A fixing mechanism applied to an industrial robot

Abstract

The embodiment of the application discloses a fixing mechanism applied to an industrial robot, which comprises a base, two clamping assemblies arranged on the side wall surface of the base, a support frame combined and fixed on the side wall surface of the base, a first mounting portion formed on the support frame, a clamping arm mounted on the support frame, the clamping arm being rotatable around a second axis, a second mounting portion formed on the clamping arm, an elastic piece connected between the first mounting portion and the second mounting portion, a first plane formed by the first axis and the second axis, a second plane formed by the third axis and the second axis, and a first included angle between the first plane and the second plane being away from the base when the clamping arm is in an open state. The pickup mechanism is simple in structure, convenient for switching of work tasks, does not consume extra power in clamping action, and is high in screw pickup efficiency.

Description

Technical Field

[0001] This application relates to the field of industrial robot technology, and more specifically, to a fixing mechanism applied to an industrial robot. Background Technology

[0002] In automated assembly operations, screw installation and tightening are common tasks for industrial robots, and screw storage and retrieval are essential steps. Common industrial robot screw assembly systems employ two main screw delivery methods: one utilizes a dedicated screw feeding system for sorting and distributing screws. This method involves a complex system structure, and the close connection between the feeding system and the industrial robot hinders the switching between various assembly tasks. The other method involves the industrial robot actively picking up screws. In this method, the robot can only pick up one screw at a time from the ground or workbench, resulting in low efficiency when dealing with a large number of screws. Furthermore, the robot consumes additional power during the screw-grabbing action, leading to higher energy consumption. Summary of the Invention

[0003] The purpose of this invention is to provide a fixing mechanism for industrial robots to solve the problems of existing screw picking devices being complex in structure, inconvenient for switching work tasks, power consumption in clamping actions, and low efficiency when industrial robots actively pick up screws.

[0004] To achieve one of the above objectives, this application adopts the following technical solution:

[0005] This application provides a fixing mechanism for industrial robots, the fixing mechanism comprising:

[0006] Base;

[0007] Two clamping assemblies are arranged on the side wall of the base;

[0008] The two clamping assemblies each include:

[0009] Combined with a support frame fixed to the side wall of the base;

[0010] A first mounting portion formed on the support frame, the first mounting portion including a first axis;

[0011] A clamping arm is mounted on the support frame; the clamping arm is rotatable about a second axis;

[0012] A second mounting portion formed on the clamping arm, the second mounting portion including a third axis;

[0013] The first axis, the second axis, and the third axis are arranged parallel to each other;

[0014] The clamping assembly further includes an elastic element, the two ends of which are respectively connected to the first mounting portion and the second mounting portion;

[0015] By definition, the first axis and the second axis form the first plane;

[0016] The third axis and the second axis form a second plane;

[0017] The clamping arm includes an open state and a closed state;

[0018] When the clamping arm is in an open state under the pull of the elastic element, the first plane and the second plane form a first angle, and the opening direction of the first angle is away from the base;

[0019] When the clamping arm is in a closed state under the pull of the elastic element, the first plane and the second plane form a second angle, and the opening direction of the second angle is towards the base.

[0020] Optionally, the clamping arm includes a trigger arm extending inward to form the clamping arm.

[0021] Optionally, the fixing mechanism further includes a drive block disposed between the two clamping arms.

[0022] Optionally, the drive block includes a trigger portion for contacting and pressing the trigger arm, causing the clamping arm to rotate from an open state to a closed state.

[0023] Optionally, the clamping assembly further includes two stepped shafts located on opposite sides of the clamping arm, the two stepped shafts extending toward both sides of the clamping arm, and the axial direction of the stepped shafts being the same as the direction of the second axis.

[0024] Optionally, the support frame includes two support portions, each with a groove, and the clamping arm is rotatably mounted in the groove via a stepped shaft.

[0025] Optionally, a guide structure for alignment is included between the drive block and the base.

[0026] Optionally, the clamping arm includes two arm portions arranged in parallel, and the second mounting portion is connected and fixed between the two arm portions.

[0027] Optionally, the clamping arm further includes a clamping end and an abutting end. When the clamping arm is in the open state, the abutting end abuts against the side wall of the base. When the clamping arm is in the closed state, the clamping end clamps onto the drive block.

[0028] Optionally, the fixing mechanism further includes a fixing plate that is fixed to the bottom of the base, and the fixing plate has a notch.

[0029] The beneficial effects of this application are as follows:

[0030] Compared with existing technologies,

[0031] The fixed mechanism structure adopted in this application is simple and compact, making it more convenient for industrial robots to switch jobs. By connecting the two ends of the elastic element to the first mounting part and the second mounting part respectively, the clamping arm that can rotate around the second axis is in a closed or open state under the pulling force of the elastic element. The clamping arm can switch between the closed and open states by the trigger block to rotate the trigger arm or the clamping arm, thereby realizing the clamping or releasing of the drive block without consuming additional power.

[0032] By storing screws in a drive block and using a fixing mechanism to clamp and pick up the drive block, the screws can be picked up at once, thus achieving the goal of screw picking efficiency. Attached Figure Description

[0033] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0034] Figure 1 A schematic diagram of the overall structure of the fixing mechanism in one embodiment of this application is shown.

[0035] Figure 2 A schematic diagram of the base and fixing plate in one embodiment of this application is shown.

[0036] Figure 3 This diagram illustrates a combined structure of the clamping arm, the second mounting portion, the stepped shaft, and the trigger arm in one embodiment of this application.

[0037] Figure 4 This diagram illustrates a combined structure of the support frame, support portion, and first mounting portion in one embodiment of this application.

[0038] Figure 5 This diagram shows the state of the clamping drive block of the fixing mechanism in one embodiment of the present application.

[0039] Figure 6 A schematic diagram of the drive block structure in one embodiment of this application is shown.

[0040] Figure 7 A schematic diagram of a support structure in one embodiment of this application is shown.

[0041] Figure 8This diagram illustrates the alignment of the pin of the fixing mechanism with the hole on the trigger block during the pickup process of a drive block in one embodiment of this application.

[0042] Figure 9 This diagram illustrates the contact state between the drive block and the clamping arm of the fixing mechanism during the picking process of the drive block in one embodiment of this application.

[0043] Figure 10 This diagram illustrates the state of the fixing mechanism clamping the drive block during the picking process in one embodiment of this application.

[0044] Figure 11 This diagram illustrates the state in which the fixing mechanism clamps the drive block and moves upward during the picking-up process of a drive block in one embodiment of this application.

[0045] Figure 12 This diagram illustrates the state of the pickup driver block during the pickup process after leaving the support.

[0046] Figure 13 This paper illustrates the force analysis and motion diagram of the clamping arm during rotation in one embodiment of this application. Detailed Implementation

[0047] In the following description, numerous specific details are set forth for illustrative purposes and to provide a comprehensive understanding of one or more embodiments. However, it will be apparent that these embodiments can also be implemented without these specific details.

[0048] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0049] It should also be noted that, in the description of this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0050] To address the problems existing in the prior art, one embodiment of this application provides a fixing mechanism for industrial robots, such as... Figure 1-13 As shown, the fixing mechanism includes: a base 1, and two clamping assemblies symmetrically arranged on opposite sidewalls of the base 1. Each clamping assembly includes a support frame 2 fixed to the sidewall of the base 1. The support frame 2 is a U-shaped structure with the opening facing upward. A first mounting part 22 is provided on the support frame 2. The first mounting part 22 includes a first axis. The first mounting part 22 is a protruding structure protruding away from the base 1. A screw is threadedly fixed on the protruding structure, and the axis of the screw is the first axis.

[0051] Specifically, each support frame 2 is provided with two support parts 21, and each of the two support parts 21 has a groove 212 formed thereon. A clamping arm is rotatably mounted between the two support parts 21 through the two grooves 212. The clamping arm can rotate around the second axis. A second mounting part 31 is fixedly attached to the clamping arm. The second mounting part 31 includes a third axis. The first axis, the third axis and the third axis are arranged in parallel.

[0052] In one specific embodiment, the clamping arm includes two arm portions 3 arranged in parallel. A second mounting portion 31 is connected and fixed between the two arm portions 3. The clamping arm is rotatably connected to the support frame 2 via two stepped shafts 34. The two stepped shafts 34 are located on two opposite sides of the clamping arm. The ends of the two stepped shafts 34 are respectively engaged and fixed to the side wall surface of the clamping arm near the support portion 21. The two stepped shafts 34 extend to both sides of the clamping arm. The axial direction of the stepped shafts 34 is the same as the direction of the second axial direction. The stepped shafts 34 can prevent the clamping arm from moving axially along the stepped shafts 34, making the clamping position of the clamping arm more accurate.

[0053] Specifically, the second mounting part 31 is a connecting post, and the central axis of the second mounting part 31 is the third axis. The two ends of the elastic element 4 are respectively connected to the first mounting part 22 and the second mounting part 31. Further, the elastic element 4 is a tension spring, with one end fixed to a screw on the first mounting part 22 and the other end fixed to the cylindrical surface of the second mounting part 31. The clamping arm includes a trigger arm 32 extending from the second axis of the clamping arm towards the inside of the clamping arm. The clamping arm includes a closed state and an open state, such as... Figure 13 As shown, when the clamping arm is in the open state under the pull of the tension spring, the first plane formed by the first axis and the second axis forms a first angle with the second plane formed by the third axis and the second axis, and the opening of the first angle is away from the base 1. When the clamping arm is in the closed state under the pull of the tension spring, the second plane formed by the third axis and the second axis forms a second angle with the first plane formed by the first axis and the second axis, and the opening of the second angle is towards the base 1.

[0054] Furthermore, the fixing mechanism also includes a drive block and a trigger part 74 formed on the side wall of the drive block. When the trigger part 74 contacts and presses against the trigger arm 32 as it rotates around the second axis, the elastic member 4 pulls the clamping arm from the open state to the closed state, as shown below. Figure 8 In the structure shown, when there are two trigger arms 32, there are two corresponding trigger parts 74 on the drive block, with each trigger part 74 corresponding to one of the two trigger arms 32. Furthermore, the clamping arm includes a clamping end 33 and an abutting end 35. When the clamping arm is in the open state, the abutting end 35 abuts against the side wall of the base 1. When the clamping arm is in the closed state, the clamping end 33 clamps the drive block.

[0055] like Figure 13 As shown, when the drive block disengages from between the two clamping arms, it undergoes the following motion: the two triggering parts 74 on the drive block actuate the clamping arms to rotate, and the clamping arms pull the elastic element 4 to extend through the second mounting part 31. When the second mounting part 31 rotates into the first plane formed by the second axis and the first axis, the elastic element 4 extends to its maximum length. Then, the clamping arms continue to rotate to the other side of the first plane under the actuation of the two triggering parts 74. After that, the clamping arms rotate to the open state under the pulling force of the elastic element 4 and no longer clamp the drive block.

[0056] like Figure 8 and 9As shown, the base 1 is fixed to the nail gun structure 8 of the industrial robot by a fixing plate 6 fixed to the bottom of the base 1. The fixing plate 6 has a notch 61, which is used to allow part of the drive block to pass through, so that the drive block is clamped on the fixing mechanism. In order to make the drive block clamped on the fixing mechanism more stable, a guide structure for alignment is included between the drive block and the base 1. The guide structure includes two positioning pins 5 fixed to the base 1 and positioning holes 71 formed on the trigger part 74. The two positioning pins 5 are installed in the two pin holes 11 of the base 1, and one end of the two positioning pins 5 is exposed to the outside of the base 1. After the end of the positioning pin 5 exposed to the outside of the base 1 is engaged with the positioning hole 71 on the trigger part 74, the drive block can be accurately positioned on the base 1. Furthermore, the axis of the positioning pin 5 coincides with the axis of the positioning hole 71 on the drive block.

[0057] In one specific embodiment, the fixing mechanism can be used in conjunction with a bracket 9 for holding the drive block. Specifically, the bracket 9 includes a storage plate 91 and a plurality of fixing frames 92 fixed on the storage plate 91. The drive block is placed on the fixing frame 92, and the fixing frame 92 fixes the drive block on the fixing frame 92 by a limiting arm 921 in an enclosing state, a limiting structure 9211 formed at the end of the limiting arm 921, and a support plate 922 located at the bottom of the limiting arm 921 that can support the drive block.

[0058] The side wall of the drive block also has a limiting protrusion 72 that cooperates with the limiting structure 9211.

[0059] In one specific embodiment, the fixing mechanism of the present invention has the following pickup method, such as... Figure 8-12 As shown, the picking method includes:

[0060] The S1 industrial robot drives the fixed mechanism, which is in the open state, to move towards the fixed frame 92 of the support 9;

[0061] S2 adjusts the position of the fixing mechanism so that the area between the two clamping arms is aligned with the drive block; aligns the positioning pin 5 on the fixing mechanism with the axis of the positioning hole 71 on the trigger part 74, achieving... Figure 8 The state shown.

[0062] The S3 fixing mechanism moves towards the drive block, positioning the drive block between the two clamping arms. Then, the fixing mechanism continues to move towards the drive block along the axis of the positioning pin 5. The first positioning surface 73 of the drive block gets closer and closer to the second positioning surface 12 of the base 1. At the same time, the rotating arm 32 drives the clamping arm to rotate between the two support parts 21 under the pressing action of the trigger part 72, and then rotates from the open state to the closed state. At this time, the first positioning surface 73 of the drive block coincides with the second positioning surface 12 of the base 1, and the clamping arm remains in the closed state under the pulling force of the elastic member 4, clamping the drive block.

[0063] After the fixed mechanism clamps the drive block, the industrial robot moves vertically upward along the fixed mechanism until it is freed from the constraint of the limiting structure 9211, thus reaching its destination. Figure 11 The state shown;

[0064] S5 Then the industrial robot controls the fixing mechanism to move away from the fixing frame 92, so that the drive block is completely detached from the fixing frame 92. Finally, the drive block is fixed to the nail gun structure 8 under the clamping of the fixing mechanism, achieving... Figure 12 The state shown indicates that the drive block has been picked up. When it is necessary to put the drive block back onto the mounting bracket 92, the above steps are performed from back to front.

[0065] It should be noted that the driving block is specifically the nail storage device 7, and further, as... Figure 6 As shown, the screw storage device 7 includes a screw storage structure 710 for storing screws and a triggering mechanism. The screw storage structure 710 includes a screw storage cavity 711 for storing screws, which is formed inside the screw storage structure 710. The triggering mechanism is installed at the bottom end of the screw storage structure 710 and can control the output of screws inside the screw storage structure 710.

[0066] In a preferred embodiment, the nail storage cavity 711 is a cylindrical hole that passes through the upper and lower end faces of the nail storage structure 710, and a screw is placed in the cylindrical hole.

[0067] The triggering mechanism includes:

[0068] The mounting portion, which is fixed to the nail storage structure 710, includes a mounting plate 75, one end of which is fixed to the bottom end of the nail storage structure 710. The mounting plate 75 is a long strip formed at the bottom end of the nail storage structure 710. A blocking member 77 is slidably mounted on the mounting plate 75. To prevent the blocking member 77 from falling off the mounting plate 75, a stop block 76 is also fixed to the end of the mounting plate 75. A first elastic member (not shown in the figure) is included between the blocking member 77 and the stop block 76. Under the elastic push of the first elastic member, part of the blocking member 77 elastically abuts against the outlet position of the nail storage cavity 711. Specifically, the blocking member 77 is configured to move in a direction away from or towards the nail storage structure 710.

[0069] The triggering mechanism also includes:

[0070] A pull block 771 is formed on the side wall of the blocking member 77 and protrudes outward. The pull block 771 extends upward perpendicularly to the blocking member 77.

[0071] An isolation structure 79 is installed on the screw storage structure 710 to separate the screws in the screw storage cavity 711. When the isolation structure 79 slides along the guide groove, a part of the isolation structure 79 can be inserted into the interior of the screw storage cavity 711 through a slot (not shown in the figure), thereby separating two adjacent screws in the screw storage cavity 711.

[0072] A second elastic member 78 is connected between the isolation structure 79 and the pull block 771; the second elastic member 78 consists of two tension springs.

[0073] Since the isolation structure 79 and the pull block 771 are connected by the second elastic member 78, and the pull block 771 is formed on the blocking member 77, when the blocking member 77 moves, the isolation structure 79 can move in the direction of the movement of the blocking member 77 under the pull of the second elastic member 78. When at least part of the isolation structure 79 is located in the nail storage cavity 711 and between two adjacent screws, the isolation structure 79 separates the screws in the nail storage cavity 711.

[0074] The fixing mechanism of the present invention improves the efficiency of screw picking by picking up multiple screws at once onto the nail gun structure 8 by picking up the screw storage device 7, which contains screws.

[0075] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. All obvious variations or modifications derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. A fixing mechanism applied to an industrial robot, characterized by, The fixing mechanism includes: Base; Two clamping assemblies are arranged on the side wall of the base; The two clamping assemblies each include: Combined with a support frame fixed to the side wall of the base; A first mounting portion formed on the support frame, the first mounting portion including a first axis; A clamping arm is mounted on the support frame; the clamping arm is rotatable about a second axis; A second mounting portion formed on the clamping arm, the second mounting portion including a third axis; The first axis, the second axis, and the third axis are arranged parallel to each other; The clamping assembly further includes an elastic element, the two ends of which are respectively connected to the first mounting portion and the second mounting portion; By definition, the first axis and the second axis form the first plane; The third axis and the second axis form a second plane; The clamping arm includes an open state and a closed state; When the clamping arm is in an open state under the pull of the elastic element, the first plane and the second plane form a first angle, and the opening direction of the first angle is away from the base; When the clamping arm is in a closed state under the pull of the elastic element, the first plane and the second plane form a second angle, and the opening direction of the second angle is towards the base; The clamping arm includes a trigger arm that extends inward to form the clamping arm; The fixing mechanism also includes a drive block disposed between the two clamping arms; The drive block includes a trigger part, which is used to contact and press the trigger arm to rotate the clamping arm from the open state to the closed state; The clamping arm includes a clamping end and an abutting end. When the clamping arm is in the open state, the abutting end abuts against the side wall of the base. When the clamping arm is in the closed state, the clamping end clamps onto the drive block.

2. The securing mechanism of claim 1, wherein, The clamping assembly also includes two stepped shafts located on opposite sides of the clamping arm, with the two stepped shafts extending toward both sides of the clamping arm, and the axial direction of the stepped shafts being the same as the direction of the second axis.

3. The fixing mechanism according to claim 2, characterized in that, The support frame includes two support parts, each with a groove. The clamping arm is rotatably mounted in the groove via a stepped shaft.

4. The fixing mechanism according to claim 1, characterized in that, The drive block and the base include a guide structure for alignment.

5. The fixing mechanism according to claim 1, characterized in that, The clamping arm includes two arm sections arranged in parallel, and the second mounting part is connected and fixed between the two arm sections.

6. The fixing mechanism according to claim 1, characterized in that, The fixing mechanism also includes a fixing plate that is fixed to the bottom of the base, and the fixing plate has a notch.

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