Workpiece gripping robot and method of use

Abstract

This application relates to the field of robotic arm technology, disclosing a workpiece clamping robot and its usage method. The workpiece clamping robot includes: a first robotic arm, a second robotic arm, a main clamping mechanism, a secondary clamping mechanism, and a position adjustment mechanism. The main clamping mechanism is rotatably connected to the end of the second robotic arm furthest from the first robotic arm. The secondary clamping mechanism is located between the main clamping mechanism and the first robotic arm. The position adjustment mechanism is disposed on the second robotic arm and connected to the secondary clamping mechanism, used to adjust the relative position between the secondary clamping mechanism and the main clamping mechanism. The method of using this workpiece clamping robot involves clamping a workpiece using the aforementioned workpiece clamping robot. Through the cooperation between the main clamping mechanism and the secondary clamping mechanism, two different parts of the workpiece are clamped simultaneously, effectively preventing workpiece displacement. The position adjustment mechanism adjusts the relative position between the secondary clamping mechanism and the main clamping mechanism to accommodate different types of workpieces.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and in particular to a workpiece clamping robotic arm and its usage method. Background Technology

[0002] With the rapid development of society and the economy, automobiles have become an indispensable part of life. Automotive parts are the basic units that make up a car. During the production of automotive parts, gripping robots are used to hold the parts and transfer them to designated points for processing.

[0003] Currently, most automotive parts have complex shapes, and the gripping robot may loosen its grip on the parts. In addition, the gripping robot usually holds a part of the automotive part with its jaws, while the rest of the part is located outside the jaws. During the process of the gripping robot transferring the automotive parts, the parts are prone to displacement due to compression, which can cause them to fall off, posing a significant safety hazard. Summary of the Invention

[0004] To address the aforementioned issues, this application provides a workpiece clamping robot and its usage method, which can stably clamp workpieces.

[0005] This application provides a workpiece clamping mechanical manual assembly, including: a first mechanical arm, a second mechanical arm, a main clamping mechanism, a secondary clamping mechanism, and a position adjustment mechanism; one end of the second mechanical arm is rotatably connected to one end of the first mechanical arm, the main clamping mechanism is rotatably connected to the end of the second mechanical arm away from the first mechanical arm, the secondary clamping mechanism is located between the main clamping mechanism and the first mechanical arm, and the position adjustment mechanism is disposed on the second mechanical arm and connected to the secondary clamping mechanism for adjusting the relative position between the secondary clamping mechanism and the main clamping mechanism.

[0006] The beneficial effects of the workpiece clamping robot provided in this application are as follows: Compared with the prior art, during use, the main clamping mechanism and the auxiliary clamping mechanism cooperate to clamp two different parts of the workpiece, such as an automotive part, simultaneously, effectively preventing the workpiece from shifting. In addition, during the workpiece clamping process, the position adjustment mechanism adjusts the relative position between the auxiliary clamping mechanism and the main clamping mechanism to adapt to different types of workpieces, which helps to improve the stability of the workpiece clamping robot in clamping the workpiece, thereby effectively preventing the workpiece from loosening or falling off during the transfer process, which helps to ensure safety.

[0007] In one embodiment, the position adjustment mechanism includes a first adjustment component, which is disposed on the second robotic arm and connected to the secondary clamping mechanism. The first adjustment component is used to drive the secondary clamping mechanism to move along the length direction of the second robotic arm.

[0008] In one embodiment, the second robotic arm is provided with a slide groove that extends along the length of the second robotic arm. The first adjustment component includes a slider and an elastic element. The slider is slidably disposed in the corresponding slide groove and connected to the secondary clamping mechanism. The elastic element is movably disposed in the slide groove and connected to the slider.

[0009] In one embodiment, the first adjusting assembly further includes a fixed cylinder and a connecting rod. The fixed cylinder is disposed in the slide groove, the elastic element is received in the fixed cylinder, and the two ends of the connecting rod are respectively connected to the slider and the elastic element.

[0010] In one embodiment, the position adjustment mechanism further includes a second adjustment component connected between the first adjustment component and the secondary clamping mechanism, the second adjustment component being used to control the secondary clamping mechanism to swing relative to the main clamping mechanism.

[0011] In one embodiment, the second adjusting component includes a rotary drive, a main shaft, a main sprocket, a driven sprocket, and a chain. The rotary drive is disposed on a slider, the main shaft is rotatably disposed on the slider and connected to the secondary clamping mechanism, the main sprocket is disposed on the rotary drive, the driven sprocket is disposed on the main shaft, and the chain is wound around the main sprocket and the driven sprocket.

[0012] In one embodiment, the position adjustment mechanism further includes a third adjustment component connected between the second adjustment component and the secondary clamping mechanism, the third adjustment component being used to adjust the height of the secondary clamping mechanism.

[0013] In one embodiment, a first rotary drive mechanism and a second rotary drive mechanism are further included. The first rotary drive mechanism is disposed on the first robotic arm and connected to the second robotic arm. The first rotary drive mechanism is used to drive the second robotic arm to rotate relative to the first robotic arm. The second rotary drive mechanism is disposed on the second robotic arm and connected to the main clamping mechanism. The second rotary drive mechanism is used to drive the main clamping mechanism to rotate relative to the second robotic arm.

[0014] In one embodiment, a turntable and a third rotary drive mechanism are also included. The third rotary drive mechanism is disposed on the turntable and connected to the first robotic arm. The third rotary drive mechanism is used to drive the first robotic arm to rotate relative to the turntable.

[0015] In one embodiment, the main clamping mechanism includes a first cylinder and two main grippers. A transition block is connected to the first cylinder, and the transition block is connected to the end of the second robotic arm away from the first robotic arm. Both main grippers are connected to the first cylinder, and the first cylinder is used to drive the two main grippers to move closer or further apart from each other.

[0016] In one embodiment, each of the secondary grippers includes a second cylinder and a gripper rod, with the gripper rods of the two secondary grippers arranged opposite to each other, and the second cylinder being used to drive the gripper rod to move closer to or away from the other gripper rod.

[0017] In one embodiment, the first rotary drive mechanism includes a first rotary shaft and a first rotary driver. The first rotary shaft is movably inserted into two first connecting blocks of the first robotic arm. One end of the second robotic arm is located between the two first connecting blocks and is fixedly connected to the first rotary shaft. The first rotary driver is located on one of the first connecting blocks of the first robotic arm and is connected to the first rotary shaft.

[0018] In one embodiment, the second rotary drive mechanism includes a second rotary shaft and a second rotary driver. The second rotary shaft is movably inserted into two second connecting blocks of the second robotic arm. A portion of the adapter block is disposed between the two second connecting blocks and is fixedly connected to the second rotary shaft. The second rotary driver is disposed on one of the second connecting blocks of the second robotic arm and is connected to the second rotary shaft.

[0019] In one embodiment, the turntable is provided with two fixed seats, which are arranged relatively apart. The third rotary drive mechanism includes a third rotary shaft and a third rotary driver. The third rotary shaft is movably mounted on the two fixed seats. The end of the first robotic arm away from the second robotic arm is located between the two fixed seats and connected to the third rotary shaft. The third rotary driver is connected to one end of the third rotary shaft.

[0020] This application also provides a method for using a workpiece clamping robot, employing any of the workpiece clamping robots described above, including the following steps:

[0021] Based on the type and position of the workpiece, control the movement of at least one of the first robotic arm, the second robotic arm, and the main clamping mechanism to make the main clamping mechanism reach a first target clamping position; control the adjustment mechanism to adjust the relative position between the secondary clamping mechanism and the main clamping mechanism to make the secondary clamping mechanism reach a second target clamping position;

[0022] The main clamping mechanism and the auxiliary clamping mechanism clamp the workpiece at two different locations.

[0023] The beneficial effects of the workpiece clamping robot method provided in this application embodiment are as follows: Compared with the prior art, during use, the main clamping mechanism and the auxiliary clamping mechanism cooperate to clamp two different parts of the workpiece, such as an automotive part, simultaneously, effectively preventing the workpiece from shifting. In addition, during the workpiece clamping process, the position adjustment mechanism adjusts the relative position between the auxiliary clamping mechanism and the main clamping mechanism to adapt to different types of workpieces, which helps to improve the stability of the workpiece clamping robot in clamping the workpiece, thereby effectively preventing the workpiece from loosening or falling off during the transfer process, which helps to ensure safety. Attached Figure Description

[0024] Figure 1 A three-dimensional structural diagram of the workpiece clamping robot provided in the embodiments of this application;

[0025] Figure 2 A three-dimensional structural schematic diagram of the workpiece clamping robot provided in an embodiment of this application from another perspective;

[0026] Figure 3 This is a partial structural schematic diagram of the workpiece clamping robot provided in an embodiment of this application.

[0027] Figure label:

[0028] 10. First robotic arm; 11. First connecting post; 12. First connecting block; 20. Second robotic arm; 21. Second connecting post; 22. Second connecting block; 23. Slide groove; 30. Main clamping mechanism; 31. First cylinder; 32. Main gripper; 33. Adapter block; 40. Secondary clamping mechanism; 41. Secondary gripper; 42. Secondary cylinder; 43. Clamping rod; 50. First rotary drive mechanism; 51. First rotary shaft; 52. First rotary actuator; 60. 70. Second rotary drive mechanism; 80. Base; 81. Turntable; 90. Fixed seat; 100. Third rotary drive mechanism; 111. Position adjustment mechanism; 112. First adjustment component; 113. Slider; 114. Elastic element; 125. Fixed cylinder; 126. Connecting rod; 127. Second adjustment component; 128. Rotary drive component; 129. Main shaft; 120. Main sprocket; 121. Driven sprocket; 122. Chain; 133. Third adjustment component. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0030] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. The terms "mounted," "connected," and "linked" should be interpreted broadly, for example, they can refer to mechanical or electrical connections, or internal connections between two components, and can be direct connections or indirect connections through an intermediate medium.

[0031] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this application.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0033] Please refer to the above as well. Figures 1 to 3 The workpiece clamping robot provided in the embodiments of this application will now be described. The workpiece clamping robot is used to clamp workpieces and transfer them to a designated point. The workpieces are generally components that make up mechanical equipment, such as automotive parts.

[0034] Please refer to Figure 1 and Figure 2 A workpiece clamping robot includes: a first robotic arm 10, a second robotic arm 20, a main clamping mechanism 30, a secondary clamping mechanism 40, and a position adjustment mechanism 100. One end of the second robotic arm 20 is rotatably connected to one end of the first robotic arm 10. The main clamping mechanism 30 is rotatably connected to the end of the second robotic arm 20 away from the first robotic arm 10. The secondary clamping mechanism 40 is located between the main clamping mechanism 30 and the first robotic arm 10. The position adjustment mechanism 100 is disposed on the second robotic arm 20 and connected to the secondary clamping mechanism 40, and is used to adjust the relative position between the secondary clamping mechanism 40 and the main clamping mechanism 30.

[0035] The beneficial effects of the workpiece clamping robot provided in this application are as follows: Compared with the prior art, during use, the main clamping mechanism 30 and the auxiliary clamping mechanism 40 cooperate to clamp two different parts of the workpiece, such as an automotive part, simultaneously, effectively preventing the workpiece from shifting. In addition, during the workpiece clamping process, the position adjustment mechanism 100 adjusts the relative position between the auxiliary clamping mechanism 40 and the main clamping mechanism 30 to adapt to different types of workpieces, which helps to improve the stability of the workpiece clamping robot in clamping the workpiece, thereby effectively preventing the workpiece from loosening or falling off during the transfer process, which helps to ensure safety.

[0036] In some embodiments of this application, please refer to Figure 2 The first robotic arm 10 includes two first connecting posts 11 and two first connecting blocks 12. The two first connecting posts 11 are arranged parallel to each other and spaced apart. The first connecting blocks 12 are connected between the two first connecting posts 11. Alternatively, the number of first connecting blocks 12 can be multiple, arranged parallel to each other and spaced apart along the length of the first connecting posts 11. Optionally, the number of first connecting blocks 12 is two.

[0037] In some embodiments of this application, the second robotic arm 20 includes a second connecting post 21 and a second connecting block 22. There are two second connecting posts 21, which are arranged parallel to each other and spaced apart. The second connecting block 22 connects the two second connecting posts 21. Further, there can be one or more second connecting blocks 22. When there are multiple second connecting blocks 22, they are arranged parallel to each other and spaced apart along the length direction of the second connecting post 21.

[0038] Please refer to Figure 1 and Figure 2 The main clamping mechanism 30 includes a first cylinder 31 and two main grippers 32. A transition block 33 is connected to the first cylinder 31. The transition block 33 is connected to the end of the second robotic arm 20 away from the first robotic arm 10. Both main grippers 32 are connected to the first cylinder 31. The first cylinder 31 is used to drive the two main grippers 32 to move closer or further away from each other in order to clamp and release the workpiece.

[0039] Please refer to Figure 1 and Figure 3 The secondary clamping mechanism 40 includes two secondary grippers 41, which are arranged opposite to each other. The two secondary grippers 41 cooperate with each other to clamp and release the workpiece. Specifically, each secondary gripper 41 includes a second cylinder 42 and a clamping rod 43. The clamping rods 43 of the two secondary grippers 41 are arranged opposite to each other. The second cylinder 42 is used to drive the clamping rod 43 to move closer to or away from the other clamping rod 43 to achieve clamping and releasing of the workpiece.

[0040] In some embodiments of this application, please refer to Figure 1 The workpiece clamping robot also includes a first rotary drive mechanism 50, which is disposed on one end of the first robotic arm 10 near the second robotic arm 20 and connected to one end of the second robotic arm 20. The first rotary drive mechanism 50 is used to drive the second robotic arm 20 to rotate relative to the first robotic arm 10.

[0041] Specifically, the first rotary drive mechanism 50 includes a first rotary shaft 51 and a first rotary driver 52. The first rotary shaft 51 is movably inserted into two first connecting blocks 12 of the first robotic arm 10. One end of the second robotic arm 20 is located between the two first connecting blocks 12 and is fixedly connected to the first rotary shaft 51. The first rotary driver 52 is disposed on one of the first connecting blocks 12 of the first robotic arm 10 and is connected to the first rotary shaft 51. The first rotary driver 52 drives the first rotary shaft 51 to rotate, thereby causing the second robotic arm 20 to rotate relative to the first robotic arm 10. Optionally, the first rotary driver 52 is a motor.

[0042] In some embodiments of this application, the workpiece clamping robot further includes a second rotary drive mechanism 60, which is disposed on one end of the second robotic arm 20 near the main clamping mechanism 30 and connected to the main clamping mechanism 30. The second rotary drive mechanism 60 is used to drive the main clamping mechanism 30 to rotate relative to the second robotic arm 20.

[0043] Specifically, the second rotary drive mechanism 60 includes a second rotary shaft and a second rotary driver. The second rotary shaft is movably inserted into two second connecting blocks 22 of the second robotic arm 20. A portion of the adapter block 33 is located between the two second connecting blocks 22 and is fixedly connected to the second rotary shaft. The second rotary driver is mounted on one of the second connecting blocks 22 of the second robotic arm 20 and is connected to the second rotary shaft. The second rotary driver drives the second rotary shaft to rotate, thereby causing the main clamping mechanism 30 to rotate relative to the second robotic arm 20. Optionally, the second rotary driver is a motor.

[0044] In some embodiments of this application, the workpiece clamping robot further includes a base 70, a turntable 80, and a third rotary drive mechanism 90. The base 70 is connected to a horizontal rotary drive mechanism (not shown). The turntable 80 is disposed on the base 70. When transferring the workpiece, the horizontal rotary drive mechanism drives the base 70 to rotate horizontally, thereby causing the turntable 80 to rotate horizontally, and thus causing the entire workpiece clamping robot to rotate horizontally. The third rotary drive mechanism 90 is disposed on the turntable 80 and connected to the end of the first robotic arm 10 away from the second robotic arm 20. The third rotary drive mechanism 90 is used to drive the first robotic arm 10 to rotate relative to the turntable 80.

[0045] Optionally, the horizontal rotation drive mechanism can be a motor. Of course, the horizontal rotation drive mechanism can also be a combination of a motor and gear transmission, which effectively avoids easy damage during long-term use.

[0046] Further, please continue to refer to Figure 1 The turntable 80 is provided with two fixed seats 81, which are arranged relatively apart. The third rotary drive mechanism 90 includes a third rotary shaft and a third rotary driver. The third rotary shaft is movably mounted on the two fixed seats. The end of the first robotic arm 10 away from the second robotic arm 20 is located between the two fixed seats 81 and connected to the third rotary shaft. The third rotary driver is connected to one end of the third rotary shaft. The third rotary driver drives the third rotary shaft to rotate, thereby causing a robotic arm to rotate relative to the turntable 80. Optionally, the third rotary driver is a motor.

[0047] Understandably, by setting up the first rotary drive mechanism 50, the second rotary drive mechanism 60 and the third rotary drive mechanism 90, the multi-axis movement of the workpiece clamping robot can be realized, making it more flexible to use.

[0048] In some embodiments of this application, please refer to 2 and Figure 3 The position adjustment mechanism 100 includes a first adjustment component 110, which is disposed on the second robotic arm 20. The first adjustment component 110 is connected to the secondary clamping mechanism 40. The first adjustment component 110 is used to drive the secondary clamping mechanism 40 to move along the length direction of the second robotic arm 20, so as to adjust the distance between the secondary clamping mechanism 40 and the main clamping mechanism 30.

[0049] Specifically, the second robotic arm 20 is provided with a slide groove 23, which extends along the length of the second robotic arm 20. The first adjustment assembly 110 includes a slider 111 and an elastic element 112. The slider 111 is slidably disposed in the slide groove 23 and connected to the secondary clamping mechanism 40. The elastic element 112 is movably disposed in the slide groove 23 and connected to the slider 111. When the second robotic arm 20 tilts relative to the horizontal plane, the slider 111 slides in the slide groove 23 under the action of gravity, thereby driving the secondary clamping mechanism 40 to move along the length of the first robotic arm 10, so that the secondary clamping mechanism 40 moves closer to or further away from the main clamping mechanism 30, thereby adjusting the distance between the secondary clamping mechanism 40 and the main clamping mechanism 30. The elastic element 112 is used to drive the slider 111 to quickly return to its original position when the second robotic arm 20 is in a horizontal state. Optionally, the elastic element 112 is a spring or a sheet spring, etc.

[0050] Furthermore, the first adjustment assembly 110 also includes a fixed cylinder 113 and a connecting rod 114. The fixed cylinder 113 is fixedly disposed in the slide groove 23 and extends along the length of the slide groove 23. The elastic element 112 is housed in the fixed cylinder 113. The connecting rod 114 is disposed in the slide groove 23. The two ends of the connecting rod 114 are respectively connected to the slider 111 and one end of the elastic element 112, so that the elastic element 112 pushes or pulls the slider 111 to slide in the slide groove 23 through the connecting rod 114.

[0051] It should be noted that when the second robotic arm 20 is in a horizontal state, there is a preset distance between the slider 111 and the fixed cylinder 113, and there is also a preset distance between the slider 111 and the inner wall of the slide groove 23 away from the fixed cylinder 113, so that when the second robotic arm 20 is tilted, there is space in the slide groove 23 for the slider 111 to slide.

[0052] For example, such as Figure 3 When the second robotic arm 20 is in a horizontal state, the elastic element 112 is in a natural state. In this state, when the first robotic arm 10 and / or the second robotic arm 20 rotate counterclockwise, causing the second robotic arm 20 to tilt to the left relative to the horizontal surface, the slider 111 slides diagonally downward under the action of gravity, thereby driving the secondary clamping mechanism 40 to move towards the main clamping mechanism 30, so that the distance between the secondary clamping mechanism 40 and the main clamping mechanism 30 gradually decreases. During the process of the slider 111 sliding diagonally downward, the elastic element 112 is elastically stretched. When the second robotic arm 20 is in a state of tilting to the left, and when the first robotic arm 10 and / or the second robotic arm 20 rotates clockwise, causing the second robotic arm 20 to gradually return to a horizontal state, the elastic element 112 pulls the slider 111 to gradually reset. When the second robotic arm 20 is in a horizontal position, and the first robotic arm 10 and / or the second robotic arm 20 rotates clockwise, causing the second robotic arm 20 to tilt to the right relative to the horizontal plane, the slider 111 slides away from the main clamping mechanism 30 under the action of gravity, gradually increasing the distance between the secondary clamping mechanism 40 and the main clamping mechanism 30, and the elastic element 112 is elastically compressed. When the second robotic arm 20 is tilted to the right, and the first robotic arm 10 and / or the second robotic arm 20 rotates counterclockwise, causing the second robotic arm 20 to gradually return to a horizontal position, the elastic element 112 pushes the slider 111 to gradually reset. Therefore, the slider 111 slides within the groove 23 under the combined action of gravity and the elastic element 112, thereby adjusting the distance between the secondary clamping mechanism 40 and the main clamping mechanism 30.

[0053] The adjustment process of the first adjusting component 110 on the secondary clamping mechanism 40 can be performed simultaneously with the adjustment of the clamping position of the main clamping mechanism 30 on the workpiece. That is, during the adjustment of the clamping position of the main clamping mechanism 30, when the first robotic arm 10 and / or the second robotic arm 20 rotate, the slider 111 can drive the secondary clamping mechanism 40 to slide along the length direction of the second robotic arm 20 under the action of gravity. By simultaneously completing the position adjustment of the secondary clamping mechanism 40 by the first adjusting component 110 while adjusting the clamping position of the main clamping mechanism 30 on the workpiece, the process is quick, helps to reduce energy consumption, save resources, and lower costs.

[0054] In this embodiment, there are two slide grooves 23, which are respectively located on opposite sides of the second robotic arm 20. Furthermore, the two slide grooves 23 are respectively located on the outer sides of the two second connecting posts 21 of the second robotic arm 20. There are two sliders 111, two elastic elements 112, two fixed cylinders 113, and two connecting rods 114. The sliders 111 are slidably disposed within the two slide grooves 23 and are respectively connected to the two secondary grippers 41 of the secondary clamping mechanism 40. The two elastic elements 112 are movably disposed within the slide grooves 23 and are respectively connected to the two sliders 111. The two fixed cylinders 113 are respectively fixedly disposed within the two slide grooves 23, and the two elastic elements 112 are respectively housed within the two fixed cylinders 113. The two connecting rods 114 are respectively disposed within the two slide grooves 23. Of course, in other embodiments, the second robotic arm 20 may be a solid column, with one slide groove 23 extending through the opposite sides of the second robotic arm 20. The number of sliders 111, elastic elements 112, fixed cylinders 113 and connecting rods 114 are all one, and the opposite sides of sliders 111 are respectively connected to two secondary grippers 41.

[0055] In some embodiments of this application, please continue to refer to Figure 3 The position adjustment mechanism 100 includes a second adjustment component 120, which is connected between the first adjustment component 110 and the secondary clamping mechanism 40. The second adjustment component 120 is used to control the secondary clamping mechanism 40 to swing relative to the main clamping mechanism 30, so as to adjust the distance between the secondary clamping mechanism 40 and the main clamping mechanism 30.

[0056] Specifically, by setting the second adjustment component 120, for some workpieces with relatively complex shapes and sizes, when the position of the secondary clamping mechanism 40 cannot be clamped well after the initial adjustment of the position of the secondary clamping mechanism 40 by the first adjustment component 110, or when the first adjustment component 110 adjusts the secondary clamping mechanism 40 in the opposite direction during the adjustment of the clamping position of the main clamping mechanism 30, the position of the secondary clamping mechanism 40 can be further adjusted or compensated by the second adjustment component 120 so that the secondary clamping mechanism 40 clamps the workpiece better, which is beneficial to improving the adaptability of the workpiece clamping robot.

[0057] It should be noted that if, during the adjustment of the clamping position of the main clamping mechanism 30, the first robotic arm 10 and / or the second robotic arm 20 are rotated in the first direction, which may cause the first adjusting component 110 to drive the secondary clamping mechanism 40 to adjust in the opposite direction, the second robotic arm 20 can be rotated in the second direction opposite to the first direction before adjusting the clamping position of the main clamping mechanism 30, so that the first adjusting component 110 drives the secondary clamping mechanism 40 to reach the preset position, and then the clamping position of the main clamping mechanism 30 is adjusted. During this process, when the first robotic arm 10 and / or the second robotic arm 20 are rotated in the first direction, the secondary clamping mechanism 40 can always be kept in the preset position. In addition, even if the first adjustment component 110 causes the secondary clamping mechanism 40 to adjust in the opposite direction when rotating the first robotic arm 10 and / or the second robotic arm 20 during the adjustment of the clamping position of the main clamping mechanism 30, the secondary clamping mechanism 40 can be compensated by the second adjustment component 120. That is, the secondary clamping mechanism 40 can be swung by the second adjustment component 120 to adjust the distance between the secondary clamping mechanism 40 and the main clamping mechanism 30 to a preset distance.

[0058] Specifically, the second adjustment assembly 120 includes a rotary drive 121, a main shaft 122, a main sprocket 123, a driven sprocket 124, and a chain 125. The rotary drive 121 is fixedly mounted on the slider 111, and the main shaft 122 is rotatably mounted on the slider 111. The main shaft 122 and the rotary drive 121 are spaced apart from the rotation axis along the length direction of the second robotic arm 20, and the main shaft 122 is connected to the secondary clamping mechanism 40. That is, the first adjustment assembly 110 is connected to the secondary clamping mechanism 40 through the second adjustment assembly 120. The main sprocket 123 is mounted on the rotary drive 121, the driven sprocket 124 is mounted on the main shaft 122, and the chain 125 is wound around the main sprocket 123 and the driven sprocket 124. When the rotary drive 121 drives the main sprocket 123 to rotate, the main sprocket 123 drives the main shaft 122 to rotate through the chain 125 and the slave sprocket 124, thereby causing the corresponding secondary clamping mechanism 40 to deviate from the main clamping mechanism 30, thereby adjusting the distance between the secondary clamping mechanism 40 and the main clamping mechanism 30.

[0059] Furthermore, there are two rotary drive components 121, two main shafts 122, two main sprockets 123, two driven sprockets 124, and two chains 125. The two rotary drive components 121 are respectively mounted on the two sliders 111, and the two main shafts 122 are rotatably mounted on the two sliders 111, with each main shaft 122 connected to a secondary gripper 41. The two main sprockets 123 are respectively mounted on the two rotary drive components 121, and the two driven sprockets 124 are respectively mounted on the two main shafts 122. The chains 125 are located on both sides of the second robotic arm 20 and are wound around the corresponding main sprockets 123 and the corresponding driven sprockets 124.

[0060] Of course, in other embodiments, the main shaft 122, main sprocket 123, driven sprocket 124, and chain 125 can be omitted, and the rotary drive 121 can be directly connected to the secondary gripper 41, thereby directly driving the secondary gripper 41 to swing. Optionally, the rotary drive 121 can be a motor.

[0061] In some embodiments of this application, the position adjustment mechanism 100 further includes a third adjustment component 130, which is connected between the second adjustment component 120 and the secondary clamping mechanism 40. That is, the second adjustment component 120 is connected to the secondary clamping mechanism 40 through the third adjustment component 130. The third adjustment component 130 is used to adjust the height of the secondary clamping mechanism 40 to adjust the clamping height of the secondary clamping mechanism 40 on the workpiece.

[0062] Specifically, the third adjustment assembly 130 includes two electrically operated telescopic components. One end of each component is connected to one of the two main shafts 122, and the other end is connected to the second cylinder 42 of each of the two auxiliary grippers 41. The two telescopic components are used to adjust the height of the two auxiliary grippers 41. Optionally, the third adjustment assembly 130 can be an electrically operated push rod or a telescopic cylinder, etc.

[0063] By setting the third adjustment component 130 in conjunction with the first adjustment component 110 and / or the second adjustment component 120 to adjust the position of the secondary clamping mechanism 40, the clamping position of the secondary clamping mechanism 40 on the workpiece can be flexibly adjusted according to different types of workpieces, so that the workpiece clamping robot can adaptively adjust the clamping position of the workpiece, which is highly flexible and adaptable.

[0064] This application also provides a method for using a workpiece clamping robot, which, using any of the above embodiments of the workpiece clamping robot, includes the following steps:

[0065] Step S10: Based on the type and position of the workpiece, control the movement of at least one of the first robotic arm 10, the second robotic arm 20 and the main clamping mechanism 30 so that the main clamping mechanism reaches the first target clamping position; control the adjustment mechanism to adjust the relative position between the secondary clamping mechanism 40 and the main clamping mechanism 30 so that the secondary clamping mechanism 40 reaches the second target clamping position.

[0066] It should be noted that the type of workpiece refers to the shape or size of the workpiece, and different types of workpieces refer to workpieces with different shapes and / or sizes. Step S10 specifically includes: when the workpiece clamping robot rotates horizontally to directly above the workpiece, based on the type and position of the workpiece, the first robot arm 10 is driven to rotate by the third rotary drive mechanism 90, and / or the second robot arm 20 is driven to rotate by the first rotary drive mechanism 50, and / or the main clamping mechanism 30 is driven to rotate by the second rotary drive mechanism 60, so that the main clamping mechanism 30 reaches the first target clamping position. At this time, the two main jaws 32 of the main clamping mechanism 30 are respectively aligned with the opposite sides of one end of the workpiece to be clamped, that is, one end of the workpiece is located within the space enclosed by the two main jaws 32 of the main clamping mechanism 30. The distance between the secondary clamping mechanism 40 and the main clamping mechanism 30 is adjusted by the first adjusting component 110 and / or the second adjusting component 120, and the height of the secondary clamping mechanism 40 is adjusted by the third adjusting component 130 so that the secondary clamping mechanism 40 reaches the second target clamping position. At this time, the two secondary jaws 41 of the secondary clamping mechanism 40 are respectively aligned with the opposite sides of the other end of the workpiece to be clamped, that is, the other end of the workpiece is located in the space enclosed by the two secondary jaws 41 of the secondary clamping mechanism 40.

[0067] Step S20: The main clamping mechanism 30 and the auxiliary clamping mechanism 40 clamp the workpiece at two different locations. Specifically, the first cylinder 31 drives the two main grippers 32 to move closer to each other, causing the two main grippers 32 to clamp one end of the workpiece. The second cylinder 42 drives the clamping rod 43 to move closer to or away from the other clamping rod 43, causing the two clamping rods 43 to clamp the other end of the workpiece.

[0068] Step S30: The workpiece clamping robot rotates horizontally to transfer the workpiece to the target area.

[0069] The beneficial effects of the workpiece clamping robot method provided in this application are as follows: Compared with the prior art, during use, the main clamping mechanism 30 and the auxiliary clamping mechanism 40 cooperate to clamp two different parts of the workpiece, such as an automotive part, simultaneously, effectively preventing the workpiece from shifting. In addition, during the workpiece clamping process, the position adjustment mechanism 100 adjusts the relative position between the auxiliary clamping mechanism 40 and the main clamping mechanism 30 to adapt to different types of workpieces, which helps to improve the stability of the workpiece clamping robot in clamping the workpiece, thereby effectively preventing the workpiece from loosening or falling off during the transfer process, which helps to ensure safety.

[0070] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A workpiece clamping robot, characterized in that, include: The system comprises a first robotic arm, a second robotic arm, a main clamping mechanism, a secondary clamping mechanism, and a position adjustment mechanism. One end of the second robotic arm is rotatably connected to one end of the first robotic arm. The main clamping mechanism is rotatably connected to the end of the second robotic arm away from the first robotic arm. The secondary clamping mechanism is located between the main clamping mechanism and the first robotic arm. The position adjustment mechanism is mounted on the second robotic arm and connected to the secondary clamping mechanism, used to adjust the relative position between the secondary clamping mechanism and the main clamping mechanism. The position adjustment mechanism includes a first adjustment component, which is mounted on the second robotic arm and connected to the secondary clamping mechanism. The first adjustment component is used to drive the secondary clamping mechanism to move along the length direction of the second robotic arm. The position adjustment mechanism also includes a second adjustment component, which is connected between the first adjustment component and the secondary clamping mechanism. The second adjustment component is used to control the secondary clamping mechanism. The second robotic arm swings relative to the main clamping mechanism; the position adjustment mechanism further includes a third adjustment component, which is connected between the second adjustment component and the secondary clamping mechanism, and is used to adjust the height of the secondary clamping mechanism; the second robotic arm is provided with a slide groove, which extends along the length direction of the second robotic arm; the first adjustment component includes a slider and an elastic element; the slider is slidably disposed in the corresponding slide groove and connected to the secondary clamping mechanism; the elastic element is movably disposed in the slide groove and connected to the slider; when the second robotic arm tilts relative to the horizontal plane, the slider slides in the slide groove under the action of gravity, thereby driving the secondary clamping mechanism to move along the length direction of the first robotic arm, so that the secondary clamping mechanism moves closer to or further away from the main clamping mechanism, thereby adjusting the distance between the secondary clamping mechanism and the main clamping mechanism; the elastic element is used to drive the slider to reset when the second robotic arm is in a horizontal state.

2. The workpiece clamping robot according to claim 1, characterized in that, The first adjustment assembly further includes a fixed cylinder and a connecting rod. The fixed cylinder is disposed in the slide groove, the elastic element is housed in the fixed cylinder, and the two ends of the connecting rod are respectively connected to the slider and the elastic element.

3. The workpiece clamping robot according to claim 1, characterized in that, The second adjustment assembly includes a rotary drive, a main shaft, a main sprocket, a driven sprocket, and a chain. The rotary drive is mounted on a slider. The main shaft is rotatably mounted on the slider and connected to the secondary clamping mechanism. The main sprocket is mounted on the rotary drive, the driven sprocket is mounted on the main shaft, and the chain is wound around the main sprocket and the driven sprocket.

4. The workpiece clamping robot according to any one of claims 1-3, characterized in that, It also includes a first rotary drive mechanism and a second rotary drive mechanism. The first rotary drive mechanism is disposed on the first robotic arm and connected to the second robotic arm. The first rotary drive mechanism is used to drive the second robotic arm to rotate relative to the first robotic arm. The second rotary drive mechanism is mounted on the second robotic arm and connected to the main clamping mechanism. The second rotary drive mechanism is used to drive the main clamping mechanism to rotate relative to the second robotic arm.

5. The workpiece clamping robot according to any one of claims 1-3, characterized in that, It also includes a turntable and a third rotary drive mechanism, which is disposed on the turntable and connected to the first robotic arm. The third rotary drive mechanism is used to drive the first robotic arm to rotate relative to the turntable.

6. A method of using a workpiece clamping robot, comprising the workpiece clamping robot as described in any one of claims 1-5, characterized in that, Includes the following steps: Based on the type and position of the workpiece, the movement of at least one of the first robotic arm, the second robotic arm, and the main clamping mechanism is controlled to bring the main clamping mechanism to a first target clamping position; the adjustment mechanism is controlled to adjust the relative position between the secondary clamping mechanism and the main clamping mechanism to bring the secondary clamping mechanism to a second target clamping position; the distance between the secondary clamping mechanism and the main clamping mechanism is adjusted by the first adjustment component and / or the second adjustment component, and the height of the secondary clamping mechanism is adjusted by the third adjustment component to bring the secondary clamping mechanism to the second target clamping position; The main clamping mechanism and the auxiliary clamping mechanism clamp the workpiece at two different locations.

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