Manipulator

Abstract

The invention discloses a manipulator and relates to the field of automatic grabbing, a clamping device is arranged on a driving device, the driving device is configured to drive the clamping device to move, the clamping device comprises a shell, a driving mechanism and a clamping set, the clamping set comprises two opposite clamping mechanisms, and the driving mechanism and the clamping mechanisms are arranged on the shell; the clamping mechanism comprises an installation part, a clamping part and a locking assembly, the clamping part is rotatably arranged on the installation part and provided with a plurality of different clamping faces, and the locking assembly is arranged on the installation part and configured to selectively lock the clamping part so that any clamping face of the clamping part can face the other clamping part. The driving mechanism is configured to drive the two clamping mechanisms to move relatively close to or away from each other. Therefore, the clamping piece is provided with a plurality of different clamping surfaces, the clamping piece can be rotated by unlocking the clamping piece, so that the clamping surface of the adaptive accessory faces the other clamping piece, the clamping firmness can be improved by switching the proper clamping surfaces, and the production takt is improved.

Description

Technical Field

[0001] This invention relates to the field of automated grasping, and in particular to a robotic arm. Background Technology

[0002] The automobile assembly line is a core link in the automobile manufacturing process. It uses highly integrated and automated technologies to precisely assemble thousands of parts and components into complete vehicles. A large number of robotic arms are used in the assembly process; however, current robotic arm designs are inadequate and cannot adapt to various parts of different shapes, resulting in some parts not being gripped securely and affecting the production cycle. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide a robotic arm that can improve gripping firmness by switching appropriate gripping surfaces, thereby improving production cycle time.

[0004] The robotic arm according to the present invention includes: a mounting base and a driving device, wherein the driving device is disposed on the mounting base; A clamping device is disposed on the driving device, and the driving device is configured to drive the clamping device to move. The clamping device includes: a housing, a driving mechanism, and a clamping assembly. The clamping assembly includes two opposing clamping mechanisms. The driving mechanism and the clamping mechanisms are both disposed on the housing. The clamping mechanism includes: a mounting member, a clamping member, and a locking assembly. The clamping member is rotatably disposed on the mounting member and has multiple different clamping surfaces. The locking assembly is disposed on the mounting member and configured to selectively lock the clamping member so that any of the clamping surfaces of the clamping member faces another clamping member. The driving mechanism is configured to drive the two clamping mechanisms to move relatively closer or relatively farther apart to perform pick-and-place operations.

[0005] According to the present invention, by giving the gripper multiple different gripping surfaces, the gripper can be rotated by unlocking it so that the gripping surface of the adapter is facing another gripper. This allows for improved gripping stability by switching appropriate gripping surfaces, which is beneficial for increasing production cycle time.

[0006] In some examples of the present invention, the driving mechanism includes: a driving member and a bidirectional lead screw, the driving member being drivenly connected to the bidirectional lead screw, both mounting members being sleeved on the bidirectional lead screw and screwed to the bidirectional lead screw, and the driving member being configured to drive the bidirectional lead screw to rotate so that the two mounting members move relatively closer or relatively farther apart.

[0007] In some examples of the present invention, the driving mechanism further includes: a first bevel gear and a second bevel gear, wherein the first bevel gear is disposed on the drive shaft of the driving member, and the second bevel gear is disposed on the bidirectional lead screw and meshes with the first bevel gear.

[0008] In some examples of the present invention, the mounting member has a mounting notch, and both sidewalls of the mounting notch have pivot holes. The clamping member includes a clamping body and a pivot shaft. The clamping body is disposed in the mounting notch and has the clamping surface. The pivot shaft is connected to the clamping body and passes through the pivot hole to allow the clamping member to be rotatably disposed in the mounting member.

[0009] In some examples of the present invention, the sidewall is formed with a mating hole, the clamping body is formed with a locking hole, and the locking assembly includes a locking member that passes through the mating hole and is configured to extend into or out of the locking hole to selectively lock the clamping member.

[0010] In some examples of the present invention, the locking assembly further includes: a mounting housing disposed on the mounting member, and the locking member being movably disposed on the mounting member.

[0011] In some examples of the present invention, the locking assembly further includes: a one-way screw rotatably disposed in the mounting housing, the one-way screw passing through the locking member and threadedly engaging with the locking member, the one-way screw being configured to drive the locking member to move when rotated.

[0012] In some examples of the present invention, the locking assembly further includes a rotating block disposed on the one-way lead screw, wherein the outer peripheral wall of the rotating block is formed with a plurality of grooves arranged at intervals along the circumference of the rotating block.

[0013] In some examples of the present invention, the clamping device further includes a suction cup disposed on the housing and located between the two clamping mechanisms; And / or, the plurality of different clamping surfaces include: a clamping plane and at least one clamping curved surface.

[0014] In some examples of the present invention, the driving device includes a plurality of driving rods rotatably connected in sequence, with one end of the driving rod disposed on the mounting base, the other end of the driving rod being telescopic, and the clamping device disposed on the telescopic driving rod.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of a robotic arm according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the clamping device according to an embodiment of the present invention; Figure 3 This is an exploded schematic diagram of the clamping device according to an embodiment of the present invention; Figure 4 This is an exploded view of a portion of the structure of the clamping device according to an embodiment of the present invention.

[0017] Figure label: 100 robotic arms; Mounting base 10; Drive unit 20; drive rod 21; first drive rod 211; second drive rod 212; third drive rod 213; fourth drive rod 214; Clamping device 30; housing 31; drive mechanism 32; drive component 321; double-acting lead screw 322; first bevel gear 323; second bevel gear 324; Clamping mechanism 34; Mounting component 341; Mounting notch 3411; Side wall 3412; Mating hole 34121; Pivoting hole 34122; Clamping component 342; clamping body 3421; locking hole 34211; pivot shaft 3422; clamping surface 3423; clamping plane 34231; clamping curved surface 34232; Locking assembly 35; Locking element 351; Mounting housing 352; One-way lead screw 353; Rotating block 354; Groove 3541; Suction cup 36. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0019] The following is for reference. Figures 1-4 A robotic arm 100 according to an embodiment of the present invention is described.

[0020] like Figures 1-4 As shown, the robotic arm 100 according to an embodiment of the present invention includes: a mounting base 10, a driving device 20, and a clamping device 30.

[0021] The drive device 20 is mounted on the mounting base 10. As some embodiments of this application, the drive device 20 can be mounted on the mounting base 10 by means of bolt connection, welding or other methods.

[0022] The clamping device 30 is disposed on the driving device 20. As some embodiments of this application, the clamping device 30 may be disposed on the driving device 20 by means of, but not limited to, bolt connection, welding, etc. The driving device 20 is configured to drive the clamping device 30 to move, that is, the driving device 20 may drive the clamping device 30 to change position. As some embodiments of this application, the driving device 20 may drive the clamping device 30 to move and / or rotate.

[0023] The clamping device 30 includes: a housing 31, a drive mechanism 32, and a clamping group. The clamping group includes two opposing clamping mechanisms 34. Both the drive mechanism 32 and the clamping mechanism 34 are located in the housing 31. As some embodiments of this application, both the drive mechanism 32 and the clamping mechanism 34 can be located inside the housing 31.

[0024] The clamping mechanism 34 includes: a mounting member 341, a clamping member 342, and a locking assembly 35. The clamping member 342 is rotatably disposed on the mounting member 341 and has multiple different clamping surfaces 3423. As some embodiments of this application, the clamping member 342 can be rotatably disposed on the mounting member 341 through a shaft hole engagement. The clamping member 342 has multiple different clamping surfaces 3423, which may include planes, curved surfaces, etc. When there are multiple curved surfaces, the curvatures of the multiple curved surfaces may be different.

[0025] The locking component 35 is disposed on the mounting member 341 and configured to selectively lock the clamping member 342. As some embodiments of this application, the locking component 35 can be disposed on the mounting member 341 by means of, but not limited to, snap-fit, bolt connection, etc. The locking component 35 is configured to selectively lock the clamping member 342. That is, the locking component 35 can lock the clamping member 342. When the locking component 35 locks the clamping member 342, the clamping member 342 cannot rotate. When the locking component 35 does not lock the clamping member 342, the clamping member 342 can rotate so that any clamping surface 3423 of the clamping member 342 faces another clamping member 342 (i.e., switching the currently used clamping surface 3423). The driving mechanism 32 is configured to drive the two clamping mechanisms 34 to move relatively closer or relatively farther apart to perform pick-up and put-down operations. Specifically, the two clamping mechanisms 34 moving relatively closer can clamp the parts, and the two clamping mechanisms 34 moving relatively farther apart can put down the clamped parts to realize the pick-up and put-down operations.

[0026] Therefore, by having multiple different clamping surfaces 3423, the clamping member 342 can be unlocked to rotate it so that the clamping surface 3423 of the fitting part faces another clamping member 342. This allows for improved clamping stability by switching the appropriate clamping surface 3423, which is beneficial for increasing production cycle time.

[0027] In some embodiments of the present invention, such as Figure 3 As shown, the drive mechanism 32 includes a drive member 321 and a bidirectional lead screw 322. The drive member 321 is connected to the bidirectional lead screw 322 in a transmission manner, and the drive member 321 can drive the bidirectional lead screw 322 to rotate. Two mounting members 341 are both sleeved on the bidirectional lead screw 322, and both mounting members 341 are screwed to the bidirectional lead screw 322. Specifically, the two mounting members 341 are respectively screwed to the bidirectional threads of the bidirectional lead screw 322. The drive member 321 is configured to drive the bidirectional lead screw 322 to rotate so that the two mounting members 341 move closer or further apart. The drive member 321 can be constructed as a motor. The drive member 321 drives the bidirectional lead screw 322 to rotate, and the bidirectional lead screw 322 can drive the two mounting members 341 screwed to it to move closer or further apart, so as to achieve the effect of driving the two clamping mechanisms 34 to move closer or further apart. This design structure is reasonable. It can drive two clamping mechanisms 34 to move synchronously through a single drive component 321, and the movement accuracy is high, which helps to improve the reliability of the robot arm 100.

[0028] In some embodiments of the present invention, such as Figure 3 As shown, the drive mechanism 32 further includes a first bevel gear 323 and a second bevel gear 324. The first bevel gear 323 is disposed on the drive shaft of the drive member 321, and the second bevel gear 324 is disposed on the double-acting lead screw 322. The second bevel gear 324 meshes with the first bevel gear 323. As some embodiments of this application, the rotation axis of the first bevel gear 323 coincides with the rotation axis of the drive shaft, and the rotation axis of the second bevel gear 324 coincides with the rotation axis of the double-acting lead screw 322. By setting the first bevel gear 323 and the second bevel gear 324, the direction of power transmission can be changed, thereby facilitating the arrangement of the double-acting lead screw 322 and the drive member 321, and reducing the design difficulty of the drive mechanism 32.

[0029] In some embodiments of the present invention, such as Figure 4 As shown, the mounting member 341 has a mounting notch 3411, and both sidewalls 3412 of the mounting notch 3411 have pivot holes 34122. The clamping member 342 includes a clamping body 3421 and a pivot shaft 3422. The clamping body 3421 is disposed in the mounting notch 3411 and has a clamping surface 3423. The pivot shaft 3422 is connected to the clamping body 3421 and passes through the pivot hole 34122 to allow the clamping member 342 to rotate.

[0030] In some embodiments of this application, the pivot shaft 3422 is integrally formed with the clamping body 3421. In some embodiments of this application, there are two pivot shafts 3422, each located on one side of the clamping body 3421. Each pivot shaft 3422 passes through a pivot hole 34122 in one of the two side walls 3412 and is rotatably engaged with the corresponding pivot hole 34122. This arrangement allows the clamping member 342 to be rotatably mounted on the mounting member 341, ensuring smooth rotation of the clamping member 342 and reducing the risk of it falling off. Furthermore, the mounting notch 3411 reduces the risk of interference between the clamping member 342 and the mounting member 341 during rotation, thus facilitating the switching of the clamping surface 3423.

[0031] In some embodiments of the present invention, such as Figure 4 As shown, the sidewall 3412 has a mating hole 34121, the clamping body 3421 has a locking hole 34211, and the locking assembly 35 includes a locking member 351, which passes through the mating hole 34121 and is configured to extend into or out of the locking hole 34211 to selectively lock the clamping member 342.

[0032] In some embodiments of this application, both sidewalls 3412 are formed with mating holes 34121, which are arranged opposite each other. In some embodiments of this application, the sidewalls 3412 are formed with multiple mating holes 34121, which are arranged around the corresponding pivot hole 34122. In some embodiments of this application, the mating holes 34121 can be constructed as circular holes, rectangular holes, polygonal holes, or irregularly shaped holes.

[0033] The clamping body 3421 is formed with locking holes 34211. As some embodiments of this application, the clamping body 3421 is formed with locking holes 34211 on the side facing the side wall 3412. The number and shape of the locking holes 34211 are the same as the number and shape of the mating holes 34121 on the side wall 3412 facing it.

[0034] The number of locking members 351 is the same as the number of sidewalls 3412, with one locking member 351 corresponding to one sidewall 3412. That is, one locking member 351 corresponds to the side of the clamping body 3421 where the locking hole 34211 is formed. The locking member 351 passes through the mating hole 34121 and is movable to extend into or out of the locking hole 34211 to selectively lock the clamping member 342. Specifically, when the locking member 351 extends into the locking hole 34211, the locking member 351 locks the clamping member 342, preventing the clamping member 342 from rotating. At this time, the two clamping mechanisms 34 can be driven by the drive mechanism 32 to move closer or further apart to perform pick-and-place operations. When the locking member 351 moves out of the locking hole 34211, the clamping member 342 unlocks and can rotate, so that any clamping surface 3423 of the clamping member 342 faces the other clamping member 342 (i.e., switching the currently used clamping surface 3423) to adapt to the accessory to be clamped. This setting enables selective locking of the clamping member 342, and the structure is reasonable, simple, and easy to operate.

[0035] In some embodiments of the present invention, such as Figure 4 As shown, the locking assembly 35 further includes a mounting housing 352, which is disposed on the mounting member 341, and a locking member 351 is movably disposed on the mounting member 341. As some embodiments of this application, the mounting housing 352 can be disposed on the mounting member 341 by means of, but not limited to, bolt connection, welding, etc., and the locking member 351 can be movably disposed on the mounting member 341 to extend into or out of the locking hole 34211. This arrangement provides mounting points for the locking member 351, thereby improving the installation stability and ease of installation of the locking member 351.

[0036] In some embodiments of the present invention, such as Figure 4 As shown, the locking assembly 35 also includes a one-way screw 353, which is rotatably mounted on the mounting housing 352. The one-way screw 353 passes through the locking member 351 and is threadedly engaged with the locking member 351. The one-way screw 353 is configured to drive the locking member 351 to move when rotated. That is, when the one-way screw 353 is rotated, it can drive the locking member 351 to extend into the locking hole 34211, and when the one-way screw 353 is rotated in the opposite direction, it can drive the locking member 351 to move out of the locking hole 34211. This arrangement facilitates the insertion and removal of the locking member 351 into or out of the locking hole 34211, thereby reducing the difficulty of operation and improving ease of use.

[0037] In some embodiments of the present invention, such as Figures 2-4As shown, the locking assembly 35 further includes a rotating block 354, which is disposed on the one-way lead screw 353. In some embodiments of this application, the rotating block 354 and the one-way lead screw 353 are integrally formed. The rotating block 354 is located outside the mounting housing 352, and the outer peripheral wall of the rotating block 354 has a plurality of grooves 3541 arranged at intervals along the circumference of the rotating block 354. By setting the rotating block 354, the one-way lead screw 353 can be rotated by rotating the rotating block 354 to drive the locking member 351 to extend into or move out of the locking hole 34211, which can reduce the difficulty of operation and improve the ease of use. By forming a plurality of grooves 3541 arranged at intervals along the circumference of the rotating block 354 on the outer peripheral wall of the rotating block 354, the friction between the operator's hand and the rotating block 354 can be increased, further reducing the difficulty of operation and further improving the ease of use.

[0038] In some embodiments of the present invention, such as Figures 1-3 As shown, the clamping device 30 further includes a suction cup 36, which is disposed on the housing 31 and located between the two clamping mechanisms 34. In some embodiments of this application, the suction cup 36 can be configured as a vacuum suction cup 36, or in some embodiments of this application, as an electrostatic suction cup 36. It should be noted that during the clamping process, the suction cup 36 can be used to adsorb the parts. Through the combined action of the suction cup 36 and the clamping member 342, the stability of clamping the parts can be greatly improved, reducing the risk of parts falling due to unstable clamping, and greatly improving the working reliability of the robot arm 100.

[0039] In some embodiments of the present invention, such as Figure 3 As shown, multiple different clamping surfaces 3423 include: a clamping plane 34231 and at least one clamping curved surface 34232. In some embodiments of this application, the number of clamping curved surfaces 34232 is one; in other embodiments, the number of clamping curved surfaces 34232 is multiple, and the curvatures of the multiple clamping curved surfaces 34232 are different. It is understood that when the mating surface between the accessory and the clamping member 342 is planar, the clamping member 342 can be unlocked and rotated to make the clamping plane 34231 of the clamping member 342 face another clamping member 342. When the mating surface between the accessory and the clamping member 342 is curved, the clamping member 342 can be unlocked and rotated to make the clamping curved surface 34232 of the clamping member 342 face another clamping member 342. This arrangement can improve clamping firmness by switching appropriate clamping surfaces 3423, which is beneficial for increasing production cycle time.

[0040] In some embodiments of the present invention, such as Figure 1As shown, the drive device 20 includes a plurality of drive rods 21 that are rotatably connected in sequence, and one of the drive rods 21 is located on the mounting base 10, while the drive rod 21 located on the other end is telescopic. The clamping device 30 is located on the telescopic drive rod 21.

[0041] As some embodiments of this application, such as Figure 1 As shown, the multiple drive rods 21 include: a first drive rod 211, a second drive rod 212, a third drive rod 213, and a fourth drive rod 214. One end of the first drive rod 211 is mounted on the mounting base 10 (which can be achieved through, but is not limited to, welding, bolting, etc.). One end of the second drive rod 212 is rotatably connected to the other end of the first drive rod 211. One end of the third drive rod 213 is rotatably connected to the other end of the second drive rod 212. One end of the fourth drive rod 214 is rotatably connected to the other end of the third drive rod 213. A clamping device 30 is located at the other end of the fourth drive rod 214, which is telescopic. The clamping device 30 can be moved by rotating the second drive rod 212, rotating the third drive rod 213, rotating the fourth drive rod 214, and telescopicating the fourth drive rod 214, thereby changing the spatial position of the clamping device 30 and achieving the effect of transferring parts from one place to another. This arrangement allows for flexible changes in the spatial position of the clamping device 30 to reliably transfer parts.

[0042] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0043] In the description of this invention, "first feature" and "second feature" may include one or more of the features.

[0044] In the description of this invention, "a plurality of" means two or more.

[0045] In the description of this invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0046] In the description of this invention, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicating that the first feature is at a higher horizontal level than the second feature.

[0047] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0048] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A robotic arm, characterized in that, include: Mounting base and driving device, wherein the driving device is disposed on the mounting base; A clamping device is disposed on the driving device, and the driving device is configured to drive the clamping device to move. The clamping device includes: a housing, a driving mechanism, and a clamping assembly. The clamping assembly includes two opposing clamping mechanisms. The driving mechanism and the clamping mechanisms are both disposed on the housing. The clamping mechanism includes: a mounting member, a clamping member, and a locking assembly. The clamping member is rotatably disposed on the mounting member and has multiple different clamping surfaces. The locking assembly is disposed on the mounting member and configured to selectively lock the clamping member so that any of the clamping surfaces of the clamping member faces another clamping member. The driving mechanism is configured to drive the two clamping mechanisms to move relatively closer or relatively farther apart to perform pick-and-place operations.

2. The robotic arm according to claim 1, characterized in that, The driving mechanism includes: a driving component and a bidirectional lead screw. The driving component is connected to the bidirectional lead screw in a transmission manner. Both mounting components are sleeved on the bidirectional lead screw and screwed to it. The driving component is configured to drive the bidirectional lead screw to rotate so that the two mounting components move closer or further apart relative to each other.

3. The robotic arm according to claim 2, characterized in that, The driving mechanism further includes a first bevel gear and a second bevel gear, wherein the first bevel gear is disposed on the drive shaft of the driving member, and the second bevel gear is disposed on the bidirectional lead screw and meshes with the first bevel gear.

4. The robotic arm according to claim 1, characterized in that, The mounting component has a mounting notch, and both sidewalls of the mounting notch have pivot holes. The clamping component includes a clamping body and a pivot shaft. The clamping body is located in the mounting notch and has the clamping surface. The pivot shaft is connected to the clamping body and passes through the pivot hole to allow the clamping component to rotate.

5. The robotic arm according to claim 4, characterized in that, The sidewall has a mating hole, the clamping body has a locking hole, and the locking assembly includes a locking member that passes through the mating hole and is configured to extend into or out of the locking hole to selectively lock the clamping member.

6. The robotic arm according to claim 5, characterized in that, The locking assembly further includes: a mounting shell disposed on the mounting member, and the locking member being movably disposed on the mounting member.

7. The robotic arm according to claim 5, characterized in that, The locking assembly further includes a one-way lead screw, which is rotatably disposed in the mounting housing. The one-way lead screw passes through the locking member and is threadedly engaged with the locking member. The one-way lead screw is configured to drive the locking member to move when rotated.

8. The robotic arm according to claim 7, characterized in that, The locking assembly further includes a rotating block, which is disposed on the one-way lead screw, and the outer peripheral wall of the rotating block is formed with a plurality of grooves arranged at intervals along the circumference of the rotating block.

9. The robotic arm according to any one of claims 1-8, characterized in that, The clamping device also Includes: a suction cup, which is disposed in the housing and located between the two clamping mechanisms; And / or, the plurality of different clamping surfaces include: a clamping plane and at least one clamping curved surface.

10. The robotic arm according to any one of claims 1-8, characterized in that, The driving device includes a plurality of driving rods that are rotatably connected in sequence, with one end of the driving rod located on the mounting base and the other end of the driving rod being telescopic. The clamping device is located on the telescopic driving rod.

Images