A mechanical arm end fixture for automobile parts

Abstract

The present invention proposes a mechanical arm end clamp for automobile parts, which belongs to the field of mechanical automation technology, comprising: a mounting seat, four mechanical clamps arranged circumferentially on the lower surface of the mounting seat, the mechanical clamp comprising a mounting plate, a first driving shaft is arranged at the bottom of the mounting plate, the first driving shaft is connected to a first motor, a first mechanical arm is installed on the first driving shaft, a second driving shaft is installed at the end of the first mechanical arm, the second driving shaft is connected to a second motor, a connecting rod driving mechanism is arranged on the second driving shaft, the connecting rod driving mechanism comprises an elastic driver, a second mechanical arm, a connecting rod, a driving rod and a third driving shaft, an end clamp is installed on the third driving shaft, the connecting rod driving mechanism can not only quickly and effectively drive the end clamp to perform a clamping action, but also can adjust the clamping force of the end clamp, and can adjust the clamping force and angle according to the size and shape structure of different workpieces to meet the clamping requirements of different workpieces.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical automation, and in particular relates to a mechanical arm end clamp for automobile parts. Background Art

[0002] Grasping tasks in industrial scenarios are an important application of robotic arms, which can effectively improve the efficiency of grasping operations and reduce labor. However, the end of traditional robotic arms in the automotive industry is generally equipped with only a single clamp, which limits the types of grasping and poor versatility. If different types of target objects need to be grasped during the operation, the end clamp needs to be replaced by stopping the machine, which is a cumbersome process and affects the continuous operation of the assembly line, seriously delaying the progress of the project and increasing labor costs.

[0003] Patent application number CN202311575349.3 provides a clamp at the end of a robotic arm, which adopts a moving rod with horizontally sealed plugs at both ends of a mounting seat and a clamping arm vertically downwardly arranged at the end opposite to the moving rod. A piston is arranged at the end of the moving rod away from the clamping arm, and a driving mechanism for driving the clamping arms to move closer or away from each other is arranged on the mounting seat. The driving mechanism includes a motor, a first pull rope fixed to the piston and the motor shaft at both ends, and a first elastic member for driving the clamping arm to reset. The interior of the mounting seat is divided from top to bottom into an air pressure switching chamber for sealing and moving the piston, an air pressure flow chamber connected to the rod chamber of the air pressure switching chamber, and a docking transmission chamber.

[0004] However, the above-mentioned robotic arm clamp realizes the clamping and adsorption functions, but different clamps are still needed to realize different types of automotive parts. Therefore, if different types of target objects need to be grasped during the operation, it is necessary to stop the machine and replace the end clamp. The process is cumbersome and affects the continuous operation of the assembly line, seriously delaying the project progress and increasing labor costs. Summary of the invention

[0005] The present invention aims at the problems under the prior art, and the technical solution adopted in this application is: a mechanical arm end clamp for automobile parts, including a mounting seat, four mechanical clamps are arranged circumferentially on the lower surface of the mounting seat, the mechanical clamp includes a mounting plate, a first drive shaft is arranged at the bottom of the mounting plate, the first drive shaft is connected to a first motor, a first mechanical arm is installed on the first drive shaft, a second drive shaft is installed at the end of the first mechanical arm, the second drive shaft is connected to the second motor, a connecting rod drive mechanism is arranged on the second drive shaft, the connecting rod drive mechanism includes an elastic driver, a second mechanical arm, a connecting rod, a drive rod and a third drive shaft, and the end clamp is installed on the third drive shaft.

[0006] Furthermore, the elastic driver is mounted on the second driving shaft, the second mechanical arm is also mounted on the second driving shaft, and there is a set distance between the second mechanical arm and the elastic driver.

[0007] Furthermore, a third driving shaft is installed at one end of the second robotic arm, a driving support is installed on the third driving shaft, a driving rod is arranged on the driving support, one end of the driving rod is connected to one end of a connecting rod, the other end of the connecting rod is connected to an elastic driver, the elastic driver drives the connecting rod to rotate a set angle, and the connecting rod drives the third driving shaft to rotate a set angle.

[0008] Furthermore, the elastic driver includes an outer ring and an inner ring, a plurality of spring plates are arranged between the outer ring and the inner ring, the outer ring can rotate relative to the inner ring, the inner ring is connected to the second motor, a hinge support is arranged on the outer side of the outer ring, and a connecting rod is installed on the hinge support.

[0009] Furthermore, a slider is provided in a sliding cooperation with the radial cross section of the spring piece, one end of the slider is connected to a screw drive mechanism, and the screw drive mechanism is used to adjust the position of the slider to adjust the contact point between the spring piece and the slider, and then adjust the spring piece force arm.

[0010] Furthermore, the end clamp adopts a mechanical telescopic rod, and a clamping gasket is provided at the end of the mechanical telescopic rod.

[0011] Furthermore, a balancing cylinder and a balancing wheel are provided on the mounting plate, and the balancing cylinder and the balancing wheel are used to improve the installation accuracy of the equipment during the docking installation process.

[0012] Compared with the prior art, the advantages and positive effects of the present invention are:

[0013] The present invention provides an end clamp of a mechanical arm for automobile parts. The angle of a first drive shaft can be adjusted by a first motor, so that the first mechanical arm can be quickly adjusted to a specified area. The angle of the second drive shaft can be adjusted by a second motor, so that the second mechanical arm can be driven to reach the specified area. The connecting rod driving mechanism can not only quickly and effectively drive the end clamp to perform a clamping action, but also adjust the clamping strength of the end clamp. The clamping strength and angle can be adjusted according to the size and shape structure of different workpieces to meet the clamping requirements of different workpieces. A mechanical telescopic rod can be used to effectively clamp parts of multiple sizes, such as tubular parts, by using a rod-shaped clamp to extend into the tubular parts for clamping. Polygonal parts, such as handlebars, car lights, etc. can also be clamped by four mechanical clamps. It can be suitable for a variety of application occasions and solves the technical problems that the current clamping work of automobile parts is complicated and cannot be effectively operated. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0015] Figure 1 This is a schematic diagram of the first angle structure of a mechanical arm end fixture for automobile parts of the present invention;

[0016] Figure 2 This is a schematic diagram of the structure of a mechanical arm end fixture for automobile parts from a second angle of the present invention;

[0017] Figure 3 It is a structural schematic diagram of the mechanical clamp of the present invention;

[0018] Figure 4 It is a structural schematic diagram of the connecting rod driving mechanism of the present invention;

[0019] In the above figures, 1. mounting base; 2. mounting plate; 3. first drive shaft; 4. first motor; 5. first mechanical arm; 6. second drive shaft; 7. second motor; 8. elastic driver; 9. connecting rod; 10. second mechanical arm; 11. drive rod; 12. third drive shaft; 13. end fixture; 14. balance wheel; 15. balance cylinder. DETAILED DESCRIPTION

[0020] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0022] Embodiment 1, as Figure 1 to Figure 4As shown, the present application provides a mechanical arm end clamp for automobile parts, which can be suitable for various types of automobile parts clamping work, including a mounting seat 1, four mechanical clamps are arranged circumferentially on the lower surface of the mounting seat 1, and the mechanical clamp includes a mounting plate 2, and a balancing cylinder 15 and a balancing wheel 14 are arranged on the mounting plate 2. The balancing cylinder 15 and the balancing wheel 14 are used to improve the installation accuracy of the equipment during the docking installation process, and a first driving shaft 3 is arranged at the bottom of the mounting plate 2, and the first driving shaft 3 is connected to the first motor 4 through a first reducer, and a first mechanical arm 5 is installed on the first driving shaft 3. A second driving shaft 6 is installed at the end of the first mechanical arm 5, and the second driving shaft 6 is connected to the second motor 7 through the first shaft of the second reducer. A connecting rod driving mechanism is arranged on the second driving shaft 6, and the connecting rod driving mechanism It includes an elastic driver 8, a second mechanical arm 10, a connecting rod 9, a driving rod 11 and a third driving shaft 12. The elastic driver 8 is installed on the second driving shaft, and the second mechanical arm 10 is also installed on the second driving shaft. There is a set distance between the second mechanical arm 10 and the elastic driver 8. The third driving shaft 12 is installed at one end of the second mechanical arm 10, and a driving support is installed on the third driving shaft 12. A driving rod is arranged on the driving support, one end of the driving rod is connected to one end of the connecting rod 9, and the other end of the connecting rod 9 is connected to the elastic driver 8. The elastic driver 8 drives the connecting rod 9 to rotate a set angle, and the connecting rod 9 drives the third driving shaft 12 to rotate a set angle. An end clamp 13 is installed on the third driving shaft 12. The end clamp 13 adopts a mechanical telescopic rod, and a clamping gasket is arranged at the end of the mechanical telescopic rod.

[0023] The movement of the mechanical arm end fixture for automotive parts used in this embodiment is driven by the connecting rod and the driving shaft. The connecting rod drive can quickly and effectively perform position movement and force control. Compared with the traditional screw drive and telescopic cylinder drive, it can quickly achieve various position shape adjustments and control the clamping force, effectively ensuring the safety and stability of workpiece clamping, so that the mechanical fixture is suitable for clamping parts of various sizes;

[0024] Among them, the mounting base 1 is used for docking and installation to the robotic arm. The mounting base 1 has a docking mounting hole in the center, and four mechanical clamp mounting holes are arranged around the circumference of the docking mounting hole. The mechanical clamp is installed in the mechanical clamp mounting hole. The mounting base 1 is a circular structure, and the mounting base 1 can rotate around the docking mounting hole in the center.

[0025] The mounting plate 2 is composed of two parallel vertical plates, between which a first driving shaft 3 is installed, and between which a fixed connecting plate is also provided. A balancing cylinder 15 is provided in the middle of the mounting plate 2. The balancing cylinder 15 is a hollow cylindrical structure, and the purpose of the balancing cylinder 15 is to facilitate observation of the horizontality between the mounting seat 1 during installation, and a spirit level can be provided inside the balancing cylinder 15. A balancing wheel 14 is provided on the top of the mounting plate 2, and the balancing wheel 14 can be used to fine-tune the installation process of the mounting plate 2. By rotating the balancing wheel 14, it can be assisted in judging whether the mounting plate 2 is tilted. When the mounting plate 2 is tilted, the balancing wheel 14 rubs against the side wall of the rotating shaft, causing the rotation to stop quickly due to poor rotation. When the mounting plate 2 is level with the ground, the balancing wheel will maintain a vertical state and continue to rotate, thereby judging the installation angle problem of the mounting plate 2. The balancing wheel 14 and the balancing cylinder 15 can be removed after the mounting plate 2 is installed. Since the clamping accuracy is determined by the installation accuracy of the robotic arm, the installation accuracy can be effectively improved by setting the balancing cylinder 15 and the balancing wheel 14, thereby ensuring the long-term stable operation of the clamp 13 at the end of the robotic arm.

[0026] The connecting rod driving mechanism uses the elastic driver 8 to drive the end clamp 13 to move. The lever principle can not only effectively control the end clamp 13 to quickly clamp in a large range, but also the clamping force is controllable, and elastic clamping can be achieved without damaging the surface of the workpiece. When the clamping force is too large, the elastic adjustment of the elastic driver 8 itself can keep the force within a certain range, effectively avoiding excessive force causing damage and deformation of the workpiece surface. A hinge support is provided on the outer side of the elastic driver 8, and a connecting rod 9 is installed on the hinge support. The rotation of the elastic driver 8 drives the connecting rod 9 to move. The other end of the connecting rod 9 is connected to the driving rod 11, and the driving rod 11 is installed on the third driving shaft 12 through the driving support. The connecting rod 9 drives the driving rod 11 to rotate, thereby driving the third driving shaft 12 to rotate. The end clamp 13 is installed on the third driving shaft 12, and the end clamp 13 is used to perform clamping operations.

[0027] The elastic driver 8 includes an outer ring and an inner ring, and multiple spring plates are arranged between the outer ring and the inner ring. The outer ring can rotate relative to the inner ring. The inner ring is connected to the second motor 7 through the second shaft of the second reducer. A hinge support is arranged on the outer side of the outer ring, and a connecting rod 9 is installed on the hinge support. As an implementation method, the radial cross-section of the spring plate can be slidably matched to set a slider, one end of the slider is connected to the screw drive mechanism, and the screw drive mechanism is used to adjust the position of the slider to adjust the contact point between the spring plate and the slider, and then adjust the spring plate force arm, so as to achieve the purpose of adjusting the stiffness of the series elastic driver to cope with workpieces with different clamping forces; the screw drive mechanism may include a motor and a screw, and the motor is used to drive the screw to rotate, so as to adjust the radial position of the slider.

[0028] The working principle of the present invention is that the first motor can start to adjust the angle of the first drive shaft, so as to quickly adjust the first mechanical arm to the designated area. The second motor is used to adjust the angle of the second drive shaft, so as to drive the second mechanical arm to the designated area. The connecting rod driving mechanism can not only quickly and effectively drive the end clamp to perform clamping action, but also adjust the clamping force of the end clamp. The clamping force and angle can be adjusted according to the size and shape structure of different workpieces to meet the clamping requirements of different workpieces. The mechanical telescopic rod can be used to effectively clamp multi-size parts, such as tubular parts, by using a rod-shaped clamp to extend into the tubular parts for clamping. Polygonal parts, such as handlebars, car lights, etc. can also be clamped by four mechanical clamps. It can be suitable for a variety of applications and solves the technical problems that the current clamping work of automotive parts is complicated and cannot be effectively operated.

[0029] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A robot arm end fixture for automobile parts, characterized in that: The invention comprises a mounting seat (1), four mechanical fixtures are arranged on the circumference of the lower surface of the mounting seat (1), the mechanical fixture comprises a mounting plate (2), a first drive shaft (3) is arranged at the bottom of the mounting plate (2), the first drive shaft (3) is connected to a first motor (4), a first mechanical arm (5) is installed on the first drive shaft (3), a second drive shaft (6) is installed at the end of the first mechanical arm (5), the second drive shaft (6) is connected to a second motor (7), a connecting rod driving mechanism is arranged on the second drive shaft (6), the connecting rod driving mechanism comprises an elastic driver (8), a second mechanical arm (10), a connecting rod (9), a driving rod (11) and a third drive shaft (12), and an end fixture (13) is installed on the third drive shaft (12); The elastic driver (8) is mounted on the second drive shaft (6), and the second mechanical arm (10) is also mounted on the second drive shaft (6), with a set spacing between the second mechanical arm (10) and the elastic driver (8); A third driving shaft (12) is mounted on one end of the second mechanical arm (10), a driving support is mounted on the third driving shaft (12), a driving rod (11) is arranged on the driving support, one end of the driving rod (11) is connected to one end of a connecting rod (9), the other end of the connecting rod (9) is connected to an elastic driver (8), the elastic driver (8) drives the connecting rod (9) to rotate at a set angle, and the connecting rod (9) drives the third driving shaft (12) to rotate at a set angle; The elastic driver (8) comprises an outer ring and an inner ring, a plurality of spring plates are arranged between the outer ring and the inner ring, the outer ring can rotate relative to the inner ring, the inner ring is connected to the second motor (7), a hinge support is arranged on the outer side surface of the outer ring, and a connecting rod (9) is installed on the hinge support.

2. The end-of-arm clamp for automobile parts according to claim 1, characterized in that: A slider is provided in a sliding cooperation with the radial cross section of the spring piece, one end of the slider is connected to a lead screw driving mechanism, and the lead screw driving mechanism is used to adjust the position of the slider to adjust the contact point between the spring piece and the slider, and further adjust the spring piece force arm.

3. The end-of-arm clamp for automobile parts according to claim 1, characterized in that: The end clamp (13) adopts a mechanical telescopic rod, and a clamping gasket is arranged at the end of the mechanical telescopic rod.

4. The end-of-arm clamp for automobile parts according to claim 1, characterized in that: The mounting plate (2) is provided with a balancing cylinder (15) and a balancing wheel (14), and the balancing cylinder (15) and the balancing wheel (14) are used to improve the installation accuracy of the equipment during the docking installation process.

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