A robot for automobile parts

Abstract

The present invention relates to a robot arm for automobile parts, comprising a base body, a clamping mechanism and a first positioning pin inserted into the first positioning hole along the Y-axis direction to grab the workpiece to be transferred and transfer it to the machine tool fixture, protrusions on both sides of the workstation of the machine tool fixture form a first boss and a second boss, and the second boss extends to form a second positioning pin, characterized in that it also includes a pushing member adjacent to the first positioning pin and a first driving source for driving the pushing member to move along the Y-axis direction. When the robot arm moves to the first boss together with the workpiece to be transferred, the clamping mechanism is opened, and the pushing member pushes the workpiece to be transferred toward the second boss so that the workpiece to be transferred moves to the workstation, and the first positioning pin is pulled out so that the second positioning pin is inserted into the first positioning hole. The advantage of the present invention is that the workpiece to be transferred is pushed to the workstation by the pushing member adjacent to the first positioning pin, thereby completing the loading and unloading work of automobile parts under such working conditions.

Description

Technical Field

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

[0002] Currently, robots are often used in automobile production and assembly processes to perform tasks such as loading and unloading auto parts. For example, a common robot is the truss robot disclosed in Chinese utility model patent number CN201821322835.9 (publication number CN208759113U), titled "A Truss Robot Loading and Unloading Mechanism." This type of robot typically has a gripping mechanism, such as a claw or splint, that grasps parts and moves them to a designated location.

[0003] The target component is as follows Figure 1 When handling the workpiece 1' shown, conventional manipulators often need to make corresponding adjustments. Specifically, the workpiece 1' is in the shape of an elongated strip and requires high precision in gripping and placement. Therefore, a positioning hole 11' is provided on the workpiece 1'. To this end, reference can be made to the prior art, such as the Japanese patent application "Robot Hand and Working Positioning Method Thereof" with patent number JP2008243120 (publication number JP2010069608A), which provides a manipulator with a positioning pin. This type of manipulator can ensure the gripping accuracy of the workpiece 1' by inserting the positioning pin into the positioning hole 11' while gripping 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 a positioning pin is used. Figure 2 Under 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 manipulator can only carry the workpiece 1' to the top of the first boss 21'. On the one hand, this is due to the limitation of the manipulator's stroke and the machine tool space. On the other hand, if the manipulator directly moves and carries the workpiece 1' to insert it 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 robot's gripping mechanism may interfere with the fixture 2' when releasing the workpiece 1'. Therefore, under these working conditions, a conventional robot cannot complete the placement of the workpiece 1' into the loading station 23' and insert it into the positioning portion 24'.

[0006] Furthermore, components such as positioning pins are usually fixed to the manipulator using only bolts. These can become loose after long-term use, causing the positioning pins to shift on the manipulator, affecting positioning accuracy. In severe cases, they may even fall off. Once they fall off, reinstalling them requires operators to readjust a large number of points on the manipulator, which is a lot of work. Furthermore, if they fall off and fall into gaps in equipment such as machine tools, they may cause significant damage to the machine tools. In summary, further improvements to the existing manipulator structure are needed. 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 response to 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 pins after they fall 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 includes a base body for attachment to a manipulator arm, the base body is provided with a clamping mechanism located above the vertical Z-axis along the machine tool fixture, and a first positioning pin for being inserted into a first positioning hole of a workpiece to be transferred along the horizontal Y-axis direction, thereby grabbing the workpiece to be transferred and transferring it to the machine tool fixture, the machine tool fixture includes 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 a second positioning pin for being inserted into the first positioning hole of the workpiece to be transferred is formed on the wall surface of the second boss and extends toward the first boss;

[0010] It is characterized by further comprising:

[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 configured to drive the pushing member to move along the Y-axis direction of the workstation;

[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 from the first positioning hole and the second positioning pin is inserted into the first positioning hole.

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

[0015] To improve the precision of the pusher when pushing the workpiece to be transferred, the pusher preferably includes a first section extending along the X-axis, with both ends of the first section along the X-axis extending toward the workpiece to be transferred along the Y-axis to form a second section. The two second sections, both of which can contact the workpiece to be transferred, provide the pusher with two force points along the X-axis 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.

[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 extending 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, 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 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] To solve the second technical problem, preferably, the upper end of the first rod body is provided with a connection hole for connecting to the first connecting portion, 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 to the second connecting portion, and is also provided with the second positioning hole. The first rod body and the first connecting portion, as well as the second rod body and the second connecting portion, are connected via connection holes, and the provision of the second positioning hole can, on the one hand, prevent the connection from falling off due to long-term use or vibration, and 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 large amount of time spent on debugging.

[0018] Furthermore, to improve connection reliability, preferably, the first and second rods each have two connecting holes, and correspondingly, the first and second rods each have two second positioning holes, which are staggered with the corresponding connecting holes. Providing two connecting holes and two second positioning holes, and staggering them, can improve the strength and stability of the connection.

[0019] To further enhance the stability of the connection, preferably, the lower edges of both sides of the first and second connecting portions along the width direction are at least partially recessed to form opposing first recesses. Correspondingly, the surfaces of the first and second rods are at least partially recessed to form second recesses corresponding to the first recesses. The manipulator further includes a fixing key that can pass through the first and second recesses. The fixing key can be, for example, a flat key or a U-shaped key, which serves to secure the connection and further enhance the stability of the connection.

[0020] To enable the gripping mechanism to grip the workpiece to be transferred, the gripping mechanism preferably includes two gripping jaws distributed along the X-axis, with the first locating pin and the pushing member located between the two gripping jaws. Providing two gripping jaws distributed along the X-axis, with the first locating pin and the pushing member located between the two gripping jaws, enables the gripping mechanism to grip the workpiece to be transferred in a stable and balanced manner.

[0021] In order to detect whether the workpiece to be transferred is in place, the gripping mechanism preferably further includes a sensor for detecting whether the workpiece to be transferred is in place. Two sensors are distributed along the X-axis, and the two gripping jaws are located between the two sensors. The sensor can be, for example, a photoelectric sensor, an infrared sensor, or a contact switch to detect whether the workpiece to be transferred is in place and whether it is in the correct position. For example, if only one of the gripping jaws grips the workpiece to be transferred, the sensor on the other side can detect that the workpiece to be transferred is not gripped, so that corresponding measures can be taken in a timely manner 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. 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 of automobile parts under such working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the structure of a workpiece in the background technology of the present invention;

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

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

[0026] Figure 4 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 Schematic diagram of the structure of the manipulator and the workpiece to be transferred in an embodiment of the present invention;

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

[0029] Figure 7 Schematic diagram of the structure of the first positioning pin and the pushing member in an embodiment of the present invention;

[0030] Figure 8 Schematic diagram of the exploded structure of the first positioning pin and the pushing member in an embodiment of the present invention;

[0031] Figure 9 This is a schematic diagram of a workpiece to be transferred in a first state according to an embodiment of the present invention;

[0032] Figure 10 This is a schematic diagram of a workpiece to be transferred in a second state according to an embodiment of the present invention;

[0033] Figure 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 with reference to specific embodiments.

[0035] like Figures 4-11 As shown in FIG, it is a preferred embodiment of the present invention. Figures 4-5As shown, the robot arm for automobile parts in this embodiment includes a base 1 for attachment to a robot arm. The base 1 is provided with a gripping 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, thereby grabbing the workpiece B to be transferred and transferring 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 on one side along the Y-axis to form a first boss 2a, and protrudes upward on the other side to form a second boss 3a. 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. The base 1 is also provided with a pusher adjacent to the first positioning pin 3, 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 to the first boss 2a through the clamping mechanism 2, the clamping mechanism 2 opens, 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 push portion 42 provided 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 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 to 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 will be more stable in the process of pushing the workpiece B to be transferred to move along the Y-axis direction. As for the first locating pin 3, the first locating pin 3 includes a vertical second rod 31, and the second rod 31 at least partially extends along the Y-axis direction toward the first locating hole 1b, forming a locating portion 32 for inserting into the first locating hole 1b. The base 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 31, and a second drive source connected to the second slide member 14 is also provided to drive the first locating pin 3 to move along the Y-axis direction. In fact, depending on the structure of the clamping mechanism 2, the first locating pin 3 can also be designed as a fixed structure, and the locating portion 32 can also be inserted into the first locating hole 1b under the clamping action of the clamping mechanism 2. However, it is more flexible to be designed to be able to move along the Y-axis direction under the drive of the second drive source during use. In this embodiment, the first drive source and the second drive source mentioned above are both cylinders. Since they are relatively conventional, they will not be 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 41 is provided with a connection hole 5 for connecting to the first connecting portion 121 and a second positioning hole 6 for positioning. Similarly, the upper end of the second rod 31 is provided with a connection hole 5 for connecting to the second connecting portion 141 and a second positioning hole 6. The first rod 41 and the first connecting portion 121, as well as the second rod 31 and the second connecting portion 141, are connected via the connection hole 5. The second positioning hole 6 prevents the connection from becoming loose due to long-term use or vibration. Even if it does become loose, the second positioning hole 6 allows for quick and accurate installation of the first rod 41 or the second rod 31, avoiding time-consuming debugging. To improve the reliability of the connection, the first rod 41 and the second rod 31 are each provided with two connection holes 5. Correspondingly, the first rod 41 and the second rod 31 are each provided with two second positioning holes 6, which are staggered with their corresponding connection holes 5. Providing two connection holes 5 and two second positioning holes 6, each in a staggered arrangement, improves 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 locating pin 3 and the pushing member 4 are located between the two clamping jaws 21. The two clamping jaws 21 distributed along the X-axis direction, and the first locating pin 3 and the pushing member 4 are located between the two clamping jaws 21, enable the clamping mechanism 2 to clamp the workpiece B to be transferred in a stable and balanced manner. 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 interfere 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 that corresponding measures can be taken 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. Figure 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. Figure 10 As shown, the workpiece B to be transferred is in the second state, at this time the clamping jaws 21 are opened, 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 FIG. Figure 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, thereby grabbing the workpiece (B) to be transferred and transferring 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), a wall surface of the second boss (3a) extending 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; It is characterized in that Also included are: A pushing member (4) is provided 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 second boss (3a), thereby moving the workpiece (B) to be transferred 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) provided on the first rod body (41); the base body (1) is provided with a first slide rail (11) capable of moving along the Y-axis direction and a first sliding member (12) capable of moving along the first slide rail (11); correspondingly, the first sliding member (12) is provided with a first connecting portion (121) for connecting with the upper end of the first rod body (41); the first sliding member (12) is connected to a first driving source 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) 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).

4. The robot according to claim 3, characterized in that: The first positioning pin (3) includes a vertical second rod body (31), and the second rod body (31) at least partially extends 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 to 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 to 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: There are two connecting holes (5) on each of the first rod body (41) and the second rod body (31), and correspondingly, there are two second positioning holes (6) on each of the first rod body (41) and the second rod body (31), which are staggered with the corresponding connecting 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); and the manipulator further includes a fixing key (73) capable of passing through the first recess (71) and the second recess (72).

8. The manipulator 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 position, 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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