Manipulator for automobile parts

Abstract

The manipulator for the automobile parts comprises a seat body, a clamping mechanism and a first positioning pin are arranged on the seat body, the first positioning pin is used for being inserted into a first positioning hole in the Y-axis direction so as to grab a workpiece to be transferred and transfer the workpiece to a machine tool clamp, and the two sides of a station of the machine tool clamp protrude to form a first boss and a second boss; the clamping mechanism is characterized in that the clamping mechanism further comprises a pushing piece adjacent to the first positioning pin and a first driving source used for driving the pushing piece to move in the Y-axis direction, and the clamping mechanism is opened in the state that the mechanical arm and the workpiece to be transferred move to the first boss; the pushing piece pushes the to-be-transferred workpiece to move towards the direction of the second boss so that the to-be-transferred workpiece can move to the station, and the first positioning pin is pulled away so that the second positioning pin can be inserted into the first positioning hole. Therefore, the feeding and discharging work of the automobile parts under the working conditions can be completed.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a manipulator used for completing tasks such as loading and unloading of automobile parts. Background Art

[0002] At present, manipulators are often used in the process of automobile production and assembly to complete the loading and unloading of automobile parts. For example, a truss manipulator disclosed in the Chinese utility model patent "A truss manipulator loading and unloading mechanism" with patent number CN201821322835.9 (publication number CN208759113U) is commonly used. Such manipulators usually have gripping mechanisms such as claws or splints, and use the gripping mechanism to grab parts and transfer them to a specified position.

[0003] When the target component is Figure 1 When the workpiece 1' shown is being grasped, the conventional manipulator often needs to be adjusted accordingly. Specifically, the workpiece 1' is in the shape of an elongated strip as a whole and has high requirements for grasping and placing accuracy, so a positioning hole 11' is also provided on the workpiece 1'. For this purpose, a manipulator provided with a positioning pin can be referred to, for example, Japanese patent application "Robot Hand and Working Positioning Method thereof" with patent number JP2008243120 (publication number JP2010069608A) in the prior art. This type of manipulator can grasp the workpiece 1' while inserting the positioning pin into the positioning hole 11' to ensure the grasping accuracy of the manipulator on the workpiece 1'.

[0004] However, if, for example, Figure 2 Working under the working conditions shown, new problems will arise even if this type of manipulator with positioning pins is used. Figure 2 In this working condition, the workpiece 1' needs to be placed on the machine tool fixture 2', and a first boss 21' and a second boss 22' are partially raised on the machine tool fixture 2'. The first boss 21' and the second boss 22' surround a placement station 23' for placing the workpiece 1', and in order to ensure the placement accuracy of the workpiece 1', the side wall of the second boss 22' is partially extended to form a positioning portion 24' that is compatible with the positioning hole 11'. When in use, the workpiece 1' needs to be placed in the loading station 23' and the positioning portion 24' is inserted into the positioning hole 11' to complete the placement of the workpiece 1'.

[0005] However, due to various factors, the robot can only carry the workpiece 1' to the top of the first boss 21'. On the one hand, it is due to the limitation of the robot travel and the machine tool space. On the other hand, if the robot directly moves and carries the workpiece 1' to be inserted into the positioning portion 24', Figure 3As shown, the workpiece 1' may be scratched by the boss 21' or the positioning portion 24', or the gripping mechanism of the robot will interfere with the fixture 2' when releasing the workpiece 1'. Therefore, under this working condition, it is difficult for the traditional robot to complete the placement action of placing the workpiece 1' in the loading station 23' and inserting it into the positioning portion 24'.

[0006] In addition, usually the positioning pins and other parts are only fixed to the manipulator with bolts, which may become loose after long-term use, causing the positioning pins to deviate on the manipulator, thus affecting the positioning accuracy. In serious cases, they may even fall off. Once they fall off, the operator will need to readjust a large number of points on the manipulator to reinstall them, which is a lot of work. Moreover, if they fall off and fall into the gaps of equipment such as machine tools, they may cause significant damage to the machine tools. In summary, the existing manipulator structure needs to be further improved. Summary of the invention

[0007] The first technical problem to be solved by the present invention is to provide a robot arm capable of completing the loading and unloading work of automobile parts under such working conditions in view of the above-mentioned existing technical status.

[0008] The second technical problem to be solved by the present invention is to provide a manipulator that can avoid the need for operators to readjust a large number of points on the manipulator when reinstalling the positioning pin after it falls off, in response to the above-mentioned existing technical status.

[0009] The technical solution adopted by the present invention to solve the first technical problem is as follows: the manipulator for automobile parts comprises a seat body for attachment to the manipulator arm part, the seat body is provided with a clamping mechanism located above the vertical Z-axis of the machine tool fixture, and a first positioning pin for inserting into the first positioning hole of the workpiece to be transferred along the horizontal Y-axis direction, so as to grasp the workpiece to be transferred and transfer it to the machine tool fixture, the machine tool fixture comprises a station extending along the X-axis direction for placing the workpiece to be transferred, one side of the station along the Y-axis protrudes upward to form a first boss, and the other side protrudes upward to form a second boss, and the wall surface of the second boss extends toward the first boss to form a second positioning pin for inserting into the first positioning hole of the workpiece to be transferred;

[0010] It is characterized by also including:

[0011] A pushing member, disposed on the base body adjacent to the first positioning pin;

[0012] A first driving source, connected to the pushing member, and used to drive the pushing member to move along the Y-axis direction of the station;

[0013] When the robot moves the workpiece to be transferred to the first boss through the clamping mechanism, the clamping mechanism opens, and the first driving source drives the pushing member to push the workpiece to be transferred toward the direction close to the second boss, thereby moving the workpiece to be transferred to the work station, and at the same time, the first positioning pin is pulled out of the first positioning hole and the second positioning pin is inserted into the first positioning hole.

[0014] In order to realize that the first driving source can drive the pusher to move along the Y-axis direction, preferably, the pusher includes a vertical first rod body and a pushing portion provided on the first rod body, the seat body is provided with a first slide rail that can move along the Y-axis direction and a first sliding member that can move along the first slide rail, and correspondingly, the first sliding member is provided with a first connecting portion for connecting with the upper end of the first rod body, and the first sliding member is connected to the first driving source to drive the pusher to move along the Y-axis direction. The first rod body of the pusher and the first sliding member are connected by the first connecting portion, so that the pusher can move along the Y-axis direction on the first slide rail with the first sliding member.

[0015] In order to improve the accuracy of the pusher when pushing the workpiece to be transferred, preferably, the pusher includes a first section extending along the X-axis direction, and both ends of the first section along the X-axis direction extend toward the workpiece to be transferred along the Y-axis direction to form a second section. Through the two second sections that can both contact the workpiece to be transferred, the pusher has two force points along the X-axis direction when pushing the workpiece to be transferred, making the pusher more stable in the process of pushing the workpiece to be transferred along the Y-axis direction.

[0016] In order to enable the first positioning pin to move along the Y-axis direction, preferably, the first positioning pin includes a vertical second rod body, the second rod body at least partially extends along the Y-axis direction toward the first positioning hole to form a positioning portion for being inserted into the first positioning hole, the base body is provided with a second slide rail along the Y-axis direction and a second sliding member capable of moving along the second slide rail, and correspondingly, the second sliding member is provided with a second connecting portion for connecting to the upper end of the second rod body, and a second driving source connected to the second sliding member is also provided to drive the first positioning pin to move along the Y-axis direction. In fact, depending on the structure of the clamping mechanism, the first positioning pin can also be designed as a fixed structure, and the positioning portion can also be inserted into the first positioning hole under the clamping action of the clamping mechanism, but it is configured to be movable along the Y-axis direction under the drive of the second driving source, which is more flexible during use.

[0017] In order to solve the second technical problem, preferably, the upper end of the first rod body is provided with a connection hole for connecting with the first connecting part, and is also provided with a second positioning hole for positioning. Similarly, the upper end of the second rod body is provided with the connection hole for connecting with the second connecting part, and is also provided with the second positioning hole. The first rod body and the first connecting part, as well as the second rod body and the second connecting part are connected through the connection hole, and the second positioning hole is provided. On the one hand, it can prevent the connection from falling off due to long-term use or vibration. On the other hand, even if it falls off, the first rod body or the second rod body can be quickly and accurately installed through the second positioning hole, avoiding a lot of time spent on debugging.

[0018] Furthermore, in order to improve the reliability of the connection, preferably, the first rod body and the second rod body are each provided with two connection holes, and correspondingly, the first rod body and the second rod body are each provided with two second positioning holes, and the second positioning holes are staggered with the corresponding connection holes. Providing two connection holes and two second positioning holes, and staggeredly distributing them, can improve the strength and stability of the connection.

[0019] In order to further improve the stability of the connection, preferably, the lower surface edges of both sides of the first connection part and the second connection part along the width direction are at least partially recessed to form a first recessed part opposite to the first recessed part, and correspondingly, the surfaces of the first rod body and the second rod body are at least partially recessed to form a second recessed part corresponding to the first recessed part, and the manipulator further includes a fixing key that can pass through the first recessed part and the second recessed part. The fixing key can be selected from, for example, a flat key or a U-shaped key, etc., which plays a fixing role and further improves the stability of the connection.

[0020] In order to enable the clamping mechanism to clamp the workpiece to be transferred, preferably, the clamping mechanism includes two clamping jaws distributed along the X-axis direction, and the first positioning pin and the pushing member are located between the two clamping jaws. Two clamping jaws distributed along the X-axis direction are provided, and the first positioning pin and the pushing member are located between the two clamping jaws, so that the clamping mechanism can stably and balancedly clamp the workpiece to be transferred.

[0021] In order to detect whether the workpiece to be transferred is in place, preferably, the clamping mechanism also includes a sensor for detecting whether the workpiece to be transferred is in place, and two sensors are distributed along the X-axis direction, and the two clamping claws are located between the two sensors. The sensor can be selected from, for example, a photoelectric sensor, an infrared sensor or a contact switch, etc., to detect whether the workpiece to be transferred is in place, and can also detect whether it is in place correctly. For example, if only one of the above-mentioned clamping claws clamps the workpiece to be transferred, the sensor on the other side can detect that the workpiece to be transferred is not clamped on that side, so that corresponding measures can be taken in time to avoid losses.

[0022] Compared with the prior art, the advantages of the present invention are that: through the pushing member adjacent to the first positioning pin, the pushing member can move along the Y-axis direction under the action of the first driving source, and when the manipulator moves to the first boss together with the workpiece to be transferred through the clamping mechanism, the pushing member pushes the workpiece to be transferred to the work station, thereby completing the loading and unloading work of automobile parts under such working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of a workpiece in the background technology of the present invention;

[0024] Figure 2 It is a structural schematic diagram of a workpiece and a machine tool fixture in the background technology of the present invention;

[0025] Figure 3 It is a structural schematic diagram of a workpiece and a machine tool fixture from another angle in the background technology of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of a manipulator, a machine tool fixture and a workpiece to be transferred in an embodiment of the present invention;

[0027] Figure 5 A schematic diagram of the structure of a manipulator and a workpiece to be transferred in an embodiment of the present invention;

[0028] Figure 6 A schematic diagram of the structure of a manipulator in an embodiment of the present invention;

[0029] Figure 7 It is a schematic structural diagram of a first positioning pin and a pushing member in an embodiment of the present invention;

[0030] Figure 8 It is a schematic diagram of the exploded structure of the first positioning pin and the pushing member in the embodiment of the present invention;

[0031] Fig. 9 It is a schematic diagram of a state in which a workpiece to be transferred is in a first state in an embodiment of the present invention;

[0032] Fig.10 It is a schematic diagram of a state in which the workpiece to be transferred is in a second state according to an embodiment of the present invention;

[0033] Fig.11 Schematic diagram of a workpiece to be transferred in a third state according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below in conjunction with specific embodiments.

[0035] like Figures 4 to 11 As shown in FIG. 1 , it is a preferred embodiment of the present invention. Figures 4-5As shown, the manipulator for automobile parts in this embodiment includes a base body 1 for attachment to the manipulator arm, the base body 1 is provided with a clamping mechanism 2 located above the vertical Z axis along the machine tool fixture A, and a first positioning pin 3 for inserting into the first positioning hole 1b of the workpiece B to be transferred along the horizontal Y axis direction, so as to grab the workpiece B to be transferred and transfer it to the machine tool fixture A, the machine tool fixture A includes a station 1a extending along the X axis direction for placing the workpiece B to be transferred, the station 1a protrudes upward along one side of the Y axis to form a first boss 2a, and the other side protrudes upward to form a second boss 3a, and the wall surface of the second boss 3a extends toward the first boss 2a to form a second positioning pin 4a for inserting into the first positioning hole 1b of the workpiece B to be transferred. A pusher adjacent to the first positioning pin 3 is also provided on the base body 1, and a first driving source connected to the pusher 4 for driving the pusher 4 to move along the Y axis direction of the station. When the robot moves the workpiece B to be transferred together with the workpiece B to be transferred to the first boss 2a through the clamping mechanism 2, the clamping mechanism 2 is opened, and the first driving source drives the pushing member 4 to push the workpiece B to be transferred toward the direction close to the second boss 3a, so that the workpiece B to be transferred moves to the workstation 1a, and at the same time, the first positioning pin 3 is pulled out from the first positioning hole 1b and the second positioning pin 4a is inserted into the first positioning hole 1b.

[0036] Regarding the specific structure of the manipulator, such as Figure 6 As shown, in terms of the pusher 4, the pusher 4 includes a vertical first rod body 41 and a pusher portion 42 provided on the first rod body 41. The seat body 1 is provided with a first slide rail 11 that can move along the Y-axis direction and a first slide member 12 that can move along the first slide rail 11. Correspondingly, the first slide member 12 is provided with a first connecting portion 121 for connecting with the upper end of the first rod body 41. The first slide member 12 is connected to the first driving source to drive the pusher 4 to move along the Y-axis direction. The first rod body 41 of the pusher 4 and the first slide member 12 are connected by the first connecting portion 121, so that the pusher 4 can move along the Y-axis direction on the first slide rail 11 with the first slide member 12. Figure 7As shown, the pushing portion 42 includes a first section 421 extending along the X-axis direction, and both ends of the first section 421 along the X-axis direction extend along the Y-axis direction toward the workpiece B to be transferred to form a second section 422. Through the two second sections 422 that can both contact the workpiece B to be transferred, the pushing member 4 will have two force points along the X-axis direction when pushing the workpiece B to be transferred, so that the pushing member 4 is more stable in the process of pushing the workpiece B to be transferred along the Y-axis direction. As for the first positioning pin 3, the first positioning pin 3 includes a vertical second rod body 31, and the second rod body 31 at least partially extends toward the first positioning hole 1b along the Y-axis direction to form a positioning portion 32 for inserting into the first positioning hole 1b. The seat body 1 is also provided with a second slide rail 13 along the Y-axis direction and a second slide member 14 that can move along the second slide rail 13. Correspondingly, the second slide member 14 is provided with a second connecting portion 141 for connecting to the upper end of the second rod body 31, and a second driving source connected to the second slide member 14 is also provided to drive the first positioning pin 3 to move along the Y-axis direction. In fact, according to the different structures of the clamping mechanism 2, the first positioning pin 3 can also be designed as a fixed structure, and the positioning portion 32 can also be inserted into the first positioning hole 1b under the clamping action of the clamping mechanism 2, but it is set to be able to move along the Y-axis direction under the drive of the second driving source, which is more flexible during use. In this embodiment, the above-mentioned first driving source and second driving source are both cylinders, which are relatively conventional, so they are not described in detail.

[0037] Furthermore, considering the problem that the pusher 4 and the first positioning pin 3 may become loose and fall off, Figure 8As shown, the upper end of the first rod body 41 is provided with a connection hole 5 for connecting with the first connecting portion 121, and is also provided with a second positioning hole 6 for positioning. Similarly, the upper end of the second rod body 31 is provided with a connection hole 5 for connecting with the second connecting portion 141, and is also provided with a second positioning hole 6. The first rod body 41 and the first connecting portion 121, as well as the second rod body 31 and the second connecting portion 141 are all connected through the connection hole 5, and the second positioning hole 6 is provided. On the one hand, it can prevent the connection from falling off due to long-term use or vibration. On the other hand, even if it falls off, the first rod body 41 or the second rod body 31 can be quickly and accurately installed through the second positioning hole 6, avoiding a lot of time consumed due to debugging. In order to improve the reliability of the connection, the first rod body 41 and the second rod body 31 are each provided with two connection holes 5, and correspondingly, the first rod body 41 and the second rod body 31 are each provided with two second positioning holes 6 and are staggered with each corresponding connection hole 5. Providing two connection holes 5 and second positioning holes 6, and staggered distribution, can improve the strength and stability of the connection. The lower surface edges of both sides of the first connecting portion 121 and the second connecting portion 141 along the width direction are at least partially recessed to form relative first recesses 71. Correspondingly, the surfaces of the first rod body 41 and the second rod body 31 are at least partially recessed to form second recesses 72 corresponding to the first recesses 71. The manipulator also includes a fixed key 73 that can pass through the first recess 71 and the second recess 72.

[0038] Regarding how the clamping mechanism 2 clamps the workpiece B to be transferred, the clamping mechanism 2 includes two clamping jaws 21 distributed along the X-axis direction, and the first positioning pin 3 and the pushing member 4 are located between the two clamping jaws 21. There are two clamping jaws 21 distributed along the X-axis direction, and the first positioning pin 3 and the pushing member 4 are located between the two clamping jaws 21, so that the clamping mechanism 2 can stably and balancedly clamp the workpiece B to be transferred. The clamping mechanism 2 also includes a sensor 22 for detecting whether the workpiece B to be transferred is in place. There are two sensors 22 distributed along the X-axis direction, and the two clamping jaws 21 are located between the two sensors 22. The sensor 22 in this embodiment is a contact type. If the workpiece B to be transferred is correctly in place, the sensor 22 will conflict with the workpiece B to be transferred to detect whether the workpiece B to be transferred is in place, and it can also detect whether it is in place correctly. For example, if only one clamping jaw 21 clamps the workpiece B to be transferred, the sensor 22 on the other side can detect that the workpiece B to be transferred is not clamped on that side, so as to take corresponding measures in time to avoid losses.

[0039] The specific working process of the manipulator in this embodiment is as follows:

[0040] Since there are two symmetrical manipulators in this embodiment, one side is taken as an example. Fig. 9 As shown, at this time, the workpiece B to be transferred is in the first state, that is, the workpiece B to be transferred is grasped by the clamp 21 and moved with the manipulator to the top of the station 1a and the first boss 2a; then as shown in Fig.10 As shown in the figure, the workpiece B to be transferred is in the second state, at which time the clamping jaws 21 are opened, and the first positioning pin 3 moves along the Y-axis direction toward the direction away from the workpiece B to be transferred, so that the positioning portion 32 is disengaged from the first positioning hole 1b, and at the same time, the pushing member 4 moves along the Y-axis direction toward the direction close to the workpiece B to be transferred, so that the pushing portion 42 contacts the workpiece B to be transferred, thereby pushing the workpiece B to be transferred toward the workstation 1a. The dotted arrow in the figure indicates the moving direction of the pushing member 4, that is, the Y-axis direction; finally, as shown in the figure, Fig.11 As shown, the workpiece B to be transferred completely enters the workstation 1 a , and the second positioning pin 4 a is inserted into the first positioning hole 1 b .

Claims

1. A manipulator for automobile parts, comprising a base (1) for attachment to a manipulator arm, the base (1) being provided with a gripping mechanism (2) located above the vertical Z-axis of a machine tool fixture (A), and a first positioning pin (3) for inserting into a first positioning hole (1b) of a workpiece (B) to be transferred along a horizontal Y-axis direction, so as to grasp the workpiece (B) to be transferred and transfer it to the machine tool fixture (A), the machine tool fixture (A) comprising a station (1a) extending along an X-axis direction for placing the workpiece (B) to be transferred, one side of the station (1a) protruding upward along the Y-axis to form a first boss (2a), and the other side protruding upward to form a second boss (3a), and a second positioning pin (4a) extending toward the first boss (2a) on the wall surface of the second boss (3a) for inserting into the first positioning hole (1b) of the workpiece (B) to be transferred; It is characterized in that Also included are: A pushing member (4) is disposed on the base (1) adjacent to the first positioning pin (3); a first driving source connected to the pushing member (4) and used to drive the pushing member (4) to move along the Y-axis direction of the workstation (1a); When the manipulator moves the workpiece (B) to be transferred onto the first boss (2a) through the clamping mechanism (2), the clamping mechanism (2) is opened, and the first driving source drives the pushing member (4) to push the workpiece (B) to be transferred toward the direction close to the second boss (3a), so that the workpiece (B) to be transferred moves to the workstation (1a), and at the same time, the first positioning pin (3) is withdrawn from the first positioning hole (1b) and the second positioning pin (4a) is inserted into the first positioning hole (1b).

2. The robot according to claim 1, characterized in that: The pushing member (4) comprises a vertical first rod body (41) and a pushing portion (42) arranged on the first rod body (41); the base body (1) is provided with a first slide rail (11) that can move along the Y-axis direction and a first sliding member (12) that can move along the first slide rail (11); correspondingly, the first sliding member (12) is provided with a first connecting portion (121) for connecting to the upper end of the first rod body (41); the first sliding member (12) is connected to a first driving source so as to drive the pushing member (4) to move along the Y-axis direction.

3. The robot according to claim 2, characterized in that: The pushing portion (42) comprises a first section (421) extending along the X-axis direction, and both ends of the first section (421) along the X-axis direction extend along the Y-axis direction toward the workpiece (B) to be transferred to form a second section (422).

4. The robot according to claim 3, characterized in that: The first positioning pin (3) comprises a vertical second rod body (31), the second rod body (31) at least partially extending along the Y-axis direction toward the first positioning hole (1b) to form a positioning portion (32) for being inserted into the first positioning hole (1b), the base body (1) is provided with a second slide rail (13) along the Y-axis direction and a second sliding member (14) capable of moving along the second slide rail (13), correspondingly, the second sliding member (14) is provided with a second connecting portion (141) for connecting to the upper end of the second rod body (31), and is also provided with a second driving source connected to the second sliding member (14) to drive the first positioning pin (3) to move along the Y-axis direction.

5. The robot according to claim 4, characterized in that: The upper end of the first rod body (41) is provided with a connection hole (5) for connecting with the first connecting portion (121), and is also provided with a second positioning hole (6) for positioning; similarly, the upper end of the second rod body (31) is provided with the connection hole (5) for connecting with the second connecting portion (141), and is also provided with the second positioning hole (6).

6. The robot according to claim 5, characterized in that: The first rod body (41) and the second rod body (31) are each provided with two connection holes (5), and correspondingly, the first rod body (41) and the second rod body (31) are each provided with two second positioning holes (6) which are staggeredly distributed with the corresponding connection holes (5).

7. The robot according to claim 6, characterized in that: The lower surface edges of both sides of the first connecting portion (121) and the second connecting portion (141) along the width direction are at least partially recessed to form opposite first recesses (71); correspondingly, the surfaces of the first rod body (41) and the second rod body (31) are at least partially recessed to form second recesses (72) corresponding to the first recesses (71); the manipulator further comprises a fixing key (73) capable of passing through the first recesses (71) and the second recesses (72).

8. The robot according to any one of claims 1 to 7, characterized in that: The clamping mechanism (2) comprises two clamping jaws (21) distributed along the X-axis direction, and the first positioning pin (3) and the pushing member (4) are located between the two clamping jaws (21).

9. The robot according to claim 8, characterized in that: The clamping mechanism (2) further comprises a sensor (22) for detecting whether the workpiece (B) to be transferred is in place, two sensors (22) are distributed along the X-axis direction, and the two clamping jaws (21) are located between the two sensors (22).

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