A power-assisted mechanical hand for gripping automotive parts

Abstract

This invention relates to a power-assisted robotic gripper for clamping automotive parts, comprising a body and a flipping component. The flipping component has a clamping part and a driving part. The workpiece body has a slanted hole to be machined. The central axis of the slanted hole is offset by a preset angle α and a preset angle β relative to a first side and a second side, respectively. The arm assembly includes first, second, and third arms. The flipping component is located at the ends of the first and second arms, and a rotating mechanism is provided on the third arm to make the central axis of the slanted hole parallel to the first side. The machining platform drives the workpiece body to rotate around the X-axis by a preset angle β, ultimately adjusting the central axis of the slanted hole to be parallel to the Z-axis. The advantages of this invention are: by means of the flipping component and the rotating mechanism, the workpiece body can be machined on four surfaces and the slanted hole within the machine tool; the rotating mechanism, in cooperation with the machining platform, can align the slanted hole in two dimensions, facilitating machining by the cutting tools within the machine tool.

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 the automotive parts industry, such as engine blocks, parts need to be moved from one workstation to another during processing. Because engine blocks are quite heavy, manual handling is difficult, so robots are needed for loading and unloading. Figures 1 to 5 The engine block A' shown includes a top surface A1', a bottom surface A2', a front surface A3', a rear surface A4', a left side surface A5', and a right side surface A6'. Four of these surfaces (top surface A1', bottom surface A2', front surface A3', and rear surface A4') require machining. Additionally, the crankshaft bore on the bottom surface A2' has an oblique hole A21' for constructing the internal lubrication passage between the engine's main oil passage and moving parts. This oblique hole A21' also needs to be machined. The central axis R of the oblique hole A21' is offset at an angle α relative to the YZ plane containing the left side surface A5' and the right side surface A6' (see reference). Figure 5 Meanwhile, the central axis R of the oblique hole A21' is offset by an angle β relative to the XZ plane containing the front A3' / rear A4' (reference). Figure 4 This places complex requirements on its clamping and positioning during the processing.

[0003] In actual production processes, such as Figure 3 As shown, the engine cylinder block A' needs to be fed into the first machine tool first, and with the help of the 360° rotation of the machining platform B', the top surface A1' is finished and the front A3' and rear A4' are roughed. Then the engine cylinder block A1' needs to be fed into the second machine tool, and with the help of the 360° rotation of the machining platform B', the bottom surface A2' and the oblique hole A21', the front A3' and the rear A4' are finished.

[0004] Therefore, the engine block A' processed on the first machine tool is transferred to the second machine tool. This requires the use of a "pneumatic tilting fixture for engine block" as described in patent number ZL201720433162.3 to convert the top surface A1' and the bottom surface A2'. When the bottom surface A2' of the engine block A' is placed on the processing platform B' of the second machine tool, the oblique hole A21' on the engine block A' needs to be aligned. Specifically, the central axis R of the oblique hole A21' needs to be adjusted to be parallel to the processing direction (vertically downward Z-axis) to ensure the dimensional and positional accuracy of the oblique hole A21' in subsequent processing.

[0005] As mentioned above, the machining platform B' of the second machine tool can rotate the engine cylinder A' by an offset angle β along the X-axis, thereby adjusting the central axis R of the inclined hole A21' to be parallel to the first side surface of the machining platform B'. This first side surface is parallel to the XZ plane where the front A3' / rear A4' of the engine cylinder A' is located in the initial state (see reference). Figure 4 However, due to the fact that the central axis R of the oblique hole A21' in the aforementioned engine cylinder block A' still has an offset angle α (refer to...), Figure 5 The central axis R of the inclined hole A21' cannot be parallel to the machining direction Z of the cutting tool, ultimately preventing the inclined hole A21' from being effectively machined. Therefore, a special fixture is required to rotate the engine block A' relative to the machining platform B' by an offset angle α during machining. This "one machine, one fixture" approach undoubtedly increases equipment investment and production costs. Therefore, further improvements are needed to the structure of the power-assisted robotic gripper for holding automotive parts. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a assisted robotic gripper that can better cooperate with different machining equipment to perform multi-faceted machining of automotive parts, especially for the fact that the central axis R of the oblique hole on one of the machining surfaces has two preset offset angles relative to the reference surface of the automotive parts.

[0007] 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:

[0008] The main body, used to attach the robotic arm to the robot;

[0009] A flipping member is disposed at the end of the arm assembly of the body. The flipping member has a clamping component for clamping the workpiece and a driving component for driving the clamping component to rotate between an initial position and a final position to complete a preset angle flip.

[0010] The workpiece to be processed includes a workpiece body, and the workpiece body is provided with a slanted hole to be processed corresponding to the final position. The central axis of the slanted hole to be processed is offset by a preset angle α relative to the first side perpendicular to the plane where the final position is located, and is offset by a preset angle β relative to the second side perpendicular to the plane where the final position is located.

[0011] The feature is that the arm assembly of the main body is U-shaped, including a first arm, a second arm, and a third arm connecting the first and second arms, which together form a plane parallel to the plane where the final position is located. The flipping components are respectively disposed at the ends of the first and second arms, and a rotating mechanism is disposed on the third arm. The rotating mechanism can rotate the clamped workpiece body by a preset angle α, so that the central axis of the inclined hole to be processed is parallel to the plane of the first side. With the help of the processing platform, the workpiece body is driven to rotate around the X-axis by a preset angle β, so that the central axis of the inclined hole to be processed is parallel to the plane of the second side, thereby adjusting the central axis of the inclined hole to be processed to be parallel to the Z-axis.

[0012] Furthermore, the ends of the first and second arms are provided with receiving chambers for accommodating the flipping component. The power output shaft of the flipping component passes through the receiving chambers and is directly connected to the clamping component. The driving component has a first driving source, which acts directly or indirectly on the power output shaft through a transmission mechanism to cause the clamping component to flip. The flipping component includes a transmission mechanism and a power output shaft. The input end of the transmission mechanism is connected to the power output end of the first driving source. The receiving chambers at the ends of the first and second arms serve to enclose the transmission mechanism within a defined space, thereby improving the stability of the transmission mechanism in transmitting power from the first driving source to the power output shaft. The power output shaft, passing through the receiving chambers, drives the clamping component at the ends to flip.

[0013] Furthermore, the main body is attached to the robot's robotic arm via a boom extending along the Z-axis. The rotating mechanism is connected to the end of the boom via a connector and includes a rotating shaft coaxial with the Z-axis and a second drive source that drives the rotating shaft to rotate along the Z-axis. The upper end of the rotating shaft is connected to the power output end of the second drive source, and the lower end of the rotating shaft is connected to a third arm. Under the drive of the second drive source, the rotating shaft and the third arm can rotate synchronously around the Z-axis, thereby causing the first and second arms to drive the workpiece body to rotate around the Z-axis by a preset angle α. The entire rotating mechanism is mounted as a whole on the end of the boom via the connector. The second drive source provides power to the rotating shaft, enabling it to rotate around the Z-axis. Since the third arm is connected to the lower end of the rotating shaft, and both the first and second arms are connected to the third arm, the entire arm assembly can drive the workpiece body to rotate synchronously around the Z-axis by a preset angle α.

[0014] Furthermore, the head ends of the first and second arms are provided with extension sections extending along the X-axis perpendicular to the Z-axis. The third arm is provided with a third drive source and a transmission assembly that drives the third drive source and is connected in the X-axis direction. The transmission assembly drives the extension sections of the first and second arms, so that under the drive of the third drive source, the first and second arms can move closer or further apart along the X-axis direction, thereby clamping or releasing the workpiece body. The head ends of the first and second arms are provided with extension sections whose extension direction is consistent with the transmission direction of the transmission assembly. This increases the contact area between the first and second arms and the transmission assembly, thereby more stably transmitting the power of the third drive source to the first and second arms, and thus achieving better clamping or releasing of the workpiece body.

[0015] Furthermore, the transmission assembly includes a slide rail disposed on the bottom surface of the third arm and extending along the X-axis, and a first slider and a second slider slidably connected to the slide rail. The first arm is connected to the first slider via its extension, and the second arm is similarly connected to the second slider via its extension. The transmission assembly utilizes the slide rail extending along the X-axis and the two sliders working together for transmission. The first arm and the second arm can open and close along the slide rail with the aid of their respective sliders, facilitating clamping and releasing actions.

[0016] Furthermore, the rotating mechanism also includes a limiting mechanism for restricting the rotation of the clamped workpiece body to a preset angle α, the limiting mechanism comprising:

[0017] The platform section is connected to the third arm. The platform section has a first opening in the center for the lower end of the rotating shaft to pass through, and a limiting member is provided on the periphery.

[0018] A limiting platform, disposed on the platform section, has a second opening in the center through which the lower end of the rotating shaft passes, and is clamped between the connecting member and the lower end of the rotating shaft, so that only the platform section and the limiting member rotate together with the rotating shaft along the Z-axis. The limiting platform is provided with a limiting space for the limiting member to rotate to the space required for a corresponding preset angle α. By connecting the platform section to the rotating shaft, the platform section and the limiting member disposed around the platform section can rotate synchronously with the rotating shaft around the Z-axis, while the limiting space on the limiting platform remains stationary and allows the limiting member to rotate within the preset angle α, thereby ensuring that the central axis of the inclined hole to be processed on the workpiece body can be aligned parallel to the YZ plane.

[0019] Furthermore, the limiting platform includes a limiting ring disposed around the periphery of the platform portion, a limiting platform located within the limiting ring, and a limiting seat disposed around the outer periphery of the limiting platform and providing the limiting space. The second opening is located in the center of the limiting platform, and a sliding groove is formed around the periphery of the second opening. The limiting member is disposed on the limiting ring and can rotate relative to the limiting platform along the Z-axis along the sliding groove. The limiting platform and the limiting ring are concentrically arranged, and the sliding groove on the periphery of the second opening acts as a motion track. The limiting ring and the limiting member can rotate around the Z-axis along this motion track, thus ensuring concentricity with the limiting platform and allowing the limiting member to rotate a preset angle α within the limiting space enclosed by the limiting seat.

[0020] Furthermore, the limiting seat has a U-shaped cross-section, including two spaced-apart lateral segments and a transverse segment connecting the two lateral segments. Each of the two lateral segments is equipped with an adjusting member, which is adjusted relative to its own lateral segment to the desired position to form the limiting space. Correspondingly, the limiting platform has at least two first mounting holes along its circumference, and the transverse segment is selectively connected to the desired first mounting hole. The limiting seat is configured with a special U-shaped structure for the following reasons: First, the transverse segment can be installed in any first mounting hole on the limiting platform according to layout requirements, improving installation flexibility and simultaneously achieving overall fixation of the limiting seat; Second, the two lateral segments are used to enclose and form the limiting space. By providing adjusting members on the lateral segments, the angle of the limiting space can be precisely adjusted to a preset angle α as needed, facilitating the alignment of the inclined hole to be processed.

[0021] Furthermore, the limiting member includes a seat disposed on the limiting ring and a protrusion extending upward from the seat to the limiting space. When the protrusion rotates to abut against the adjusting member, the clamped workpiece body can rotate to the required angle. The limiting member comprises two parts: a seat and a protrusion. The seat can connect to the limiting ring to ensure the overall installation stability of the limiting member. The protrusion's function is to contact the adjusting member on the lateral section during rotation, thereby ensuring that the clamping body drives the clamped workpiece body to rotate by a preset angle α.

[0022] Compared with the prior art, the advantages of the present invention are as follows:

[0023] 1. By setting the arm assembly into a U-shaped structure consisting of a first arm, a second arm, and a third arm, the rotating mechanism and the flipping component can be integrated into the arm assembly. The flipping component is set at the ends of the first and second arms to facilitate the flipping of the workpiece body; while the rotating mechanism is set on the third arm to facilitate the alignment of the inclined hole to be machined.

[0024] 2. By using the plane of the arm assembly to be directly parallel to the final position plane (XY), the reference plane of the arm assembly is kept parallel to the final position plane of the workpiece body. That is, the clamping plane of the workpiece body = the reference plane of the arm assembly. This can eliminate the positioning error caused by the inconsistency of the reference plane and improve the positional accuracy of the inclined hole machining.

[0025] 3. With the cooperation of the flipping component and the rotating mechanism, the workpiece body can perform machining on four surfaces and the machining of oblique holes within the machine tool. The rotating mechanism can drive the workpiece body to rotate along the Z-axis by a preset angle α, thereby adjusting the central axis of the oblique hole to be machined to be parallel to the first side surface. At the same time, with the help of the machining platform, the workpiece body is driven to rotate around the X-axis by a preset angle β, so that the central axis of the oblique hole to be machined can be parallel to the plane of the second side surface. That is, with the cooperation of the rotating mechanism and the machining platform, the oblique hole to be machined can be aligned in two dimensions. At this time, the axis of the oblique hole to be machined can be aligned to be parallel to the arrangement direction of the machining tool, so that the machining tool in the machine tool can perform machining. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of an engine cylinder block in the background art;

[0027] Figure 2 This is a schematic diagram of the engine block structure from another direction in the background art.

[0028] Figure 3 This is a structural schematic diagram of the engine block and machining platform in the background art;

[0029] Figure 4 This is a cross-sectional schematic diagram of an engine block and a machining platform in the background art (showing that the axis R of the inclined hole to be machined in the engine block is aligned to be parallel to the XZ plane);

[0030] Figure 5 This is a top view of an engine block and machining platform in the background art (showing that the axis R of the inclined hole to be machined in the engine block is offset by a preset angle α relative to the YZ plane);

[0031] Figure 6 This is a schematic diagram of the structure of the workpiece body in an embodiment of the present invention;

[0032] Figure 7 This is a schematic diagram of the workpiece body from another direction in an embodiment of the present invention;

[0033] Figure 8 This is a schematic diagram of the structure of the workpiece body and the processing platform in an embodiment of the present invention;

[0034] Figure 9 This is a schematic diagram of the structure of the assistive robotic gripper in an embodiment of the present invention;

[0035] Figure 10 This is a top view of the assistive robotic gripper in an embodiment of the present invention;

[0036] Figure 11 This is a schematic diagram of the structure of the assistive robotic gripper holding the workpiece body in an embodiment of the present invention;

[0037] Figure 12 This is a top view of the workpiece body being gripped by the robotic gripper in an embodiment of the present invention;

[0038] Figure 13 This is a top view of the workpiece body held by the assisted robotic gripper in an embodiment of the present invention (showing the axis of the inclined hole to be processed rotated to be parallel to the YZ plane);

[0039] Figure 14 This is a schematic diagram of the structure of the assistive robotic gripper in an embodiment of the present invention (the rotating mechanism and the main body are omitted);

[0040] Figure 15 for Figure 14 A partial schematic diagram;

[0041] Figure 16 is a longitudinal cross-sectional view of the assisted robotic gripper in an embodiment of the present invention (partial boom omitted);

[0042] Figure 17 This is a schematic diagram of the limiting mechanism in an embodiment of the present invention;

[0043] Figure 18 This is a top view of the limiting seat and adjusting member in an embodiment of the present invention;

[0044] Figure 19 This is a schematic diagram illustrating the interaction between the assistive robotic gripper and the production line in an embodiment of the present invention.

[0045] Figure 20 This is a top view of the workpiece body and processing platform in an embodiment of the present invention (showing the workpiece body rotating around the Z-axis and aligning to be parallel to the YZ plane);

[0046] Figure 21 This is a cross-sectional schematic diagram of the workpiece body, machining platform, and machining tool in an embodiment of the present invention (showing the workpiece body rotating around the X-axis and aligning to be parallel to the XZ plane).

[0047] In the diagram: 1. Main body; 11. Boom; 2. Boom assembly; 21. First boom; 22. Second boom; 23. Third boom; 24. Extension section; 3. Tilting component; 31. Clamping component; 32. First drive source; 33. Power output shaft; 34. Transmission mechanism; 4. Rotation mechanism; 41. Rotation shaft; 42. Second drive source; 43. Limiting mechanism; 431. Platform section; 4311. First opening; 432. Limiting component; 4321. Seat; 4322. Protrusion; 433. Limiting platform; 4331. Second opening; 4332. Limiting ring; 4332a. Second mounting hole; 4333. Limiting platform; 4333a. First mounting hole; 4334. Limiting seat; 4334a. Lateral section; 4334b. Horizontal section; 4334c, limiting space; 4335, adjusting component; 4336, slide groove; 5, accommodating chamber; 6, connecting component; 7, third drive source; 8, transmission assembly; 81, slide rail; 82, first slider; 83, second slider; A, workpiece body; A1, top surface; A2, bottom surface; A21, inclined hole to be machined; A3, front; A4, rear; A5, left side; A6, right side; B, machining platform; C, first machine tool; D, second machine tool; E, blank table; F, finished product table; G, machining tool; A', engine cylinder block; A1', top surface; A2', bottom surface; A21', inclined hole to be machined; A3', front; A4', rear; A5', left side; A6', right side; B', machining platform. Detailed Implementation

[0048] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0049] like Figures 6 to 8 As shown, this embodiment adopts the following... Figures 1 to 5 The engine block A' is described as workpiece body A. Specifically, workpiece body A mainly includes six surfaces: top surface A1, bottom surface A2, front surface A3, rear surface A4, left side surface A5, and right side surface A6. The bottom surface A2 is provided with a machined inclined hole A21 for constructing the internal lubrication oil passage between the engine's main oil passage and moving parts. The central axis R of the machined inclined hole A21 is offset by a preset angle α relative to the first side surface YZ, which is perpendicular to the plane XY of the machining platform B. Figure 5 And the second side surface XZ, which is perpendicular to the plane XY of the processing platform B, is offset by a preset angle β (reference). Figure 4 Among them, the top surface A1, bottom surface A2, front surface A3, rear surface A4 of the workpiece body A, as well as the inclined hole A21 to be machined, all need to be machined in the machine tool. For this purpose, it is necessary to use the cooperation of the assisted robotic gripper and the machining platform B to change the machining posture of the workpiece body A so that the machining tool G can perform the machining.

[0050] like Figures 9 to 15As shown, the assistive robotic gripper in this embodiment includes a body 1 for attaching to a robotic arm of a robot. The body 1 includes a boom 11 extending along the Z-axis, and an arm assembly 2 is disposed at the end of the boom 11. Specifically, the arm assembly 2 in this embodiment is U-shaped, including a first arm 21, a second arm 22 that together form a plane M parallel to the XY plane where the final position is located, and a third arm 23 connecting the first arm 21 and the second arm 22 (see reference). Figure 11 and 14 The third arm 23 serves two purposes: 1. It provides a mounting platform for the third drive source 7. In this embodiment, the third drive source 7 is preferably a cylinder that is easy to install. This third drive source 7 provides power for the opening and closing of the first arm 21 and the second arm 22; 2. A transmission assembly 8 is provided on the bottom surface of the third arm 23. The transmission assembly 8 includes a slide rail 81 extending along the X-axis. A first slider 82 and a second slider 83 are provided on the slide rail 81. The head ends of the first arm 21 and the second arm 22 are provided with extension sections 24 extending along the X-axis. The first arm 21 and the second arm 22 are connected to the bottom surface of the corresponding slider through their extension sections 24, thereby achieving a sliding connection to the slide rail 81 (see reference). Figure 11 Driven by the third drive source 7, the first arm 21 and the second arm 22 can move closer or further apart along the slide rail 81 to clamp or release the workpiece body A.

[0051] To facilitate the multi-faceted machining requirements of workpiece A, a flipping member 3 is provided at the end of the arm assembly 2 in this embodiment. (Refer to...) Figure 15 The flipping component 3 includes a clamping part 31 for clamping the workpiece body A and a first drive source 32 for driving the clamping part 31 to rotate between an initial position and a final position to complete a preset angle flip. The first drive source 32 is a cylinder disposed on the top surface of the first arm 21 and the second arm 22. The ends of the first arm 21 and the second arm 22 have receiving chambers 5 for accommodating the flipping component 3. The power output shaft 33 of the flipping component 3 passes through the receiving chambers 5 and is directly connected to the clamping part 31. The first drive source 32 acts directly or indirectly on the power output shaft 33 through a transmission mechanism 34 to flip the clamping part 31, thereby achieving the switching of the machining surface of the workpiece body A. In this embodiment, the transmission mechanism 34 is preferably a gear assembly that is easy to install and has high transmission efficiency. It should be noted that, considering that the left side A5 and the right side A6 of the workpiece body A have multiple concave structures, the clamping part 31 in this embodiment is preferably a contour block that can better conform to the contour of the workpiece body A. This contour block can increase the contact area with the workpiece body A, thereby improving the stability of the clamping.

[0052] Considering that the central axis R of the inclined hole A21 to be machined on the bottom surface A2 of the workpiece body A has an offset angle in two dimensions, the assisted manipulator in this embodiment is also provided with a rotating mechanism 4, which is connected to the end of the boom 11 by means of a connector 6. Specifically, the rotating mechanism 4 includes a rotating shaft 41 coaxial with the Z-axis and a second drive source 42 that drives the rotating shaft 41 to rotate along the Z-axis. The second drive source 42 is preferably a cylinder. The upper end of the rotating shaft 41 is connected to the power output end of the second drive source 42, and the lower end of the rotating shaft 41 is connected to the third arm 23. Under the drive of the second drive source 42, the rotating shaft 41 and the third arm 23 can rotate synchronously around the Z-axis, thereby causing the first arm 21 and the second arm 22 to drive the workpiece body A to rotate around the Z-axis by a preset angle α.

[0053] To ensure that the clamping component 31 and the clamped workpiece body A can rotate precisely to the preset angle α, such as Figures 16 to 18 As shown, the rotating mechanism 4 in this embodiment also includes a limiting mechanism 43. The limiting mechanism 43 includes a platform portion 431 connected to the third arm 23 and a limiting platform 433 disposed on the platform portion 431. The platform portion 431 has a first opening 4311 at its center for the lower end of the rotating shaft 41 to pass through, and the limiting platform 433 has a second opening 4331 at its center for the lower end of the rotating shaft 41 to pass through. The limiting platform 433 is clamped between the connecting member 6 and the lower end of the rotating shaft 41 (see reference). Figure 15 Specifically, see reference. Figure 16 The limiting platform 433 includes a limiting ring 4332 disposed around the platform part 431, a limiting platform 4333 located inside the limiting ring 4332, and a limiting seat 4334 disposed around the limiting platform 4333 and having a limiting space 4334c. A second opening 4331 is opened in the center of the limiting platform 4333 and a groove 4336 is opened around the periphery of the second opening 4331. The limiting platform 4333 and the limiting ring 4332 are arranged concentrically. The groove 4336 opened around the periphery of the second opening 4331 is equivalent to a motion track. The limiting ring 4332 and the limiting member 432 can rotate around the Z-axis along the motion track to ensure concentricity with the limiting platform 4333, thereby allowing the limiting member 432 to rotate a preset angle α within the limiting space 4334c enclosed by the limiting seat 4334.

[0054] refer to Figure 17In this embodiment, the limiting seat 4334 is configured in a special "U" shape and includes two spaced lateral segments 4334a and a transverse segment 4334b connecting the two lateral segments 4334a. Its functions are as follows: First, the transverse segment 4334b can be installed on any first mounting hole 4333a on the limiting stage 4333 according to the layout requirements, which not only improves the installation flexibility, but also achieves the overall fixation of the limiting seat 4334; Second, the two lateral segments 4334a are used to enclose and form a limiting space 4334c. By setting an adjusting member 4335 on the lateral segments 4334a, the angle of the limiting space 4334c can be precisely adjusted to a preset angle α according to the requirements, so as to facilitate the alignment of the inclined hole A21 to be processed. The limiting member 432 includes a seat 4321 disposed on the limiting ring 4332 and a protrusion 4322 extending upward from the seat 4321 to the limiting space 4334c. The seat 4321 can connect with the limiting ring 4332 to ensure the overall stability of the limiting member 432. The protrusion 4322 is used to contact the adjusting member 4335 on the lateral section 4334a during rotation, thereby ensuring that the arm assembly 2 drives the clamped workpiece body A to rotate by a preset angle α. To improve installation flexibility, the limiting ring 4332 has twelve second mounting holes 4332a circumferentially (see reference). Figure 17 The seat 4321 can be adaptively adjusted according to the installation position of the second drive source 42, so as to avoid interference between the limiting member 432 and the power output end of the second drive source 42.

[0055] like Figures 19 to 21 As shown, the working principle of the assisted robotic gripper in this embodiment is as follows:

[0056] Driven by the third drive source 7, the assisted robotic gripper clamps the workpiece body A and sends it from the blank table E to the processing platform B of the first machine tool C. At this time, the top surface A1 of the workpiece body A can be finely machined in the first machine tool C, while the front A3 and rear A4 of the workpiece body A can be rough machined in the first machine tool C. After the machining is completed, the assisted robotic gripper clamps the workpiece body A out of the first machine tool C.

[0057] Driven by the first drive source 32, the flipping component 3 can rotate the clamping component 31 and the clamped workpiece 180° around the X-axis, thereby adjusting the bottom surface A2 of the workpiece body A to face upwards. At this time, the oblique hole A21 to be processed on the workpiece body A can be exposed towards the processing station. Driven by the second drive source 42, the rotating shaft 41 can drive the arm assembly 2 and the clamped workpiece body A to rotate synchronously along the Z-axis by a preset angle α. At this time, the central axis R of the oblique hole A21 to be processed can be parallel to the plane of the first side YZ (refer to the reference). Figure 20The workpiece body A is placed on the machining platform B inside the second machine tool D, and the machining platform B drives the workpiece body A to rotate around the X-axis by a preset angle β, so that the central axis R of the inclined hole A21 to be machined is parallel to the plane of the second side XZ (refer to...). Figure 21 At this point, the central axis R of the inclined hole A21 to be machined is adjusted to be parallel to the Z-axis. The second machine tool D can then perform finishing on the bottom surface A2, the front surface A3, and the rear surface A4 of the workpiece body A. Simultaneously, the inclined hole A21 to be machined can be machined using the machining tool G arranged along the Z-axis. After machining is completed, the workpiece body A is removed from the second machine tool D and placed on the finishing table F.

Claims

1. A power-assisted robotic gripper for holding automotive parts, comprising: Body (1), for attaching to the robotic arm of the robot; A flipping member (3) is provided at the end of the arm assembly (2) of the body (1). The flipping member (3) has a clamping component (31) for clamping the workpiece to be processed and a driving component for driving the clamping component (31) to rotate between an initial position and a final position to complete a preset angle flip. in, The workpiece to be processed includes a workpiece body (A), and the workpiece body (A) is provided with a slanted hole (A21) to be processed at the final position. The central axis (R) of the slanted hole (A21) to be processed is offset by a preset angle α relative to the first side (YZ) perpendicular to the plane (XY) where the final position is located, and is offset by a preset angle β relative to the second side (XZ) perpendicular to the plane (XY) where the final position is located. The feature is that the arm assembly (2) of the body (1) is U-shaped, including a first arm (21), a second arm (22) that together form a plane (M) parallel to the plane (XY) where the final position is located, and a third arm (23) connecting the first arm (21) and the second arm (22). The flipping member (3) is respectively set at the ends of the first arm (21) and the second arm (22), and a rotating mechanism (4) is set on the third arm (23). The rotating mechanism (4) can make the clamped workpiece body (A) rotate around the Z axis by a preset angle α, so that the central axis (R) of the inclined hole (A21) to be processed is parallel to the plane of the first side surface (YZ), and drive the workpiece body (A) to rotate around the X axis by a preset angle β with the help of the processing platform (B), so that the central axis (R) of the inclined hole (A21) to be processed is parallel to the plane of the second side surface (XZ), thereby adjusting the central axis (R) of the inclined hole (A21) to be processed to be parallel to the Z axis.

2. The power-assisted robotic gripper as described in claim 1, characterized in that: The first arm (21) and the second arm (22) have a receiving chamber (5) for accommodating the flipping member (3). The power output shaft (33) of the flipping member (3) passes through the receiving chamber (5) and is directly connected to the clamping member (31). The driving member has a first driving source (32). The first driving source (32) acts directly or indirectly on the power output shaft (33) through the transmission mechanism (34) to make the clamping member (31) flip.

3. The assisted robotic gripper as described in claim 2, characterized in that: The main body (1) is attached to the robot's mechanical arm via a boom (11) extending along the Z-axis, and the rotating mechanism (4) is connected to the end of the boom (11) by means of a connector (6). It includes a rotating shaft (41) coaxial with the Z-axis and a second drive source (42) that drives the rotating shaft (41) to rotate along the Z-axis. The upper end of the rotating shaft (41) is connected to the power output end of the second drive source (42), and the lower end of the rotating shaft (41) is connected to the third arm (23). Under the drive of the second drive source (42), the rotating shaft (41) and the third arm (23) can rotate synchronously around the Z-axis, thereby causing the first arm (21) and the second arm (22) to drive the workpiece body (A) to rotate around the Z-axis by a preset angle α.

4. The assisted robotic gripper as described in claim 3, characterized in that: The first arm (21) and the second arm (22) are provided with an extension section (24) extending along the X-axis perpendicular to the Z-axis. The third arm (23) is provided with a third drive source (7) and a transmission assembly (8) driven by the third drive source (7) and connected to the transmission in the X-axis direction. The transmission assembly (8) is connected to the extension section (24) of the first arm (21) and the second arm (22) so that under the drive of the third drive source (7), the first arm (21) and the second arm (22) can move closer or further away from each other in the X-axis direction, thereby clamping or releasing the workpiece body (A).

5. The assisted robotic gripper as described in claim 4, characterized in that: The transmission assembly (8) includes a slide rail (81) disposed on the bottom surface of the third arm (23) and extending along the X-axis direction, and a first slider (82) and a second slider (83) slidably connected to the slide rail (81). The first arm (21) is connected to the first slider (82) through its own extension (24), and the second arm (22) is also connected to the second slider (83) through its own extension (24).

6. The assistive robotic gripper as described in any one of claims 3 to 5, characterized in that: The rotating mechanism (4) further includes a limiting mechanism (43) for restricting the clamped workpiece body (A) from rotating to a preset angle α. The limiting mechanism (43) includes: The platform (431) is connected to the third arm (23). The platform (431) has a first opening (4311) in the center for the lower end of the rotating shaft (41) to pass through, and a limiting member (432) is provided on the periphery. A limiting platform (433) is disposed on the platform part (431), and has a second opening (4331) in the center for the lower end of the rotating shaft (41) to pass through. It is clamped between the connector (6) and the lower end of the rotating shaft (41), so that only the platform part (431) and the limiting member (432) rotate together with the rotating shaft (41) along the Z-axis. The limiting platform (433) is provided with a limiting space (4334c) for the limiting member (432) to rotate to the space required for the corresponding preset angle α.

7. The assisted robotic gripper as described in claim 6, characterized in that: The limiting platform (433) includes a limiting ring (4332) disposed around the platform part (431), a limiting platform (4333) located inside the limiting ring (4332), and a limiting seat (4334) disposed around the limiting platform (4333) and having the limiting space (4334c). The second opening (4331) is opened in the center of the limiting platform (4333) and a sliding groove (4336) is opened around the periphery of the second opening (4331). The limiting member (432) is disposed on the limiting ring (4332) and can rotate along the sliding groove (4336) relative to the limiting platform (4333) along the Z-axis.

8. The assisted robotic gripper as described in claim 7, characterized in that: The limiting seat (4334) has a U-shaped cross section, including two spaced-apart lateral sections (4334a) and a transverse section (4334b) connecting the two lateral sections (4334a). Each of the two lateral sections (4334a) is provided with an adjusting member (4335). Each adjusting member (4335) is adjusted relative to its own lateral section (4334a) to the desired position to form the limiting space (4334c). Correspondingly, the limiting platform (4333) has at least two first mounting holes (4333a) in the circumferential direction. The transverse section (4334b) is selectively connected to the desired first mounting hole (4333a).

9. The assisted robotic gripper as described in claim 8, characterized in that: The limiting member (432) includes a seat (4321) disposed on the limiting ring (4332) and a protrusion (4322) extending upward from the seat (4321) to the limiting space (4334c). When the protrusion (4322) rotates to abut against the adjusting member (4335), the clamped workpiece body (A) can rotate to the required angle.

Images