Grabbing mechanism, manipulator and accessory bonding production line

Abstract

The utility model discloses a grabbing mechanism, a manipulator and an accessory bonding production line. The grabbing mechanism comprises a support, a first driving part and a second driving part, wherein the first driving part and the second driving part are sequentially arranged on the support; a first clamping assembly is arranged at the movable end of the first driving part; a second clamping assembly is arranged at the movable end of the second driving part; the first clamping assembly comprises two first clamping jaws capable of moving relatively. The clamping faces of the two first clamping jaws are oppositely arranged, and each clamping face is provided with a first clamping groove and a second clamping groove. An included angle smaller than 90 degrees is formed between the axis of the second clamping groove and the axis of the first clamping groove. The first clamping assembly and the second clamping assembly are arranged on the first driving piece and the second driving piece respectively, and structural support is provided for clamping a nail column and a brake lamp support at the same time; and at least two clamping grooves are formed in the first clamping jaw, so that conditions can be provided for the first clamping assembly to clamp the nail columns in different shapes or clamp a plurality of nail columns at a time, and the bonding efficiency is indirectly improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of feeding equipment, and in particular relates to a grabbing mechanism, a manipulator and an accessory bonding production line. Background Art

[0002] Before installing the rear windshield of a car, it is usually necessary to bond the corresponding nail posts and brake light brackets at the corresponding positions of the car. The existing nail posts and brake light brackets are all offline tooling, that is, after the rear windshield is transferred to the lower sheet work, the staff will move the glass to the tooling and manually install the nail posts and brake light brackets through specific bonding components. This installation method not only increases the labor intensity of the staff and the labor cost of the manufacturer, but also has a serious impact on the factory quality and production efficiency of the product. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a grasping mechanism, a manipulator and an accessory bonding production line to improve the accessory bonding efficiency and bonding quality.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0005] A gripping mechanism comprises a bracket and a first driving member and a second driving member sequentially arranged on the bracket;

[0006] The movable end of the first driving member is provided with a first clamping assembly;

[0007] The movable end of the second driving member is provided with a second clamping assembly;

[0008] The first clamping assembly includes two first clamping jaws that are relatively movable;

[0009] The clamping surfaces of the two first clamping jaws are arranged opposite to each other, and the clamping surfaces are provided with a first clamping groove and a second clamping groove;

[0010] The angle formed between the axis of the second clamping groove and the axis of the first clamping groove is less than 90°.

[0011] Furthermore, the angle between the axis of the first clamping groove and the axis of the second clamping groove is 20° to 30°.

[0012] Further, the first clamping jaw includes a connecting section and a clamping section;

[0013] The connecting section and the clamping section form an L shape;

[0014] When the two first clamping jaws collide with each other, the two first clamping grooves form a first clamping space, and the two second clamping grooves form a second clamping space.

[0015] Further, the support comprises a main support frame, a first support plate and a second support plate;

[0016] The first support plate and the second support plate are symmetrically arranged on both sides of the main support frame;

[0017] An angle is formed between the length direction of the first support plate and the length direction of the main support frame;

[0018] The first driving member is disposed on the first supporting plate;

[0019] The second driving member is disposed on the second supporting plate.

[0020] Furthermore, the angle between the length direction of the first support plate and the length direction of the main support frame is 65° to 90°.

[0021] Furthermore, a limiting groove is provided on the clamping surface of the second clamping assembly;

[0022] The length directions of the limiting grooves are parallel to each other, and the groove bottoms of the limiting grooves are arranged opposite to each other;

[0023] The second driving member further comprises at least two pressing members;

[0024] The pressing member is connected to a fixed end of the second driving member;

[0025] The pressing ends of the pressing piece are arranged at two ends of the limiting groove in the length direction.

[0026] Furthermore, the pressing surface of the pressing member is flush with a side of the limiting groove close to the second driving member.

[0027] Furthermore, a manipulator is provided, comprising a manipulator arm, a universal drive joint and the above-mentioned grasping mechanism;

[0028] The grasping mechanism is connected to the mechanical arm via the universal driving joint.

[0029] Furthermore, an accessory bonding production line is provided, comprising a glass positioning seat and a clamping bonding center, wherein the clamping bonding center comprises a bonding detection device and at least two of the above-mentioned manipulators;

[0030] The glass positioning seat is arranged within the range of movement of the manipulator;

[0031] The detection end of the bonding detection device is arranged toward the positioning surface of the glass positioning seat.

[0032] Further, it also includes at least two flexible vibration plates;

[0033] The placement surface of the flexible vibration plate is arranged within the activity range of the manipulator.

[0034] The beneficial effects of the utility model are as follows: the gripping mechanism provided by the utility model is provided with a first driving member and a second driving member, and a first clamping assembly and a second clamping assembly are respectively arranged on the first driving member and the second driving member, which can provide structural support for clamping the nail column and the brake light bracket at the same time; and at least two clamping grooves are arranged on the first clamping jaw, which can provide conditions for the first clamping assembly to clamp nail columns of different shapes or clamp multiple nail columns at one time, thereby indirectly improving the bonding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of the grabbing mechanism in the utility model;

[0036] Figure 2 for Figure 1 A magnified view of point A;

[0037] Figure 3 It is a structural schematic diagram of the first clamping jaw in the utility model;

[0038] Figure 4 It is a front view of the first clamping jaw in the utility model;

[0039] Figure 5 It is a front view of the grabbing mechanism in the utility model;

[0040] Figure 6 It is a structural schematic diagram of the grabbing mechanism in the utility model from another angle;

[0041] Figure 7 for Figure 6 The enlarged view of point B;

[0042] Figure 8 It is a schematic diagram of the structure of the second clamping jaw in the utility model;

[0043] Fig. 9 It is a top view of the accessory bonding production line in the utility model;

[0044] Description of labels:

[0045] 1. Grasping mechanism; 11. Bracket; 111. Main support frame; 112. First support plate; 113. Second support plate;

[0046] 2. first driving member; 21. first clamping assembly; 22. first clamping claw; 221. first clamping groove; 222. second clamping groove; 223. connecting section; 224. clamping section; 23. first movable end;

[0047] 3. second driving member; 31. second clamping assembly; 32. second movable end; 33. second clamping jaw; 331. limiting groove; 34. pressing member; 341. pressing surface;

[0048] 4. Robotic hand; 41. Robotic arm;

[0049] 5. Glass positioning seat;

[0050] 6. Clamp the bonding center;

[0051] 7. Flexible vibration plate. DETAILED DESCRIPTION

[0052] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in conjunction with the implementation modes and the accompanying drawings.

[0053] Before installing the rear windshield of a car, it is usually necessary to bond the corresponding nail column and brake light bracket at the corresponding position of the car. However, the existing nail column and brake light bracket are all offline tooling, which not only increases the labor intensity of the staff and the labor cost of the manufacturer, but also has a serious impact on the factory quality and production efficiency of the product.

[0054] Based on this, please refer to Figures 1 to 9 , an accessory bonding production line is proposed, including a glass positioning seat 5 and a clamping bonding center 6; the clamping bonding center 6 includes a bonding detection device and at least two manipulators 4; the glass positioning seat 5 is arranged within the range of movement of the manipulator 4; the detection end of the bonding detection device is arranged toward the positioning surface of the glass positioning seat 5; the accessory bonding production line can realize full-automatic bonding of accessories, and an automated production line for detecting the bonding accuracy of accessories after bonding, thereby avoiding the problems of poor bonding accuracy and low bonding efficiency caused by manual bonding, and effectively saving labor costs; the manipulator 4 includes a manipulator arm 41, a universal drive joint and a gripping mechanism 1; the gripping mechanism 1 is connected to the manipulator arm 41 through a universal drive joint; this design can greatly improve the gripping mechanism 1 Flexibility, so that after the grasping mechanism 1 clamps the corresponding accessory, it can bond the accessory to any position of the material to be bonded at any specified angle according to the design requirements, thereby expanding the application range of the manipulator 4; the grasping mechanism 1 includes a bracket 11 and a first driving member 2 and a second driving member 3 arranged in sequence on the bracket 11; the movable end of the first driving member 2 is provided with a first clamping component 21; the movable end of the second driving member 3 is provided with a second clamping component 31; the first clamping component 21 includes two first clamping jaws 22 that can move relatively; the clamping surfaces of the two first clamping jaws 22 are arranged opposite to each other, and the clamping surfaces are provided with a first clamping groove 221 and a second clamping groove 222; the axis of the second clamping groove 222 forms an angle less than 90° with the axis of the first clamping groove 221.

[0055] Specifically, the bonding detection device is any commercially available visual detector that can capture and compare images, such as an industrial camera; the universal drive joint is any commercially available structure that can improve the steering flexibility of an object. The structure of the universal drive joint can refer to but is not limited to a universal drive joint module disclosed in Chinese invention patent application number 201811012289.3 and a universal drive joint module in the flexible robotic arm 41.

[0056] It can be understood that the gripping mechanism 1 of the present invention, by providing a mutually independent first driving member 2 and a second driving member 3, and providing a first clamping assembly 21 and a second clamping assembly 31 on the first driving member 2 and the second driving member 3, respectively, the first driving member 2 and the second driving member 3 respectively drive the first clamping assembly 21 and the second clamping assembly 31 to open and close, thereby providing structural support for clamping the nail column and the brake light bracket at the same time; by the mutual convergence of the clamping grooves, a clamping structure for grasping the nail column can be formed, and at least two clamping grooves are provided on the first clamping jaw 22, so that the first clamping assembly 21 can clamp nail columns of different shapes or clamp multiple nail columns at one time, thereby indirectly improving the bonding efficiency.

[0057] In some embodiments, the angle between the axis of the first clamping groove 221 and the axis of the second clamping groove 222 is 20° to 30°. Figure 4 Preferably, the angle between the axis of the first clamping groove 221 and the axis of the second clamping groove 222 can be 20°, 21°, 22°, 23°, 24°, 25°, 26°, 27°, 28°, 29° or 30°, and the size of the angle can be freely selected according to the shape of the actual accessory to be clamped. More preferably, the groove surface shapes of the first clamping groove 221 and the second clamping groove 222 can also be changed according to the outer contour of the accessory; the first clamping jaw 22 includes a connecting section 223 and a clamping section 224; the connecting section 223 and the clamping section 224 form an L shape; when the two first clamping jaws 22 collide with each other, the two first clamping grooves 221 form a first clamping space, and the two second clamping grooves 222 form a second clamping space. The design specifically optimizes the composition structure of the first driving member 2 and the first clamping assembly 21. The first movable end 23 drives the first clamping jaw 22 so that the clamping grooves 221 on the two first clamping jaws 22 are moved closer to or farther away from each other, thereby realizing automatic clamping and automatic loosening of the material. The angle between the length direction of the clamping groove 221 and the length direction of the clamping section 224 can be designed according to the structure of the actual nail column to be grasped, thereby expanding the application range of the first clamping jaw 22, and then being able to clamp a variety of materials without replacing the clamping jaw, which can not only save equipment costs but also improve bonding efficiency.

[0058] In some embodiments, the bracket 11 includes a main support frame 111, a first support plate 112 and a second support plate 113; the first support plate 112 and the second support plate 113 are symmetrically arranged on both sides of the main support frame 111; the length direction of the first support plate 112 and the length direction of the main support frame 111 form an angle, such as Figure 5 The angle β in the first driving member 2 is arranged on the first supporting plate 112; the second driving member 3 is arranged on the second supporting plate 113; the angle between the length direction of the first supporting plate 112 and the length direction of the main supporting frame 111 can be 65°, 67°, 70°, 72°, 75°, 77°, 80°, 82°, 85°, 87° or 90°. This design ensures that the length direction of the first supporting plate 112 and the length direction of the second supporting plate 113 form an angle with the length direction of the main supporting frame 111, so that the grasping mechanism 1 prevents the attachment from colliding and interfering with the glass during the process of clamping the moving attachment, thereby effectively avoiding the situation where the other attachment is easy to damage the glass when installing one of the attachments.

[0059] In some embodiments, the second driving member 3 includes two second movable ends 32 and at least two pressing members 34; the second clamping assembly 31 includes two second clamping jaws 33; each second movable end 32 is provided with a second clamping jaw 33, and the clamping surfaces on the two second clamping jaws 33 are arranged opposite to each other; each clamping surface of the two second clamping jaws 33 is provided with a limiting groove 331; the length directions of the limiting grooves 331 are parallel to each other, and the groove bottoms of the limiting grooves 331 are arranged opposite to each other. Since the existing brake light bracket is usually provided with a corresponding rib structure, in order to enable the second clamping assembly 31 to effectively clamp the rib, corresponding limiting grooves 331 are provided on the two second clamping jaws 33, and the length directions of the two limiting grooves 331 are parallel to each other, and the groove bottoms of the two limiting grooves 331 are arranged mutually, so that the second clamping jaw 33 can contact the rib of the brake light bracket through the limiting groove 331, and then the brake light bracket can be stably fixed between the limiting structures formed by the two limiting grooves 331; the pressing piece 34 is connected to the fixed end of the second driving member 3; the pressing end of the pressing piece 34 is arranged at both ends of the length direction of the limiting groove 331; the pressing surface 341 of the pressing piece 34 is flush with the side of the limiting groove 331 close to the second driving member 3. Specifically, the pressing end of the pressing piece 34 is located between the moving paths of the two second clamping jaws 33. This design further optimizes the component structure of the second driving member 3. By pressing the brake light bracket to be clamped by the pressing member 34, the problem of inaccurate clamping accuracy caused by slight movement of the brake light bracket to be clamped during the clamping process can be avoided, thereby affecting the subsequent bonding accuracy; and it is ensured that the pressing surface 341 of the pressing member 34 and the side wall of the limiting groove 331 close to the second driving member 3 are located in the same plane, so that after the pressing member 34 contacts the brake light bracket, the second clamping jaw 33 can be immediately started, so that the limiting groove 331 of the second clamping jaw 33 is close to the convex rib of the brake light bracket, thereby ensuring the overall clamping accuracy and avoiding the problem of affecting the clamping efficiency due to repeated adjustment of the clamping position of the limiting groove 331.

[0060] In some embodiments, the above-mentioned accessory bonding production line further includes at least two flexible vibration plates 7 ( Fig. 9 ); the placement surface of the flexible vibration plate 7 is set within the range of motion of the manipulator 4. Specifically, the manipulator 4 is also provided with any commercially available device for collecting images, such as an image collector, through which the attachments with adjusted postures can be quickly found on the flexible vibration plate 7, thereby improving the grasping accuracy and grasping efficiency; compared with the traditional vibration plate, the flexible vibration plate 7 is compatible with a variety of materials of different shapes, that is, under the action of the flexible vibration plate 7, a variety of materials can be adjusted to a specified posture, so as to facilitate the manipulator 4 to perform the clamping work; due to this feature of the flexible vibration plate 7, the above-mentioned manipulator 4 is able to clamp the nail column and the brake light bracket at the same time, thereby providing help to improve the overall bonding efficiency.

[0061] Please refer to Figures 1 to 8 , Embodiment 1 of the present utility model is:

[0062] A gripping mechanism comprises a bracket 11 and a first driving member 2 and a second driving member 3 arranged in sequence on the bracket 11; a first clamping assembly 21 is provided at the movable end of the first driving member 2; a second clamping assembly 31 is provided at the movable end of the second driving member 3; the first clamping assembly 21 comprises two first clamping jaws 22 which are movable relative to each other; the clamping surfaces of the two first clamping jaws 22 are arranged opposite to each other, and a first clamping groove 221 and a second clamping groove 222 are provided on the clamping surfaces; the angle between the axis of the first clamping groove 221 and the axis of the second clamping groove 222 is 22°.

[0063] In this embodiment, the first driving member 2 includes two first movable ends 23; the first movable ends 23 are each provided with a first clamping jaw 22, and the bottoms of the clamping grooves 221 on the two first clamping jaws 22 are arranged relatively to each other; the first movable ends 23 drive the first clamping jaws 22 to approach or move away from each other; the first clamping jaw 22 includes a connecting section 223 and a clamping section 224; the connecting section 223 and the clamping section 224 form an L shape; when the two first clamping jaws 22 collide with each other, the two first clamping grooves 221 form a first clamping space, and the two second clamping grooves 222 form a second clamping space.

[0064] In this embodiment, the bracket 11 includes a main support frame 111, a first support plate 112 and a second support plate 113; the first support plate 112 and the second support plate 113 are symmetrically arranged on both sides of the main support frame 111; an angle is formed between the length direction of the first support plate 112 and the length direction of the main support frame 111; the first driving member 2 is arranged on the first support plate 112; the second driving member 3 is arranged on the second support plate 113; the angle between the length direction of the first support plate 112 and the length direction of the main support frame 111 is 70°.

[0065] In this embodiment, the second driving member 3 includes two second movable ends 32 and two pressing members 34; the second clamping assembly 31 includes two second clamping jaws 33; the second movable ends 32 are each provided with a second clamping jaw 33, and the clamping surfaces on the two second clamping jaws 33 are arranged oppositely; the clamping surfaces of the two second clamping jaws 33 are each provided with a limiting groove 331; the length directions of the limiting grooves 331 are parallel to each other, and the groove bottoms of the limiting grooves 331 are arranged oppositely.

[0066] In this embodiment, the second driving member 3 further includes two pressing members 34; the pressing members 34 are connected to the fixed end of the second driving member 3; the pressing ends of the pressing members 34 are arranged at both ends of the length direction of the limiting groove 331; the pressing surface 341 of the pressing member 34 is flush with the side of the limiting groove 331 close to the second driving member 3. Specifically, the pressing end of the pressing member 34 is located between the moving paths of the two second clamping jaws 33.

[0067] Please refer to Fig. 9 , Embodiment 2 of the present utility model is:

[0068] A robot comprises a robot arm 41, a universal drive joint and a grasping mechanism 1; the grasping mechanism 1 is connected to the robot arm 41 via the universal drive joint.

[0069] Please refer to Fig. 9 , Embodiment 3 of the present utility model is:

[0070] An accessory bonding production line includes a glass positioning seat 5 and a clamping bonding center 6; the clamping bonding center 6 includes a bonding detection device and two manipulators 4; the glass positioning seat 5 is arranged within the range of movement of the manipulator 4; the detection end of the bonding detection device is arranged toward the positioning surface of the glass positioning seat 5.

[0071] In this embodiment, the accessory bonding production line further includes two flexible vibration plates 7 ; the placement surface of the flexible vibration plates 7 is arranged within the range of movement of the manipulator 4 .

[0072] The working principle of the utility model is as follows: first, the accessories to be bonded and the brake light bracket are placed on the flexible vibration plate 7; then, the glass pieces to be bonded are placed on the glass positioning seat 5 manually or with any lifting equipment; then, the manipulator 4 is started, so that the manipulator arm 41 drives the grasping mechanism 1 to move to the placement surface of the flexible vibration plate 7, and the image collector quickly finds the nail column and the brake light bracket with adjusted posture on the flexible vibration plate 7, so that the first clamping jaw 22 and the second clamping jaw 33 can grasp the nail column and the brake light bracket respectively; then, the grasping mechanism 1 with the accessories clamped is driven by the manipulator arm 41 to move to the glass surface on the glass positioning seat 5, and with the cooperation of the manipulator arm 41 and the universal drive joint, the accessories on the grasping structure can be bonded to the specified position of the glass to be bonded at any specified angle; finally, the bonding surface of the glass is scanned by the bonding detection device, and the bonding detection device completes the bonding work of the glass accessories after comparing the collected image information with the pre-stored information.

[0073] Compared with traditional bonding methods, the glass processed by the accessory bonding production line of the present application makes the nail column bonding accuracy relative to the glass contour meet the requirements of ≤±0.4mm in the glass width direction and ≤±0.5mm in the glass length direction; the brake bracket bonding accuracy relative to the glass contour is ±0.5mm, and the brake light bracket relative position tolerance is ±0.5mm; the bonding performance meets the requirements of each product process card, that is, the overflow width is ≤1mm; the overflow height is lower than the bracket and the nail column table, ensuring PPK≥1.33 (Performance Indies of Process); the production cycle of complete products and products containing only brake light brackets meets the requirement of ≤30 seconds / piece, and on the basis of improving the level of automation, production efficiency and installation accuracy, it can save 4 operators on a production line, that is, saving 360,000 yuan / year in labor costs.

[0074] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent transformations made using the contents of the specification and drawings of the present invention, or directly or indirectly applied in the relevant technical field, are also included in the patent protection scope of the present invention.

Claims

1. A gripping mechanism, characterized in that: It comprises a bracket and a first driving member and a second driving member sequentially arranged on the bracket; The movable end of the first driving member is provided with a first clamping assembly; The movable end of the second driving member is provided with a second clamping assembly; The first clamping assembly includes two first clamping jaws that are relatively movable; The clamping surfaces of the two first clamping jaws are arranged opposite to each other, and the clamping surfaces are provided with a first clamping groove and a second clamping groove; An angle smaller than 90° is formed between the axis of the second clamping groove and the axis of the first clamping groove.

2. The gripping mechanism according to claim 1, characterized in that: The included angle between the axis of the first clamping groove and the axis of the second clamping groove is 20° to 30°.

3. The gripping mechanism according to claim 1, characterized in that: The first clamping jaw comprises a connecting section and a clamping section; The connecting section and the clamping section form an L shape; When the two first clamping jaws collide with each other, the two first clamping grooves form a first clamping space, and the two second clamping grooves form a second clamping space.

4. The gripping mechanism according to claim 3, characterized in that: The support comprises a main support frame, a first support plate and a second support plate; The first support plate and the second support plate are symmetrically arranged on both sides of the main support frame; An angle is formed between the length direction of the first support plate and the length direction of the main support frame; The first driving member is disposed on the first supporting plate; The second driving member is disposed on the second supporting plate.

5. The gripping mechanism according to claim 4, characterized in that: The included angle between the length direction of the first support plate and the length direction of the main support frame is 65° to 90°.

6. The gripping mechanism according to claim 5, characterized in that: A limiting groove is provided on the clamping surface of the second clamping assembly; The length directions of the limiting grooves are parallel to each other, and the groove bottoms of the limiting grooves are arranged opposite to each other; The second driving member further comprises at least two pressing members; The pressing member is connected to a fixed end of the second driving member; The pressing ends of the pressing piece are arranged at two ends of the limiting groove in the length direction.

7. The gripping mechanism according to claim 6, characterized in that: The pressing surface of the pressing member is flush with a side of the limiting groove close to the second driving member.

8. A robot, characterized in that: It comprises a mechanical arm, a universal drive joint and a grasping mechanism as claimed in any one of claims 1 to 7; The grasping mechanism is connected to the mechanical arm via the universal driving joint.

9. An accessory bonding production line, comprising a glass positioning seat and a clamping bonding center, characterized in that: The clamping and bonding center includes a bonding detection device and at least two manipulators as claimed in claim 8; The glass positioning seat is arranged within the range of movement of the manipulator; The detection end of the bonding detection device is arranged toward the positioning surface of the glass positioning seat.

10. The accessory bonding production line according to claim 9, characterized in that: Also included are at least two flexible vibration discs; The placement surface of the flexible vibration plate is arranged within the activity range of the manipulator.

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