A power-assisted robotic gripper for holding automotive parts

Abstract

This invention relates to a power-assisted robotic gripper for clamping automotive parts, comprising a main body and a second arm mounted on the main body. The end of the second arm is provided with a first clamping fixture that extends into a fifth machining surface to perform a first clamping action, a first drive mechanism that drives the first and second clamping fixtures to rotate around a first axis, and a second clamping fixture arranged opposite to the first clamping fixture. The top of the second arm is provided with a second drive mechanism that drives the first clamping fixture to rotate around a second axis, so that the second clamping fixture performs a second clamping action on the workpiece to be processed. The advantages of this invention are: by arranging the first and second clamping fixtures back-to-back, it breaks through the traditional one-machine-one-clamping mode. The first clamping fixture can send the workpiece to be processed to the first and second machine tools for rough machining and rotate along the Z-axis at a transfer station. The second clamping fixture, through the second drive mechanism, switches positions to adapt to the structure of the new clamping surface, enabling the workpiece to be processed to be sent to a third machine tool for precision hole or dimensional machining.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and more specifically to a power-assisted robotic gripper for holding automotive parts. Background Technology

[0002] In automotive parts, such as gearbox housings, the weight of the housing itself makes manual processing during the loading and unloading process on machine tools impossible. Automated equipment such as robots or gantry lines must be used. Figure 1 The gearbox housing shown has six sides (top 11', bottom 12', left side 13', right side 14', front 15', and rear 16') that need to be machined. Some sides also involve precision hole systems or dimensional machining. For example, the front 15' has a cavity 151' for mounting a power supply inverter, and the bottom 12' has two junction box circuit board mounting holes 121' and two housing mounting plate anti-foolproof notches 122'. This poses complex requirements for its positioning and clamping during the machining process.

[0003] To address the aforementioned challenges, the existing Chinese utility model patent ZL201720431459.6 (publication number CN206689786U), entitled "Gearbox Housing Fixture," provides a specialized fixture with a robotic arm. In this design, the support frame on the fixture can be driven by a rotary cylinder to rotate 90° along the Y-axis. In practical applications, combined with the 360° rotation of the first machine tool's worktable, rough machining of the four sides of the housing (front 15', rear 16', left side 13', and right side 14') can be efficiently completed. Subsequently, by rotating the fixture along the Y-axis, the workpiece can be repositioned and fed into a second machine tool for rough machining of the remaining surfaces. This design significantly reduces the labor intensity of workers and improves the efficiency of the rough machining stage. However, the aforementioned fixture reveals a machining problem in the subsequent finishing stage: when finishing surfaces with precision structures is required, the workpiece needs to be fed into a more complex third machine tool. To avoid interference between the workpiece and the fixture and the machine tool interior, the workpiece must be able to rotate along the Z-axis, thus changing its clamping reference surface. However, existing fixtures have two major drawbacks: First, lack of freedom: they cannot achieve workpiece rotation along the Z-axis; second, insufficient adaptability: their clamping mechanisms are designed for a specific clamping surface and cannot effectively adapt to the new clamping surface after rotation.

[0004] Therefore, since the aforementioned fixtures cannot meet the positioning and clamping requirements of the finishing stage, it is necessary to introduce another dedicated fixture for the third machine tool during processing. This "one machine, one fixture" approach undoubtedly increases equipment investment and production costs. Therefore, it is urgent to improve the structure of the existing gearbox housing power-assisted robotic gripper. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a assisted robotic gripper for clamping automotive parts that can meet the needs of multi-faceted processing and better adapt to the requirements of multiple machine tools and multiple processes, in light of the above-mentioned existing technology.

[0006] The technical solution adopted by the present invention to solve the above-mentioned technical problem is as follows: the power-assisted robotic gripper for clamping automotive parts includes:

[0007] The main body, the top of which is configured to connect to a power-assisted robotic arm or a lifting device;

[0008] The second boom is mounted on the main body;

[0009] A first clamp, disposed at the end of the second boom, is configured to clamp and fix the workpiece by extending into the fifth machining surface of the workpiece and performing a first clamping action.

[0010] The first drive mechanism is disposed on the side wall of the second boom and is configured to drive the first clamp to rotate the workpiece to be processed synchronously around the first axis.

[0011] The feature is that the assistive robotic gripper further includes:

[0012] The second clamp is also located at the end of the second boom and is arranged back-to-back with the first clamp by means of a connecting bracket.

[0013] A second drive mechanism is disposed at the top of the second boom and configured to drive the first clamp and the second clamp to rotate synchronously by 180° around a second axis within a predetermined space. The second axis is parallel to the central axis of the second boom. The second axis has a different spatial orientation from the first axis. The second clamp is configured to extend into the second processing surface of the workpiece to be processed and perform a second clamping action after the first clamp and the second clamp are driven to rotate by the second drive mechanism, so as to clamp the workpiece to be processed from a clamping surface different from that of the first clamp.

[0014] The operation of the first and second clamps is configured as follows:

[0015] First state: The workpiece to be processed is clamped by the first fixture to the first machine tool, and the third, fifth, fourth and sixth machining surfaces of the workpiece to be processed are processed by rotating the worktable of the first machine tool.

[0016] Second state: After the first driving mechanism drives the first fixture and the workpiece to be processed to rotate 90° around the first axis, the workpiece to be processed is sent into the second machine tool to process the first processing surface and the second processing surface.

[0017] Third state: After processing is completed, the workpiece to be processed is placed in the transfer station and rotated 90° around the second axis under the action of external force. At the same time, the second drive mechanism drives the first fixture and the second fixture to rotate 180° around the second axis, so that the second fixture reaches the operation position.

[0018] Fourth state: The workpiece to be processed is held by the second fixture and sent to the third machine tool for finishing of the first, second, fifth and sixth machining surfaces.

[0019] To achieve the state switching of the first clamp, preferably, the first driving mechanism includes a first piston rod that reciprocates along a second axis, a rotating component driven by the first piston rod to rotate around the first axis, and a rotating shaft connected to the rotating component via a pin. The end of the second boom, located in the space where the first clamp and the second clamp are back-to-back, has a through-hole for the rotating shaft to pass through, and the through-hole end of the rotating shaft is connected to the first clamp, thereby achieving:

[0020] Initial state: The first piston rod is fully extended downwards, and the first clamp is in the first position of the aforementioned first state;

[0021] Final state: The first piston rod is fully retracted upwards. The pin and rotating component cooperate to convert the linear motion of the first piston rod into rotational motion around the first axis. The rotating component drives the rotating shaft and the first clamp to rotate synchronously around the first axis, thereby switching from the first position of the first state to the second position of the second state. Specifically, the first clamp needs to rotate 90° around the first axis to switch from the first state to the second state. This process requires the cooperation of various components in the first drive mechanism. When the first piston rod on the cylinder is fully extended downwards, the first clamp is in the first position. When the first piston rod is fully retracted upwards, the linear motion of the first piston rod is converted into rotational motion around the first axis by the pin, rotating component, and rotating shaft. The through end of the rotating shaft connects with the first clamp, thereby driving the first clamp to rotate synchronously around the first axis by 90°, thus switching from the first position to the second position.

[0022] To facilitate fine-tuning of the rotation angle of the first clamp, preferably, the second boom is provided with an adjustment assembly for adjusting the rotation angle of the rotating member at the upper part of the through-hole. The adjustment assembly includes a first adjustment seat extending along a first axis and a first adjustment member moving relative to the first adjustment seat along a third axis. The third axis is perpendicular to both the second and first axes. Correspondingly, the rotating member has a protrusion at its center that abuts against the first adjustment member. When the first adjustment member is adjusted to the desired position relative to the first adjustment seat and the protrusion on the rotating member rotates to abut against the first adjustment member, the rotating member can rotate to the desired angle corresponding to the aforementioned second position. Since the rotation angle of the clamp may develop a certain error after long-term use of the robotic arm, the adjustment assembly can compensate for this error, ensuring that the clamp rotates from the first position to the specified second position. The first adjustment member can move along the third axis to the corresponding position on the first adjustment seat, and the protrusion on the rotating member rotates to abut against the first adjustment member, thus ensuring the first clamp rotates to the corresponding angle.

[0023] To facilitate clamping the cavity, preferably, the first clamp includes a first mounting bracket connected to the through end of the rotating shaft and a mounting frame that mates with the first mounting bracket. A centering mechanism is provided in the space between the two mounting brackets to automatically align the mounting frame with the cavity in the fifth machining surface of the workpiece. After the first clamp extends into the cavity in the fifth machining surface, the centering mechanism automatically centers the first clamp within the cavity, ensuring reliable clamping of the cavity's sidewalls. Furthermore, the centering mechanism's placement between the mating mounting frames of the first mounting bracket cleverly utilizes the space between them, achieving a more compact assembly in terms of spatial layout.

[0024] Furthermore, the mounting frame is U-shaped, including a first frame wall, a second frame wall, and a third frame wall connecting the first and second frame walls located on both sides of the first mounting bracket. The inner sides of both the first and second frame walls are connected to the centering mechanism, thereby achieving the following: when the two are separated, they respectively clamp the first and second side walls of the cavity. In addition to its own function of mounting, the mounting frame also partially constitutes the centering mechanism, serving a dual purpose. The first and second frame walls can abut against the side walls of the cavity in the fifth processing surface, switching between clamping and releasing the workpiece. This design is more compact and ingenious in terms of spatial layout.

[0025] Furthermore, the centering mechanism includes a transmission assembly disposed on the first mounting bracket, a third drive mechanism slidably connected to the transmission assembly, and a limiting member capable of limiting the transmission assembly.

[0026] The transmission assembly includes a first slide rail mounted on a mounting bracket and a first slider and a second slider slidably connected to the first slide rail.

[0027] The third driving mechanism includes a cylinder and a third piston rod. The cylinder is connected to the first slider via a cylinder base, and the end of the third piston rod is connected to the second slider via a piston rod base. The first frame wall and the second frame wall are respectively disposed on the outer side walls of the cylinder base and the piston rod base.

[0028] The limiting member includes a first limiting member disposed between the first slider and the second slider, and a second limiting member disposed on the end of the first slide rail near the first slider. The first limiting member is used to restrict the inward movement of the first slider, and the second limiting member is used to restrict the outward movement of the second slider. Specifically, when the cylinder drives the first piston rod to extend outward, it causes the piston rod base, the second frame wall, and the first slider to move outward synchronously. The second frame wall abuts against the second side wall inside the cavity. The cylinder, cylinder base, second slider, and first frame wall slide outward synchronously until the second limiting member limits the second slider. At this time, the first frame wall can abut against the first side wall inside the cavity. The first frame wall and the second frame wall can cooperate with each other to clamp the first and second side walls inside the cavity. When the cylinder drives the first piston rod to retract inward, it causes the piston rod base, the second frame wall, and the first slider to move inward synchronously. The first limiting member can limit the inward movement of the first slider. At this time, the cylinder, cylinder base, second slider, and first frame wall move inward synchronously until the first piston rod is completely retracted into the cylinder. The first frame wall and the second frame wall release the first and second side walls inside the cavity.

[0029] To achieve accurate installation, preferably, the first mounting frame is further provided with a first guide mechanism for guiding the cavity installation position in the fifth processing surface. The first guide mechanism includes upper and lower guide legs extending from the first mounting frame along a first axis. Each guide leg is provided with a guide ramp corresponding to the third and fourth side walls where the cavity is located. The third and fourth side walls are spaced apart and respectively connected to the first and second side walls. When the first clamp holds the cavity, the entire mounting frame needs to extend into the cavity. The upper and lower guide legs are provided with third and fourth side walls, which can guide the third and fourth side walls in the cavity respectively, thereby ensuring that the mounting frame is installed in the corresponding position in the cavity, so as to achieve reliable clamping thereafter.

[0030] For ease of positioning, preferably, the third frame wall is provided with a first limiting mechanism to restrict the position of the mounting frame extending into the cavity. The first limiting mechanism includes first buffer members spaced apart along the second axis and a first limiting sensor disposed between the first buffer members. The first buffer members buffer the fifth sidewall that joins the aforementioned sidewall in the cavity. The first limiting sensor is electrically connected to the third driving mechanism and transmits a start / stop signal to the third driving mechanism by detecting the distance to the fifth sidewall. The third frame wall can be used for mounting by the first limiting mechanism. The first buffer members of the first limiting mechanism buffer the impact force on the fifth sidewall when the mounting frame extends into the cavity. Simultaneously, the first limiting sensor detects the distance to the fifth sidewall. When the detected distance reaches a preset distance, it indicates that the mounting position is accurate. At this time, the first limiting sensor can transmit a signal to the third driving mechanism to control the first and second frame walls to extend outward and perform a clamping action.

[0031] To achieve clamping of closely spaced mounting holes and notches, preferably, two mounting holes are spaced apart on the second machining surface of the workpiece to be processed. Each mounting hole has a "V"-shaped notch connecting the second machining surface and the sixth machining surface spaced apart along the third axis. The opening of each mounting hole is larger than its corresponding "V"-shaped notch. Correspondingly, the second fixture is provided with a guide arm that can extend into the mounting hole for initial guidance, a first clamping arm for clamping, and a second clamping arm that abuts against the "V"-shaped notch. The guide arm and the second clamping arm are configured on a first mounting plate connected to the connecting bracket, while the first clamping arm is configured on the second mounting plate. The first mounting plate has a guide channel along the third axis, and the first clamping arm passes through the guide channel and is located between the guide arm and the second clamping arm, thereby clamping or releasing along the third axis. Since the second and sixth machining surfaces have closely spaced mounting holes and notches, and the opening of the mounting hole is larger than its corresponding "V" shaped notch, the guide arm and the first clamping arm are designed to extend into the mounting hole simultaneously. This allows the guide arm to provide initial guidance for the mounting position of the mounting hole to ensure accurate installation. In addition, the second clamping arm abuts against the wall of the "V" shaped notch to form two-point pre-positioning. The key point is that the mounting hole and the notch are close together. Therefore, a guide channel is provided on the first mounting plate. With the help of the guide channel, the first clamping arm can extend into the mounting hole at the closest position to the notch, so as to achieve clamping or loosening of the first and second clamping arms within the closest range, thus adaptably solving the problem of clamping the workpiece to be processed.

[0032] For ease of transmission, preferably, the first clamping arm is driven to move by a fourth drive mechanism installed in the engagement space between the connecting bracket and the first mounting plate. The fourth drive mechanism includes a cylinder mounted on the first mounting plate and a second slide rail extending along a third axis. A third slider is located in the middle of the second mounting plate and connected to the cylinder via a fourth piston rod extending outwards. Driven by the cylinder, the fourth piston rod can move the third slider, along with the second mounting plate, relative to the second slide rail, thereby switching the first clamping arm between a clamping state and a clamping-off state. Placing the fourth drive mechanism in the engagement space between the connecting bracket and the first mounting plate also considers the compactness of the overall layout of the first clamping arm. The second slide rail is located on the back of the first mounting plate, and the second mounting plate is slidably connected to the first mounting plate via the third slider. The cylinder drives the fourth piston rod to move the third slider and the second mounting plate reciprocally along the second slide rail, thereby moving the first and second clamping arms away from or towards each other, thus clamping or releasing the second processing surface.

[0033] Compared with the prior art, the advantages of the present invention are as follows: The assisted robotic gripper utilizes a first clamp and a second clamp set back to back on the same arm assembly, breaking through the traditional "one machine, one clamp" mode. The first clamp has the freedom of X-axis rotation, which can send each surface of the workpiece to be processed to the first machine tool and the second machine tool for rough machining. After the workpiece is rotated on the Z-axis at the transfer station, the clamping surface changes. The first clamp and the second clamp can flexibly switch positions through the second drive mechanism to better adapt to the structure of the new clamping surface, thereby enabling the workpiece to be processed to be sent to the third machine tool for precision hole or dimensional machining, reducing production costs. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the gearbox housing to be processed in the background art;

[0035] Figure 2 This is another structural schematic diagram of the gearbox housing to be processed in the background art;

[0036] Figure 3 This is a schematic diagram of the structure of the workpiece to be processed in an embodiment of the present invention (showing the first processing surface A1, the third processing surface A3, and the fifth processing surface A5);

[0037] Figure 4 for Figure 3 A structural schematic diagram from another direction (showing the second machining surface A2, the fourth machining surface A4, and the sixth machining surface A6);

[0038] Figure 5 for Figure 3 A structural diagram in another direction (showing the second machining surface A2, the fourth machining surface A4, and the fifth machining surface A5);

[0039] Figure 6 This is a schematic diagram illustrating the operation of the assistive robotic gripper with the machine tool and transfer station in an embodiment of the present invention;

[0040] Figure 7 This is a schematic diagram of the first clamp in a first state in an embodiment of the present invention;

[0041] Figure 8 This is a schematic diagram of the first clamp in the second state in an embodiment of the present invention;

[0042] Figure 9 This is a schematic diagram of the second clamp in the fourth state in an embodiment of the present invention;

[0043] Figure 10 This is a three-dimensional structural diagram of the arm assembly in an embodiment of the present invention;

[0044] Figure 11 This is a schematic diagram of the first clamp in a first state according to an embodiment of the present invention (partial arm assembly, operating mechanism and main body omitted).

[0045] Figure 12 for Figure 11 The front view;

[0046] Figure 13 This is a schematic diagram of the first clamp in the second state in an embodiment of the present invention (partial arm assembly, operating mechanism and main body omitted);

[0047] Figure 14 for Figure 13 The front view;

[0048] Figure 15 This is a schematic diagram of the second clamp in the fourth state in an embodiment of the present invention (partial arm assembly, operating mechanism and main body omitted);

[0049] Figure 16 for Figure 15 The front view;

[0050] Figure 17 for Figure 11 A schematic diagram of the exploded structure (omitting the second drive mechanism, platform section, first clamp and second clamp);

[0051] Figure 18 This is an exploded view of the first clamp in an embodiment of the present invention;

[0052] Figure 19 This is a schematic diagram of the centering mechanism in an embodiment of the present invention;

[0053] Figure 20This is a schematic diagram of the structure of the second clamp in an embodiment of the present invention;

[0054] Figure 21 for Figure 20 A schematic diagram of the structure from another direction. Detailed Implementation

[0055] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0056] like Figures 3 to 5 As shown in the illustration, this embodiment uses the gearbox housing to be processed in the background art as the workpiece A to be processed. Specifically, the gearbox housing to be processed mainly includes six processing surfaces, namely the first processing surface A1 and the second processing surface A2 located on the top and bottom surfaces, the third processing surface A3 and the fourth processing surface A4 located on the left and right sides, and the fifth processing surface A5 and the sixth processing surface A6 located on the front and rear sides. The second processing surface A2 is provided with two mounting holes A21 at intervals. The mounting holes A21 are provided with "V"-shaped notches A22 connecting the second processing surface A2 and the sixth processing surface A6 at intervals along the third axis Y direction. The opening of the mounting hole A21 is larger than its corresponding "V"-shaped notch A22. The fifth processing surface A5 is provided with a cavity structure A51. The cavity A51 includes a first sidewall A511, a second sidewall A512, a third sidewall A513, a fourth sidewall A514, and a fifth sidewall A515 located on the left, right, top, bottom, and rear sides, respectively.

[0057] like Figures 6 to 10 As shown, the assisted robotic gripper in this embodiment includes a body 1 disposed at the top, the top of which is connected to the assisted robotic arm. An arm assembly 2 extending along the second axis Z direction is disposed on the body 1. (Refer to...) Figure 10 The boom assembly 2 includes a connecting rod 24, a first boom 21, a platform section 22, and a second boom 23 arranged from top to bottom. The top of the connecting rod 24 is connected to the main body 1, and the bottom of the connecting rod 24 is rotatably connected to the first boom 21. In this embodiment, the platform section 22 has a dual function: first, the platform section 22 can be used to connect the first boom 21 and the second boom 23, with the bottom end of the first boom 21 rotatably connected to the platform section 22, and the second boom 23 located at the bottom of the platform section 22; second, the platform section 22 can... The second drive mechanism 6 is installed for the first clamp 3 and the second clamp 5, which are configured to drive the first clamp 3 and the second clamp 5 to rotate synchronously 180° around the second axis Z within a predetermined space. The second lifting arm 23 located at the bottom can be used for the first clamp 3 and the second clamp 5 to be installed back to back. At the same time, the first drive mechanism 4 is provided on the side wall of the second lifting arm 23. The first drive mechanism 4 is configured to drive the first clamp 3 to drive the gearbox housing to be processed to rotate synchronously around the first axis X, thereby switching the first clamp 3 from the first state to the second state.

[0058] This embodiment uses Figure 6 Taking the production line shown as an example, the working principle of the power-assisted robotic gripper is explained as follows:

[0059] First state: The first clamp 3 extends from the blank table into the cavity A51 within the fifth machining surface A5 of the gearbox housing to be machined and performs the first clamping action (reference). Figure 7 The gearbox housing to be processed is clamped onto the first machine tool B1. By rotating the worktable of the first machine tool B1, the third machining surface A3, the fifth machining surface A5, the fourth machining surface A4 and the sixth machining surface A6 distributed circumferentially on the gearbox housing to be processed can be preliminarily processed.

[0060] Second state: The first drive mechanism 4 drives the first clamp 3 and the gearbox housing to be processed, to rotate counterclockwise by 90° around the first axis X (reference). Figure 8 The gearbox housing to be processed is fed into the second machine tool B2. The first machining surface A1 and the second machining surface A2 can be processed by rotating the worktable of the second machine tool B2.

[0061] Third state: The gearbox housing to be processed is placed in transfer station B3. Under the action of external force, transfer station B3 can rotate 90° clockwise around the second axis Z. The second drive mechanism 6 drives the first clamp 3 and the second clamp 5 to rotate 180° around the second axis Z, so that the second clamp 5 reaches the operating position.

[0062] Fourth state: The first clamping arm 532 and the second clamping arm 531 in the second fixture 5 extend into the mounting hole A21 and the notch A22 on the second machining surface A2, respectively (reference). Figure 9 The second fixture 5 clamps the gearbox housing to be processed into the third machine tool B4. By rotating the worktable of the third machine tool B4, the first machining surface A1, the second machining surface A2, the fifth machining surface A5, and the sixth machining surface A6 can be precision machined. After machining is completed, the second fixture 5 clamps the gearbox housing to be processed onto the finishing table.

[0063] refer to Figures 11 to 17 In this embodiment, the first clamp 3 and the second clamp 5 are arranged back-to-back at the end of the second boom 23. In order to realize the first clamp 3 from the first state (refer to...) Figure 11 and Figure 12 Switch to the second state (see reference) Figure 13 and Figure 14 In this embodiment, the first drive mechanism 4 is configured to drive the first clamp 3 to synchronously rotate the gearbox housing to be processed around the first axis X counterclockwise. Specifically, refer to... Figure 17The first drive mechanism 4 includes a first piston rod 41 that reciprocates along the second axis Z, a rotating component 42 driven by the first piston rod 41 to rotate around the first axis X, and a rotating shaft 44 connected to the rotating component 42 via a pin 43. The end of the second boom 23 has a through-hole 231 through which the rotating shaft 44 passes, and the through-hole end 441 of the rotating shaft 44 is connected to the first clamp 3. In the initial state, the first piston rod 41 is fully extended downwards, and the first clamp 3 is in the first position of the first state. When the first clamp 3 switches to the final state, the first piston rod 41 is fully retracted upwards, and the pin 43 and the rotating component 42 cooperate to convert the linear motion of the first piston rod 41 into a counterclockwise rotational motion around the first axis X. The rotating component 42 drives the rotating shaft and the first clamp 3 to rotate 90° counterclockwise around the first axis X simultaneously, thereby switching from the first position of the first state to the second position of the second state. Due to the fact that the rotation angle of the clamp will have a certain error after long-term use of the robotic arm, refer to Figure 17 In this embodiment, an adjustment component 7 for finely adjusting the rotation angle of the first clamp 3 is provided on the second boom 23. The adjustment component 7 includes a first adjustment seat 71 extending along the first axis X and a first adjustment member 72 that moves relative to the first adjustment seat 71 along the third axis Y. A protrusion 421 that abuts against the first adjustment member 72 is provided in the middle of the rotating member 42. The first adjustment member 72 can move to the corresponding position on the first adjustment seat 71 along the third axis Y. When the protrusion 421 on the rotating member 42 rotates to abut against the first adjustment member 72, the first clamp 3 can be rotated to the corresponding angle, thus compensating for the error.

[0064] To accommodate structures with different machining surfaces, this embodiment includes a second drive mechanism 6 at the top of the second boom 23 to achieve the second state of the first clamp 3 (see reference). Figure 13 and Figure 14 Switch to the fourth state of the second clamp 5 (see reference) Figure 15 and Figure 16 The second drive mechanism 6 is configured to drive the first clamp 3 and the second clamp 5 to rotate synchronously by 180° around the second axis Z in a predetermined space. The second axis Z is parallel to the central axis of the second boom 23. The second clamp 5 is configured to extend into the second processing surface A2 of the gearbox housing to be processed and perform a second clamping action after the first clamp 3 and the second clamp 5 are driven to rotate by the second drive mechanism 6, so as to clamp the gearbox housing to be processed from a clamping surface different from that of the first clamp 3.

[0065] The specific structure of the first clamp 3 is as follows (refer to...) Figures 17 to 19The first fixture 3 includes a first mounting bracket 31 connected to the through end 441 of the rotating shaft 44 and a mounting frame 32 that mates with the first mounting bracket 31. A centering mechanism 33 is provided in the space where the two mate, enabling the mounting frame 32 to automatically align with the cavity A51 in the fifth machining surface A5 of the gearbox housing to be machined. Specifically, refer to... Figure 18 The mounting frame 32 is U-shaped and includes a first frame wall 321, a second frame wall 322 located on both sides of the first mounting bracket 31, and a third frame wall 323 connecting the first frame wall 321 and the second frame wall 322. It should be noted that the mounting frame 32 in this embodiment has a dual function. First, a portion of the mounting frame 32 constitutes a centering mechanism 33. The first frame wall 321 and the second frame wall 322 located on both sides are connected to the centering mechanism 33. The centering mechanism 33 can automatically center the first frame wall 321 and the second frame wall 322 with the first side wall A511 and the second side wall A512 in the cavity A51, thereby ensuring that the clamping part abuts against the side wall of the cavity A51 and thus switching the clamping or loosening action of the gearbox housing to be processed. Second, the third frame wall 323 can be used for the installation of the first limiting mechanism 35 on the first fixture 3.

[0066] refer to Figure 18 and Figure 19The specific structure of the centering mechanism 33 is as follows: it includes a transmission assembly 331 mounted on the first mounting bracket 31, a third drive mechanism 332 slidably connected to the transmission assembly 331, and a limiting member 333 that can limit the transmission assembly 331. The transmission assembly 331 includes a first slide rail 3311 mounted on the mounting bracket and a first slider 3312 and a second slider 3313 slidably connected to the first slide rail 3311. The third drive mechanism 332 includes a cylinder 3321 and a third piston rod 3322. The cylinder 3321... The cylinder base 3323 is connected to the first slider 3312, and the end of the third piston rod 3322 is connected to the second slider 3313 through the piston rod base 3324. The first frame wall 321 and the second frame wall 322 are respectively disposed on the outer side walls of the cylinder base 3323 and the piston rod base 3324. The limiting member 333 includes a first limiting member 3331 disposed between the first slider 3312 and the second slider 3313 and a second limiting member 3332 disposed on the end of the first slide rail 3311 near the first slider 3312. When cylinder 3321 drives the first piston rod 41 to extend outward, it causes the piston rod base 3324, the second frame wall 322, and the first slider 3312 to move outward synchronously. The second frame wall 322 abuts against the second side wall A512 inside the cavity A51. Cylinder 3321, cylinder base 3323, second slider 3313, and first frame wall 321 slide outward synchronously until the second limiting member 3332 limits the second slider 3313. At this time, the first frame wall 321 can abut against the first side wall A511 inside the cavity A51. The first frame wall 321 and the second frame wall 322 can cooperate with each other to move the first side wall A512 inside the cavity A51. One side wall A511 and the second side wall A512 clamp each other; when the cylinder 3321 drives the first piston rod 41 to retract inward and drives the piston rod base 3324, the second frame wall 322 and the first slider 3312 to move inward synchronously, the first limiting member 3331 can limit the inward movement of the first slider 3312. At this time, the cylinder 3321, the cylinder base 3323, the second slider 3313 and the first frame wall 321 move inward synchronously until the first piston rod 41 is completely retracted into the cylinder 3321, and the first frame wall 321 and the second frame wall 322 release the first side wall A511 and the second side wall A512 in the cavity A51.

[0067] refer to Figure 18The first mounting bracket 31 is also provided with a first guide mechanism 34 for guiding the installation position of the cavity A51 of the fifth processing surface A5. The first guide mechanism 34 includes an upper guide leg 341 and a lower guide leg 342 extending from the first mounting bracket 31 along the first axis X. The upper guide leg 341 and the lower guide leg 342 are provided with guide slopes 343 corresponding to the third side wall A513 and the fourth side wall A514 where the cavity A51 is located. The guide slopes 343 can ensure that the mounting frame 32 is installed in the corresponding position in the cavity A51 to achieve reliable clamping in the future. The first limiting mechanism 35 includes two first buffer members 351 spaced apart along the second axis Z and a first limiting sensor 352 disposed between the first buffer members 351. The first buffer members 351 of the first limiting mechanism 35 can buffer the impact force generated on the fifth side wall 515 when the mounting frame 32 extends into the cavity A51. The first limiting sensor 352 can detect the distance to the fifth side wall 515. When the detected distance reaches the preset distance, it indicates that the installation position is accurate. The first limiting sensor 352 can transmit a signal to the third driving mechanism 332 to control the first frame wall 321 and the second frame wall 322 to extend outward and perform clamping action.

[0068] The specific structure of the second clamp 5 is as follows: (Refer to...) Figure 20 and Figure 21 The second clamp 5 includes a connecting bracket 51 disposed at the end of the second boom 23, a second mounting bracket 52 disposed at the outer end of the connecting bracket 51, and a clamping mechanism 53. The second clamp 5 is positioned back-to-back with the first clamp 3 by means of the connecting bracket 51. The second mounting bracket 52 is provided with a first mounting plate 54 and a second mounting plate 56 slidably connected to the back of the first mounting plate 54. The second mounting plate 56 is driven to move by a fourth drive mechanism 57 installed in the engagement space between the connecting bracket 51 and the first mounting plate 54. At this time, the overall arrangement... The fourth drive mechanism 57 has better compactness and includes a cylinder 571 mounted on the first mounting plate 54 and a second slide rail 573 extending along the third axis Y direction. A third slider 574 is provided in the middle of the second mounting plate 56. The third slider 574 is connected to a fourth piston rod 572 extending out of the cylinder 571. Under the drive of the cylinder 571, the fourth piston rod 572 can drive the third slider 574 and the second mounting plate 56 to move relative to the second slide rail 573, thereby switching the first clamping arm 532 between the clamping state and the clamping release state.

[0069] refer to Figure 20 and Figure 21The clamping mechanism 53 includes a second clamping arm 531 disposed at one end of the first mounting plate 54 and capable of abutting against the notch A22, and a first clamping arm 532 disposed on the second mounting plate 56 and capable of extending into the mounting hole A21. By abutting against the wall of the "V"-shaped notch A22 with the second clamping arm 531, two-point pre-positioning can be formed. Since the mounting hole A21 and the notch A22 are close to each other, in this embodiment, a guide channel 541 is symmetrically disposed on the first mounting plate 54 along the second axis Z for the first clamping arm 532 to extend along the third axis Y. With the help of the guide channel 541, the first clamping arm 532 can extend into the mounting hole A21 at the closest position to the notch A22, so as to realize the clamping or loosening of the first clamping arm 532 and the second clamping arm 531 within the closest range, so as to adaptively solve the clamping of the workpiece A to be processed.

[0070] For ease of positioning and guidance, refer to Figure 20 The second clamp 5 also includes a second limiting mechanism 58 and a second guiding mechanism 55 for the first mounting plate 54. The second limiting mechanism 58 has the same structure as the first limiting mechanism 35. Specifically, the second guiding mechanism 55 includes two guide arms 551 extending along the first axis X and capable of extending into the corresponding mounting holes A21. The guide arms 551 can extend into the mounting holes A21 synchronously with the first clamping arm 532, thereby providing initial guidance for the installation position of the mounting holes A21. The second limiting mechanism 58 includes two spaced-apart parts at the ends of the first mounting plate 54. The second buffer 581 and the second limit sensor 582 disposed between the two second buffers 581 can buffer the impact force generated by the second clamp 5 on the second processing surface A2; at the same time, the second limit sensor 582 can detect the distance to the second processing surface A2. When the detected distance reaches the preset distance, the second limit sensor 582 can transmit a signal to the fourth drive mechanism 57 to control the first clamping arm 532 on the second mounting plate 56 to approach the second clamping arm 531 on the first mounting plate 54 and perform a clamping action.

Claims

1. A power-assisted robotic gripper for holding automotive parts, comprising: The main body (1) is configured to connect to a power-assisted robotic arm or a lifting device at its top; The second boom (23) is mounted on the main body (1); A first clamp (3), located at the end of the second boom (23), is configured to clamp and fix the workpiece (A) by extending into the fifth machining surface (A5) of the workpiece (A) and performing a first clamping action; The first drive mechanism (4) is disposed on the side wall of the second boom (23) and is configured to drive the first clamp (3) to drive the workpiece (A) to be processed to rotate synchronously around the first axis (X). Its features are, The power-assisted robotic gripper also includes: The second clamp (5) is also located at the end of the second boom (23) and is arranged back-to-back with the first clamp (3) by means of a connecting bracket (51); The second drive mechanism (6) is disposed on the top of the second boom (23) and is configured to drive the first clamp (3) and the second clamp (5) to rotate synchronously 180° around the second axis (Z) in a predetermined space. The second axis (Z) is parallel to the central axis of the second boom (23). The second axis (Z) and the first axis (X) have different spatial orientations. The second clamp (5) is configured to extend into the second processing surface (A2) of the workpiece (A) to be processed and perform a second clamping action after the first clamp (3) and the second clamp (5) are driven to rotate by the second drive mechanism (6), so as to clamp the workpiece (A) to be processed from a clamping surface different from that of the first clamp (3). The operation of the first clamp (3) and the second clamp (5) is configured as follows: First state: The workpiece (A) to be processed is clamped by the first fixture (3) to the first machine tool (B1), and the third machining surface (A3), the fifth machining surface (A5), the fourth machining surface (A4) and the sixth machining surface (A6) of the workpiece (A) to be processed are processed by the rotation of the worktable of the first machine tool (B1); Second state: The first clamp (3) and the workpiece (A) to be processed are driven by the first driving mechanism (4) to rotate 90° around the first axis (X), and then the workpiece (A) to be processed is sent into the second machine tool (B2) to process the first processing surface (A1) and the second processing surface (A2); Third state: After processing is completed, the workpiece (A) to be processed is placed in the transfer station (B3) and rotated 90° around the second axis (Z) under the action of external force. At the same time, the second drive mechanism (6) drives the first fixture (3) and the second fixture (5) to rotate 180° around the second axis (Z) so that the second fixture (5) reaches the operation position. Fourth state: The workpiece (A) to be processed is held by the second fixture (5) and sent to the third machine tool (B4) for finishing of the first machining surface (A1), the second machining surface (A2), the fifth machining surface (A5) and the sixth machining surface (A6).

2. The assisted robotic gripper according to claim 1, characterized in that: The first drive mechanism (4) includes a first piston rod (41) that reciprocates along a second axis (Z), a rotating member (42) driven by the first piston rod (41) to rotate around a first axis (X), and a rotating shaft (44) connected to the rotating member (42) via a pin (43). The end of the second boom (23) located in the space between the first clamp (3) and the second clamp (5) back to back has a through-hole (231) for the rotating shaft (44) to pass through. The through-hole end (441) of the rotating shaft (44) is connected to the first clamp (3), thereby achieving: Initial state: The first piston rod (41) is fully extended downwards, and the first clamp (3) is in the first position of the aforementioned first state; Final state: The first piston rod (41) is fully retracted upwards. The pin (43) and the rotating part (42) cooperate to convert the linear motion of the first piston rod (41) into rotational motion around the first axis (X). The rotating part (42) drives the rotating shaft and the first clamp (3) to rotate synchronously around the first axis (X), thereby realizing the switch from the first position of the first state to the second position of the second state.

3. The assisted robotic gripper according to claim 2, characterized in that: The second boom (23) is provided with an adjustment assembly (7) for adjusting the rotation angle of the rotating member (42) at the upper part of the through part (231). The adjustment assembly (7) includes a first adjustment seat (71) extending along the first axis (X) and a first adjustment member (72) moving relative to the first adjustment seat (71) along the third axis (Y). The third axis (Y) is perpendicular to both the second axis (Z) and the first axis (X). Correspondingly, the middle part of the rotating member (42) is provided with a protrusion (421) that abuts against the first adjustment member (72). When the first adjustment member (72) is adjusted to the desired position relative to the first adjustment seat (71) and the protrusion (421) of the rotating member (42) rotates to abut against the first adjustment member (72), the rotating member (42) can rotate to the desired angle corresponding to the aforementioned second position.

4. The assisted robotic gripper according to claim 2, characterized in that: The first fixture (3) includes a first mounting bracket (31) connected to the through end (441) of the rotating shaft (44) and a mounting frame (32) that mates with the first mounting bracket (31). In the space where the two mate, a centering mechanism (33) is provided that enables the mounting frame (32) to automatically align with the cavity (A51) in the fifth machining surface (A5) of the workpiece (A) to be processed.

5. The assisted robotic gripper according to claim 4, characterized in that: The mounting frame (32) is U-shaped and includes a first frame wall (321), a second frame wall (322) located on both sides of the first mounting bracket (31), and a third frame wall connecting the first frame wall (321) and the second frame wall (322). The inner sides of the first frame wall (321) and the second frame wall (322) are connected to the centering mechanism (33) to achieve the following: when the two are far apart, they respectively clamp the first side wall (A511) and the second side wall (A512) of the cavity (A51).

6. The assisted robotic gripper according to claim 5, characterized in that: The centering mechanism (33) includes a transmission assembly (331) disposed on the first mounting bracket (31), a third drive mechanism (332) slidably connected to the transmission assembly (331), and a limiting member (333) capable of limiting the transmission assembly (331); The transmission assembly (331) includes a first slide rail (3311) mounted on a mounting bracket and a first slider (3312) and a second slider (3313) slidably connected to the first slide rail (3311); The third drive mechanism (332) includes a cylinder (3321) and a third piston rod (3322). The cylinder (3321) is connected to the first slider (3312) through a cylinder base (3323). The end of the third piston rod (3322) is connected to the second slider (3313) through a piston rod base (3324). The first frame wall (321) and the second frame wall (322) are respectively disposed on the outer side walls of the cylinder base (3323) and the piston rod base (3324). The limiting member (333) includes a first limiting member (3331) disposed between the first slider (3312) and the second slider (3313) and a second limiting member (3332) disposed on the end of the first slide rail (3311) near the first slider (3312). The first limiting member (3331) is used to restrict the inward movement of the first slider (3312), and the second limiting member (3332) is used to restrict the outward movement of the second slider (3313).

7. The assisted robotic gripper according to claim 6, characterized in that: The first mounting bracket (31) is also provided with a first guide mechanism (34) for guiding the installation position of the cavity (A51) in the fifth processing surface (A5). The first guide mechanism (34) includes upper and lower guide legs (342) extending from the first mounting bracket (31) along the first axis (X). Each guide leg is provided with a guide slope (343) for guiding the third side wall (A513) and the fourth side wall (A514) where the cavity (A51) is located. The third side wall (A513) and the fourth side wall (A514) are spaced apart and respectively connected to the first side wall (A511) and the second side wall (A512).

8. The assisted robotic gripper according to claim 7, characterized in that: The third frame wall (323) is provided with a first limiting mechanism (35) for limiting the position of the mounting frame (32) extending into the cavity (A51). The first limiting mechanism (35) includes a first buffer (351) spaced along the second axis (Z) and a first limiting sensor (352) disposed between the first buffers (351). The first buffer (351) can buffer the fifth side wall (515) that is joined to the side wall in the cavity (A51). The first limiting sensor (352) is electrically connected to the third drive mechanism (332) and transmits a start / stop signal to the third drive mechanism (332) by detecting the distance to the fifth side wall (515).

9. The assisted robotic gripper according to any one of claims 1 to 8, characterized in that: Two mounting holes (A21) are spaced apart on the second machining surface (A2) of the workpiece (A). Each mounting hole (A21) has a "V"-shaped notch (A22) spaced apart along the third axis (Y) connecting the second machining surface (A2) and the sixth machining surface (A6). The opening of each mounting hole (A21) is larger than its corresponding "V"-shaped notch (A22). Correspondingly, the second fixture (5) is provided with a guide arm (551) that can extend into the mounting hole (A21) for initial guidance, a first clamping arm (532) for clamping, and an abutment against the "V"-shaped notch (A21). 22) The second clamping arm (531) wherein the guide arm (551) and the second clamping arm (531) are disposed on the first mounting plate (54) connected to the connecting bracket (51), and the first clamping arm (532) is disposed on the second mounting plate (56). The first mounting plate (54) has a guide channel (541) along the third axis (Y) direction. The first clamping arm (532) passes through the guide channel (541) and is located between the guide arm (551) and the second clamping arm (531) and thus performs clamping or loosening actions along the third axis (Y) direction.

10. The assisted robotic gripper according to claim 9, characterized in that: The first clamping arm (532) is driven to move by a fourth drive mechanism (57) installed in the engagement space between the connecting bracket (51) and the first mounting plate (54). The fourth drive mechanism (57) includes a cylinder (571) provided on the first mounting plate (54) and a second slide rail (573) extending along the third axis (Y). The second mounting plate (56) has a third slider (574) in the middle and is connected by a fourth piston rod (572) extending out of the cylinder (571). Under the drive of the cylinder (571), the fourth piston rod (572) can drive the third slider (574) together with the second mounting plate (56) to move relative to the second slide rail (573), thereby switching the first clamping arm (532) between the clamping state and the clamping release state.

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