧‧‧Workpiece

Claims (7)

A manipulator for clamping and fixing a workpiece, comprising a power device, a first rotating member coupled to the power device, and a clamping device fixedly coupled to the first rotating member, the clamping device comprising a first clamping member and a second a clamping member, the first clamping member and the second clamping member cooperate to form a receiving space substantially adapted to the shape of the workpiece, and the improvement is that the robot further comprises a connecting component fixedly connected to the second clamping member And a positioning assembly coupled to the connecting component, the positioning component positioning the second clamping member to rotate and telescopically move the second clamping member relative to the first clamping member before the first clamping member cooperates with the first clamping member The assembly moves the second clamping member together with the first clamping member to cover and fix the workpiece in the receiving space, and expose the edge of the workpiece to the outside of the clamping device to facilitate the workpiece The edge is processed, the robot further includes an adsorption device fixedly coupled to the first rotating member, the adsorption device passes through the first clamping member, the adsorption device includes a plurality of suction cups, and the first clamping member is opened With plural suckers Corresponding to a plurality of through-groove, the suction through the suction through-groove of the workpiece. The robot of claim 1, wherein the robot further comprises a driving device and a second rotating member, the driving device drives the second rotating member to rotate and move up and down relative to the driving device, the second rotating member Connecting with the second clamping member to drive the second clamping member to move. The robot of claim 2, wherein the connecting assembly comprises a rotating shaft connecting the second rotating member and the second holding member, and a bearing between the rotating shaft and the second rotating member. The manipulator of claim 3, wherein the positioning component comprises a positioning shaft located inside the rotating shaft, a positioning plate coupled to the positioning shaft, and a positioning pin fixed to the positioning plate, the positioning shaft and The rotating shaft is not rotatably connected. The manipulator of claim 4, wherein the rotating shaft is internally inserted and received a hole, the receiving hole includes a first assembly hole and a second assembly hole, wherein the inner diameter of the first assembly hole is larger than the inner diameter of the second assembly hole, and the connection between the two has a stepped surface, the positioning shaft includes the receiving hole a head portion in the first mounting hole of the receiving hole and a portion of the rod portion received in the second mounting hole of the receiving hole, the cross-sectional shape of the rod portion being non-circular. The manipulator of claim 5, wherein the positioning component further comprises an elastic member sleeved on the rod portion of the positioning shaft, the two ends of the elastic member respectively corresponding to the head of the positioning shaft and the rotating shaft The stepped surface of the receiving hole is offset. The robot of claim 5, wherein the robot further comprises a resisting member fixedly coupled to the first rotating member, the resisting member passing through the clamping device and the head of the positioning shaft So that the positioning pin is separated from the second rotating member.