Multi-degree-of-freedom automobile part carrying mechanical arm

Abstract

The invention discloses a multi-degree-of-freedom automobile part carrying mechanical arm, and relates to the technical field of mechanical arms, the multi-degree-of-freedom automobile part carrying mechanical arm comprises a mechanical arm body and a vacuum clamp, the mechanical arm body is provided with a mounting head, the vacuum clamp is detachably mounted on the mounting head of the mechanical arm body, and the vacuum clamp is provided with an adjusting assembly; the adjusting assembly comprises four fixing seats fixedly connected to the vacuum clamp, the four fixing seats are each fixedly connected with a first spring, and the tops of the four first springs are each fixedly connected with a clamping cover. The four corners of the windshield are wrapped by the clamping pads, so that the four corners of the windshield can be protected, the windshield can be stabilized, the situation that the windshield shakes on the vacuum clamp and falls off is avoided, and the situation that the windshield is broken due to collision in the carrying process can also be prevented; and the carrying safety of the windshield is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and more particularly, to a multi-degree-of-freedom robotic arm for handling automotive parts. Background Art

[0002] Currently, robotic arms for handling automotive parts mostly adopt a multi-joint structure design, with a vacuum chuck or an electromagnetic grasping mechanism at the end to achieve the grasping and handling of automotive parts. However, for the grasping and handling of automotive windshields, a vacuum chuck is mainly used. In addition, the contact surfaces of the existing suction cup grasping mechanisms are mostly made of flexible materials. The current handling robotic arms only fix the glass by suction cup adsorption, lacking sufficient coverage and physical protection for the four corners of the windshield. During the rotation and handling process of the glass, the four corners are exposed to the external environment, making it easy to collide with the vacuum fixture of the robotic arm or other equipment, thus causing the corners of the glass to break. In addition, during high-speed handling or sudden stops, the glass is prone to slip on the surface of the suction cup due to inertia, or even be thrown off the robotic arm, which will also cause the windshield to shake on the vacuum suction cup, and in severe cases, there is also a risk of falling. Summary of the Invention

[0003] To solve the above technical problems, the present invention provides a multi-degree-of-freedom robotic arm for handling automotive parts.

[0004] The technical solution is as follows: A multi-degree-of-freedom robotic arm for handling automotive parts, comprising a robotic arm and a vacuum fixture. An installation head is provided on the robotic arm, and the vacuum fixture is detachably installed on the installation head of the robotic arm. An adjustment assembly is provided on the vacuum fixture; The adjustment assembly includes four fixed seats fixedly connected to the vacuum fixture. A first spring is fixedly connected to each of the four fixed seats. The tops of the four first springs are fixedly connected to a card cover. A pull ring is fixedly connected to the top of each card cover. An electric telescopic rod is rotatably connected to each of the four fixed seats. A toothed ring is fixedly connected to the upper surface of the electric telescopic rod near the fixed seat.

[0005] Furthermore, the shape of each card cover is adapted to the shape of the top of the corresponding fixed seat, and the card cover is buckled and slidably connected to the top of the fixed seat. A plurality of teeth are fixedly connected to the bottom of each card cover. Each pull ring is composed of an iron ring on which a fixed block rotates and slides. The teeth of the card cover mesh with the toothed ring.

[0006] Furthermore, a limiting block is fixedly connected to the inner side wall of the card cover. A limiting groove corresponding to the limiting block is provided on the fixed seat. The limiting block slides in the limiting groove. The teeth of the toothed ring and the card cover are both provided in a sharp angle shape.

[0007] Furthermore, a stabilizing component is provided on each first electric telescopic rod. The stabilizing component includes a plurality of second electric telescopic rods rotatably connected to the telescopic shafts of each first electric telescopic rod. Two torsion springs are fixedly connected between the rotational connection of each second electric telescopic rod and the telescopic shaft of the first electric telescopic rod. A clamping plate is rotatably connected to the bottom of the telescopic shaft of each second electric telescopic rod, and a clamping pad is fixedly connected to each clamping plate.

[0008] Furthermore, the shape of the clamping plate is set to be V-shaped, the clamping pad is made of rubber material, and the shape of the clamping pad is adapted to the shape of the clamping plate. The rotational connection between the clamping plate and the telescopic shaft of the second electric telescopic rod is an interference fit.

[0009] Furthermore, locking components are provided on the telescopic shafts of the four first electric telescopic rods. The locking components include four third electric telescopic rods fixedly connected to the telescopic shafts of the four first electric telescopic rods. A pushing block is fixedly connected to the telescopic shaft of each third electric telescopic rod. Two second springs are fixedly connected to both sides of each pushing block. One end of the second spring away from the second electric telescopic rod is fixedly connected to a clamping rod. The clamping rod penetrates through the surface of the pushing block away from the third electric telescopic rod. Two clamping grooves are provided at the top of the second electric telescopic rod.

[0010] Furthermore, the pushing block is provided with a sliding hole for the clamping rod to slide, and the clamping rod slides in the sliding hole.

[0011] Furthermore, the surface of the pushing block away from the third electric telescopic rod is a plane, and a square block is fixedly connected to the top of the second electric telescopic rod.

[0012] As described above, the beneficial effects of a multi-degree-of-freedom robotic arm for handling automotive parts in the present invention are as follows: Through the wrapping of the clamping pads around the four corners of the windshield, the four corners of the windshield can be protected and the windshield can be stabilized, avoiding the situation where the windshield shakes and falls on the vacuum fixture, and also preventing the windshield from being broken due to collisions during handling, improving the safety of windshield handling; By rotating the first electric telescopic rod to adjust the angle, the clamping pads can protect the four corners of the windshield with multiple degrees of freedom, effectively aligning the clamping pads with the four corners of windshields of various types and different sizes, enabling the clamping pads to have good adaptability, achieving the effect of wrapping windshields of different sizes and shapes, improving the adaptability of the device to the stability of the windshield, and further expanding its scope of application; Through the meshing relationship between the teeth of the clamping cover and the toothed ring, the adjusted angle of the first electric telescopic rod can be locked, so that the first electric telescopic rod will not rotate after the angle is adjusted, improving the accuracy when the clamping pad wraps around the four corners of the windshield, avoiding deviations in wrapping glass of different sizes and shapes due to unstable angles, and making the entire wrapping process more precise; Through the function of the second electric telescopic rod rotating and swinging outwards, the clamping pad component can maintain a certain distance from the windshield. Compared with directly moving the clamping pad horizontally, it can better prevent the clamping pad from interfering with the installation of the windshield, ensuring that the windshield can be smoothly installed on the vehicle frame and improving the flexibility of the handling robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 Schematic three-dimensional view of the overall components of the present invention; Figure 2 Schematic three-dimensional view of the connection relationship between the robotic arm and the vacuum fixture of the present invention; Figure 3 Schematic three-dimensional view of the distribution of the fixed seat and the first electric telescopic rod on the vacuum fixture of the present invention; Figure 4 Schematic bottom three-dimensional view of the clamping cover of the present invention; Figure 5 Schematic sectional three-dimensional view of components such as the first electric telescopic rod and the second electric telescopic rod of the present invention; Figure 6 For the present invention Figure 5 Enlarged schematic view of the component at position A in the present invention; Figure 7 Schematic three-dimensional view of components such as the first electric telescopic rod and the toothed ring of the present invention; Figure 8 Schematic three-dimensional view of the clamping plate and the clamping pad of the present invention; Figure 9 Schematic three-dimensional view of components such as the pushing block, the clamping rod, and the clamping groove of the present invention; Figure 10 For the present invention Figure 5 Enlarged schematic view of the component at position B in the present invention; Figure 11 For the present invention Figure 7 Enlarged schematic view of the component at position C in the present invention.

[0014] Among them, the reference numerals in the present invention are: 1. Robotic arm; 2. Vacuum fixture; Adjusting assembly: 31. Fixed seat; 32. First spring; 33. Clamping cover; 34. Pulling ring; 35. First electric telescopic rod; 36. Toothed ring; Stabilizing assembly: 41. Second electric telescopic rod; 42. Torsion spring; 43. Clamping plate; 44. Clamping pad; Locking assembly: 51, the third electric telescopic rod; 52, pushing block; 53, the second spring; 54, clamping rod; 55, clamping groove. Detailed implementation manners

[0015] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0016] It should be noted that the components and working principles of the robotic arm 1 belong to the prior art and will not be elaborated herein.

[0017] The following is an embodiment provided by the present invention and will be elaborated in detail: As Figure 1 shown, a multi-degree-of-freedom robotic arm for handling automotive parts includes a robotic arm 1 and a vacuum fixture 2. An installation head is provided on the robotic arm 1, and the vacuum fixture 2 is detachably installed on the installation head of the robotic arm 1. The vacuum fixture 2 is used for adsorbing and grasping the windshield for handling and assisting the subsequent installation of the windshield on the vehicle frame. It should be noted that the robotic arm 1 is an existing technology. The vacuum fixture 2 installed on its installation head mainly includes a rotary motor, a vacuum pump, a bracket, and suction cups. The output shaft of the rotary motor is fixedly connected to the vacuum pump, and the rotary motor can drive the vacuum pump to rotate. The bottom of the vacuum pump is fixed to the bracket, and four suction cups are fixedly connected around the vacuum pump. The suction cups are fixed on the bracket, and the bracket is used to support the suction cups. The suction cups are communicated with the vacuum pump.

[0018] Among them, the swing of the robotic arm 1 can drive the vacuum fixture 2 to move through the installation head. When the suction cups of the vacuum fixture 2 touch the windshield to be handled, the air in the suction cups can be pumped out by the vacuum pump, so that a vacuum is formed in the space where the suction cups contact the windshield, and the suction cups can tightly adsorb on the windshield. At this time, when the robotic arm 1 drives the vacuum fixture 2 to move again, the vacuum fixture 2 can drive the windshield to move. At the same time, during the process of handling the windshield, if it is necessary to adjust the direction of the windshield to adapt to the installation position on the vehicle frame, the rotary motor can be used to drive the vacuum pump to rotate. The vacuum pump drives the suction cups to rotate synchronously through the bracket, and the suction cups drive the windshield to rotate synchronously, thereby realizing the adjustment of the direction of the windshield, so that the windshield can be accurately installed on the vehicle frame.

[0019] As Figures 1 to 7As shown in the figure, an adjustment component for adjusting different angles is provided on the vacuum fixture 2. The adjustment component includes four fixed seats 31 fixedly connected to the vacuum pump of the vacuum fixture 2. A first spring 32 is fixedly connected to each of the four fixed seats 31. A retaining cover 33 is fixedly connected to the top of each of the four first springs 32. The shape of each retaining cover 33 is adapted to the shape of the top of the corresponding fixed seat 31, and the retaining cover 33 is buckled and slidably connected to the top of the fixed seat 31, and the retaining cover 33 can slide up and down on the top of the fixed seat 31. A plurality of teeth arranged in an arc are fixedly connected to the bottom of each retaining cover 33. A pull ring 34 is fixedly connected to the top of each retaining cover 33. Each pull ring 34 is composed of an iron ring on which a fixed block rotates and slides. The fixed block and the retaining cover 33 can be driven to move upward by pulling the iron ring. An electric telescopic rod 35 is rotatably connected to each of the four fixed seats 31. A gear ring 36 is fixedly connected to the upper surface of the end of the electric telescopic rod 35 close to the fixed seat 31. The gear ring 36 and the electric telescopic rod 35 are coaxially arranged at the rotation hinge point on the fixed seat 31. The teeth of the retaining cover 33 mesh with the gear ring 36.

[0020] It should be noted that a limiting block is fixedly connected to the inner side wall of the retaining cover 33, and a limiting groove corresponding to the limiting block is opened on the fixed seat 31. The limiting block slides in the limiting groove. Refer to Figure 4 and Figure 6 As shown in the figure, when the pull ring 34 is pulled to drive the retaining cover 33 to move upward, the retaining cover 33 drives the limiting block to slide upward inside the limiting groove. The sliding of the limiting block in the limiting groove can limit the movement of the retaining cover 33, prevent the retaining cover 33 from slipping off the top of the fixed seat 31 due to excessive upward movement, and at the same time, the limiting block and the limiting groove can stabilize the position of the retaining cover 33 on the fixed seat 31, thereby ensuring the stable meshing of the teeth of the retaining cover 33 and the gear ring 36.

[0021] The problem raised: In the automotive windshield, the shapes and sizes of the front windshield and the rear windshield are different. The size of the front windshield is larger, and it varies according to the curvature and size of the front windshield of each vehicle model. The sizes and curvatures of the rear windshields of different vehicle models also vary. If the four corners of the windshields of different vehicle models are to be stabilized, angle adjustment is required to adapt to the windshields of different vehicle models, and the following method can be used to solve this problem.

[0022] Among them, for windshields of different shapes or sizes, when the staff's finger extends into the iron ring of the pull ring 34 and pulls up the iron ring of the pull ring 34, the iron ring of the pull ring 34 drives the card cover 33 to move upward on the top of the fixed seat 31 through the fixed block. The movement of the card cover 33 will stretch the first spring 32. After the card cover 33 moves upward, the teeth at its bottom will no longer engage with the toothed ring 36. Then the staff manually rotates the first electric telescopic rod 35 so that the first electric telescopic rod 35 rotates around the connection with the fixed seat 31. After that, the telescopic shaft of the first electric telescopic rod 35 extends or contracts the piston, so as to further correspond to the corners of the windshield. At this time, the angle adjustment of the first electric telescopic rod 35 is completed. Then, after the staff releases the pull ring 34, it contracts downward under the elastic reset action of the first spring 32. The first spring 32 drives the card cover 33 to move downward on the top of the fixed seat 31, and the teeth of the card cover 33 will engage with the toothed ring 36 again. At this time, the locking of the first electric telescopic rod 35 is completed. Through the meshing relationship between the teeth of the card cover 33 and the toothed ring 36, the angle of the first electric telescopic rod 35 can be locked, so that the first electric telescopic rod 35 will not rotate after the angle is adjusted.

[0023] Furthermore, the teeth of the toothed ring 36 and the card cover 33 are both set to be sharp-angled. When the teeth of the card cover 33 engage with the toothed ring 36, there will be no problem of tooth collision, ensuring that the teeth of the card cover 33 and the toothed ring 36 can effectively engage. In addition, if after the first electric telescopic rod 35 adjusts the angle, the teeth of the card cover 33 do not accurately engage with the toothed ring 36, the pushing of the toothed ring 36 by the teeth of the card cover 33 will cause a small-angle deflection of the angle of the first electric telescopic rod 35, and this small-angle deflection will not affect the position of the first electric telescopic rod 35.

[0024] As Figures 1 to 3 、 Figure 5 and Figures 7 to 11 shown, a stabilizing component for stabilizing and protecting the four corners of the windshield is provided on each first electric telescopic rod 35. The stabilizing component includes a plurality of second electric telescopic rods 41 rotatably connected to the telescopic shafts of each first electric telescopic rod 35. Two torsion springs 42 are fixedly connected between the rotational connection of each second electric telescopic rod 41 and the corresponding telescopic shaft of the first electric telescopic rod 35. The bottom of the telescopic shaft of each second electric telescopic rod 41 is rotatably connected to a clamping plate 43. The shape of the clamping plate 43 is set to be V-shaped. A clamping pad 44 is fixedly connected to one side of each clamping plate 43 close to the first electric telescopic rod 35. The clamping pad 44 is made of rubber material, and the shape of the clamping pad 44 is adapted to the shape of the clamping plate 43, and it can effectively fit with the four corners of the windshield when contacting the windshield.

[0025] It should be noted that when the second electric telescopic rod 41 is in a vertical state, the torsion spring 42 is in an elastically tightened state. In addition, the rotational connection between the clamping plate 43 and the telescopic shaft of the second electric telescopic rod 41 is an interference fit, so that when the clamping pad 44 touches the four corners of the windshield, the clamping pad 44 will drive the clamping plate 43 to rotate on the telescopic shaft of the second electric telescopic rod 41. Due to the interference fit relationship between the clamping plate 43 and the second electric telescopic rod 41, the clamping plate 43 will not rotate again after rotating on the second electric telescopic rod 41 and will only rotate under the action of external force resistance, which can ensure quick and accurate positioning and contact with the four corners of the windshield when stabilizing the windshield in batches multiple times.

[0026] Proposed problem: Most windshields are made of tempered glass structure materials, and the front windshield has a larger size, so its weight is heavier. When the existing vacuum fixture 2 grabs the windshield through the suction cup, due to the problem of the robotic arm 1 during handling, the robotic arm 1 will pause when moving to a certain posture during handling, that is, the trajectory of the robotic arm 1 is programmed to be executed step by step, such as moving into place first and then adjusting the posture, resulting in pauses at intermediate nodes. In addition, due to the soft and deformable nature of the suction cup material of the vacuum fixture 2, the windshield will shake under the action of inertia. At the same time, when the windshield is transferred between the two robotic arms 1 through the suction cups of the vacuum fixture 2, the suction cups of the two vacuum fixtures 2 will apply suction force to the upper and lower surfaces of the windshield at the same time. At this time, the suction cups of the two vacuum fixtures 2 will deform. When the suction cup of the vacuum fixture 2 on one robotic arm 1 stops adsorbing, the suction cup of the vacuum fixture 2 on the other robotic arm 1 will cause the windshield to shake due to the deformation recovery force and the gravity of the windshield. The shaking windshield is likely to cause the suction cup of the vacuum fixture 2 to be unable to stably adsorb and grab the windshield, and in severe cases, it is likely to cause the windshield to fall, resulting in damage to the windshield, as well as injury to the staff or damage to other mechanical components.

[0027] Among them, after the windshield is grabbed by the suction cup of the vacuum fixture 2, the controller controls the telescopic shafts of the four first electric telescopic rods 35 to contract at this time. The telescopic shafts of the four first electric telescopic rods 35 will drive the four second electric telescopic rods 41 to move toward the side close to the vacuum fixture 2. The second electric telescopic rod 41 will drive the clamping pad 44 to move synchronously through the clamping plate 43. When the clamping pad 44 contacts the four corners of the windshield, the four corners of the windshield are resisted through the clamping pad 44. Since the clamping pad 44 is made of rubber material, the clamping pad 44 will deform after contacting the four corners of the windshield, and in cooperation with the rotation of the clamping plate 43 on the telescopic shaft of the second electric telescopic rod 41, the clamping pad 44 can wrap the four corners of the windshield. Through the wrapping of the four corners of the windshield by the clamping pad 44, the four corners of the windshield can be protected and the windshield can be stabilized, avoiding the shaking of the windshield and preventing the windshield from being broken due to collision during handling, thus improving the safety of windshield handling.

[0028] Further explanation: Since the clamping pad 44 is required to wrap windshields of different sizes or shapes, the edge shapes and curvatures of some windshields will be different. Therefore, after the suction cups of the vacuum fixture 2 grasp the windshield, the positions of the four corners of the windshield will be different due to the different curvatures, that is, the four corners of the glass will not be in the same plane. Therefore, when clamping, the telescopic shaft of the second electric telescopic rod 41 can be controlled by the controller to perform telescopic movement. When the telescopic shaft of the second electric telescopic rod 41 expands and contracts, the clamping pad 44 will be driven by the clamping plate 43 to move up and down synchronously. When the clamping pad 44 moves to a position where it is horizontally flush with the four corners of the windshield, the controller controls the telescopic shaft of the second electric telescopic rod 41 to stop expanding, and thus the windshield with four corners not in the same plane and different curvatures can be wrapped and clamped.

[0029] As Figures 9 to 11 shown, locking components for locking the four second electric telescopic rods 41 are provided on the telescopic shafts of the four first electric telescopic rods 35. The locking components include four third electric telescopic rods 51 fixedly connected to the telescopic shafts of the four first electric telescopic rods 35 by bolts. A pushing block 52 is fixedly connected to the telescopic shaft of each third electric telescopic rod 51. A second spring 53 is fixedly connected to both sides of each pushing block 52. One end of the second spring 53 away from the second electric telescopic rod 41 is fixedly connected to a clamping rod 54. A sliding hole for the clamping rod 54 to slide is formed in the pushing block 52. The clamping rod 54 slides in the sliding hole, and the clamping rod 54 penetrates through the surface of the pushing block 52 on the side away from the third electric telescopic rod 51. Two clamping grooves 55 corresponding to the positions of the clamping rods 54 are formed at the top of the second electric telescopic rod 41.

[0030] It should be noted that the surface of the pushing block 52 away from the third electric telescopic rod 51 is a plane, and a square block is fixedly connected to the top of the second electric telescopic rod 41, so that after the third electric telescopic rod 51 expands, the pushing block 52 can be attached to the surface of the square block at the top of the second electric telescopic rod 41, ensuring that after the third electric telescopic rod 51 contacts the top of the second electric telescopic rod 41, the second electric telescopic rod 41 can maintain a vertical state.

[0031] Among them, when carrying the windshield, the contraction of the telescopic axis of the electric telescopic rod 1 35 will cause the clamping plate 43 to drive the clamping pad 44 to contact the four corners of the windshield through the electric telescopic rod 2 41. Before this process, the telescopic axis of the electric telescopic rod 3 51 will extend, and the telescopic axis of the electric telescopic rod 3 51 will drive the pushing block 52 to fit the top surface of the electric telescopic rod 2 41, so that the electric telescopic rod 2 41 rotates and is in a vertical state, that is, the electric telescopic rod 2 41 remains in a vertical state with the electric telescopic rod 1 35, and the torsion spring 42 is in an elastically deformed and tightened state. In addition, the clamping rod 54 will be clamped into the inside of the clamping slot 55, further locking the vertical state of the electric telescopic rod 2 41, to prevent the problem of insufficient supporting force of the electric telescopic rod 2 41 through the clamping plate 43 when the clamping pad 44 contacts the four corners of the windshield.

[0032] When the pads 44 cover the four corners of the windshield, the pads 44 will protrude from the upper and lower surfaces of the windshield. Since the windshield needs to fit the car frame when installed, the protruding pads 44 will block the fitting of the windshield and the car frame, thereby causing the problem that the windshield cannot be installed. At this time, it is necessary to solve the problem through the following steps.

[0033] When the robot arm 1 drives the windshield to move above the car frame through the vacuum clamp 2, the windshield is aligned with the installation position on the car frame, and the controller controls the telescopic shaft of the electric telescopic rod 3 51 to retract, and the telescopic shaft of the electric telescopic rod 3 51 drives the pushing block 52 to move to the side away from the electric telescopic rod 2 41, and the pushing block 52 no longer fits the surface of the electric telescopic rod 2 41. At the same time, the pushing block 52 drives the sliding card rod 54 in the sliding part to move synchronously to the side away from the electric telescopic rod 2 41. When the card rod 54 is separated from the card connection relationship with the card slot 55, at this time, because the card rod 54 is no longer carded with the card slot 55 and the pushing block 52 is no longer in contact with the electric telescopic rod 2 41, 1, under the elastic restoring action of the torsion spring 42, the bottom of the electric telescopic rod 2 41 rotates to the side away from the vacuum clamp 2, that is, the bottom of the electric telescopic rod 2 41 drives the clamping pad 44 to swing outward through the clamping plate 43, and the clamping pad 44 after swinging no longer conflicts with the four corners of the windshield, thereby making the clamping pad 44 away from the windshield, and at the same time, the controller controls the telescopic shaft of the electric telescopic rod 1 35 to extend, so that the telescopic shaft of the electric telescopic rod 1 35 drives the electric telescopic rod 2 41 to move to the side away from the vacuum clamp 2, and at this time, the electric telescopic rod 2 41 drives the clamping pad 44 further to the front windshield through the clamping plate 43, so as to avoid the clamping pad 44 affecting the installation of the windshield.

[0034] Further explanation: When it is necessary to restore the second electric telescopic rod 41 to the vertical state, the telescopic shaft of the third electric telescopic rod 51 is extended again through the controller at this time. The telescopic shaft of the third electric telescopic rod 51 drives the pushing block 52 to move towards the side close to the second electric telescopic rod 41. During this process, since the second electric telescopic rod 41 and the direction block on its upper part are in a skewed state, the card slot 55 will not be completely aligned with the clamping rod 54. Therefore, when the pushing block 52 moves towards the side close to the second electric telescopic rod 41, the clamping rod 54 will first contact the outer wall of the second electric telescopic rod 41. After the clamping rod 54 contacts the outer wall of the second electric telescopic rod 41, it will not be able to move. When the pushing block 52 continues to move, the spring two 53 between the pushing block 52 and the clamping rod 54 will be stretched. When the pushing block 52 continues to move, it will contact the square block at the top of the second electric telescopic rod 41, causing the second electric telescopic rod 41 to rotate, that is, the bottom of the second electric telescopic rod 41 will rotate towards the side close to the vacuum fixture 2. When the second electric telescopic rod 41 rotates to the vertical state, at this time, the pushing block 52 will fit with the outer surface of the top of the second electric telescopic rod 41, and at the same time, the card slot 55 will coincide with the clamping rod 54. Under the elastic reset action of the spring two 53, the clamping rod 54 moves towards the inside of the card slot 55. At this time, the clamping rod 54 and the card slot 55 form a clamping relationship, and thus the automatic reset of the second electric telescopic rod 41 and the clamping plate 43 is completed, which is convenient for the clamping plate 43 and the robotic arm 1 to clamp and carry the next piece of automotive glass.

[0035] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom robotic arm for handling automotive parts, comprising a robotic arm (1) and a vacuum fixture (2), wherein an installation head is provided on the robotic arm (1), and the vacuum fixture (2) is detachably installed on the installation head of the robotic arm (1), characterized in that, An adjustment component is provided on the vacuum fixture (2); The adjustment component includes four fixed seats (31) fixedly connected to the vacuum fixture (2). A first spring (32) is fixedly connected to each of the four fixed seats (31). A clamping cover (33) is fixedly connected to the top of each of the four first springs (32). A pull ring (34) is fixedly connected to the top of each clamping cover (33). An electric telescopic rod one (35) is rotatably connected to each of the four fixed seats (31). A toothed ring (36) is fixedly connected to the upper surface of the end of the electric telescopic rod one (35) close to the fixed seat (31).

2. The multi-degree-of-freedom robotic arm for handling automotive parts according to claim 1, wherein, The shape of each clamping cover (33) is adapted to the shape of the top of the corresponding fixed seat (31), and the clamping cover (33) is buckled and slidably connected to the top of the fixed seat (31). A plurality of teeth are fixedly connected to the bottom of each clamping cover (33). Each pull ring (34) is composed of an iron ring on which a fixed block rotates and slides. The teeth of the clamping cover (33) and the toothed ring (36) are meshed with each other.

3. The multi-degree-of-freedom robotic arm for handling automotive parts according to claim 1, wherein, A limiting block is fixedly connected to the inner side wall of the clamping cover (33). A limiting groove corresponding to the limiting block is formed on the fixed seat (31). The limiting block slides in the limiting groove. The toothed ring (36) and the teeth of the clamping cover (33) are both set to be sharp-angled.

4. The multi-degree-of-freedom robotic arm for handling automotive parts according to claim 1, characterized in that, A stabilizing component is provided on the telescopic shaft of each electric telescopic rod one (35). The stabilizing component includes a plurality of electric telescopic rods two (41) rotatably connected to the telescopic shaft of each electric telescopic rod one (35). Two torsion springs (42) are fixedly connected between the rotational connection of each electric telescopic rod two (41) and the telescopic shaft of the electric telescopic rod one (35). A clamping plate (43) is rotatably connected to the bottom of the telescopic shaft of each electric telescopic rod two (41). A clamping pad (44) is fixedly connected to each clamping plate (43).

5. The multi-degree-of-freedom robotic arm for transporting automotive parts according to claim 4, characterized in that, The shape of the clamping plate (43) is set to be V-shaped. The clamping pad (44) is made of rubber material, and the shape of the clamping pad (44) is adapted to the shape of the clamping plate (43). The rotational connection between the clamping plate (43) and the telescopic shaft of the electric telescopic rod two (41) is an interference fit.

6. The multi-degree-of-freedom robotic arm for handling automotive parts according to claim 4, characterized in that, Locking components are provided on the telescopic shafts of the four electric telescopic rods one (35). The locking components include four electric telescopic rods three (51) fixedly connected to the telescopic shafts of the four electric telescopic rods one (35). A pushing block (52) is fixedly connected to the telescopic shaft of each electric telescopic rod three (51). Two second springs (53) are fixedly connected to both sides of each pushing block (52). One end of each second spring (53) far from the electric telescopic rod two (41) is fixedly connected to a clamping rod (54). The clamping rod (54) passes through the surface of the pushing block (52) on the side far from the electric telescopic rod three (51). Two clamping slots (55) are formed at the top of the electric telescopic rod two (41).

7. The multi-degree-of-freedom automotive parts handling robotic arm according to claim 6, characterized in that, A sliding hole for the clamping rod (54) to slide through is formed on the pushing block (52). The clamping rod (54) slides in the sliding hole.

8. The multi-degree-of-freedom robotic arm for handling automotive parts according to claim 6, characterized in that The surface of the pushing block (52) far from the electric telescopic rod three (51) is a plane, and a square block is fixedly connected to the top of the electric telescopic rod two (41).

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