Vehicle-mounted lens manipulator taking-out clamp

Abstract

The utility model belongs to the technical field of mechanical arm clamps, and particularly relates to a vehicle-mounted lens mechanical arm taking-out clamp which comprises a six-degree-of-freedom mechanical arm, a clamping mechanism is installed at the tail end of the six-degree-of-freedom mechanical arm, and the clamping mechanism comprises a driving box, a clamping mechanism and a driving mechanism. The movable mounting frame is movably connected to the driving box; the first pneumatic clamping jaw is rotationally connected to the movable mounting frame; the vacuum suction cup is movably connected to the movable mounting frame; the second pneumatic clamping jaw is movably connected to the movable mounting frame, and the second pneumatic clamping jaw can move in the direction relative to the movable mounting frame; according to the utility model, the tail end of the six-degree-of-freedom mechanical arm is provided with the three-station clamping mechanism, a plurality of vehicle-mounted lens accessories can be clamped at the same time, and the vehicle-mounted lens accessories with different specifications and shapes can be clamped, so that the number of the six-degree-of-freedom mechanical arms is reduced, and the cost is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulator clamps, and in particular relates to a vehicle-mounted lens manipulator taking out clamp. Background Art

[0002] A robotic gripper is a very common industrial equipment. It is an automatic operating device that can imitate certain movements of human hands and arms to grasp, move objects or operate tools according to a fixed procedure. It can be programmed to complete various expected tasks.

[0003] Car cameras are an integral part of cars and are used for remote monitoring, digital image recording, industrial control, security, etc. During the processing of car cameras, robotic grippers are required to clamp, transport and assemble the car lens accessories.

[0004] For example, in the prior art, a Chinese utility model patent with authorization announcement number CN212608055U discloses "a gasket feeding mechanism for a vehicle-mounted lens", including a table top, a lifting mechanism is fixedly connected to the middle of the table top, a material tray is provided on the upper surface of the lifting mechanism, a transverse clamping mechanism is fixedly connected to one side of the lifting mechanism, a transverse unloading mechanism is fixedly connected to the rear of the table top near the lifting mechanism, and a longitudinal clamping mechanism is fixedly connected to the rear of the table top near the transverse unloading mechanism.

[0005] Although the robot removal fixtures of the prior art including those mentioned above can meet general work requirements, they cannot absorb vehicle lens accessories of different specifications and shapes only through vacuum suction cups, so that the assembly work needs to be equipped with multiple different robots, which is costly.

[0006] In order to solve the above problems, the present application proposes a vehicle-mounted lens robot removal fixture. Utility Model Content

[0007] In order to solve the above problems existing in the prior art, the utility model provides a vehicle-mounted lens manipulator removal fixture, which has the characteristics of easy use, wide application range and low cost.

[0008] To achieve the above object, the utility model provides the following technical solution: a vehicle-mounted lens manipulator removal fixture, comprising a six-degree-of-freedom mechanical arm, at the end of which a clamping mechanism is installed, the clamping mechanism comprising:

[0009] A drive box connected to the end of the six-degree-of-freedom mechanical arm;

[0010] A movable mounting frame, the movable mounting frame is movably connected to the driving box, and the movable mounting frame can move in a direction relative to the driving box;

[0011] A pneumatic clamping jaw No. 1, the pneumatic clamping jaw No. 1 being rotatably connected to the movable mounting frame;

[0012] A vacuum suction cup, the vacuum suction cup is movably connected to the movable mounting frame, and the vacuum suction cup can move in a direction relative to the movable mounting frame;

[0013] A No. 2 pneumatic clamp is movably connected to the movable mounting frame, and the No. 2 pneumatic clamp can move in a direction relative to the movable mounting frame.

[0014] As a preferred technical solution of the utility model, the drive box includes:

[0015] A protective cover connected to the end of the six-degree-of-freedom robotic arm;

[0016] An end cap is fixed to an end of the protective cover away from the six-degree-of-freedom robotic arm.

[0017] As a preferred technical solution of the utility model, the clamping mechanism also includes:

[0018] A No. 1 cylinder, wherein the No. 1 cylinder is fixed to the end cover, and a piston rod of the No. 1 cylinder passes through the end cover and is fixedly connected to the movable mounting frame.

[0019] As a preferred technical solution of the utility model, the clamping mechanism also includes:

[0020] A support seat, the support seat is fixed to the top end of the movable mounting frame;

[0021] A fixing seat, the fixing seat being fixed to an end of the movable mounting frame;

[0022] A rotating rod, the rotating rod is rotatably connected to the fixing seat, and the first pneumatic clamp is fixed on the rotating rod;

[0023] A rotating plate, the rotating plate being fixed to an end of the rotating rod;

[0024] No. 2 cylinder, the No. 2 cylinder is rotatably connected to the support seat, and the piston rod of the No. 2 cylinder is rotatably connected to the rotating plate by a mounting shaft.

[0025] As a preferred technical solution of the utility model, the clamping mechanism also includes:

[0026] A No. 3 cylinder, the No. 3 cylinder being fixed to the movable mounting frame;

[0027] A suction cup frame is fixed to the end of the piston rod of the No. 3 cylinder, and the vacuum suction cup is fixed on the suction cup frame.

[0028] As a preferred technical solution of the utility model, the clamping mechanism also includes:

[0029] A No. 4 cylinder, the No. 4 cylinder being fixed to the top end of the movable mounting frame;

[0030] A clamp fixing frame, wherein the clamp fixing frame is fixed to the piston rod end of the No. 4 air cylinder, and the No. 2 pneumatic clamp is fixed on the clamp fixing frame.

[0031] As a preferred technical solution of the utility model, it also includes:

[0032] A No. 1 guide rod, wherein the No. 1 guide rod is fixed on the movable mounting frame and passes through the end cover.

[0033] As a preferred technical solution of the utility model, it also includes:

[0034] A No. 2 guide rod is fixed on the suction cup frame and passes through the movable mounting frame and the end cover.

[0035] As a preferred technical solution of the utility model, it also includes:

[0036] A guide rail, the guide rail being fixed on the top surface of the fourth cylinder;

[0037] A sliding block is fixed on the clamping jaw fixing frame and is slidably matched with the guide rail.

[0038] Compared with the prior art, the beneficial effects of the utility model are:

[0039] In the utility model, a three-station clamping mechanism is provided at the end of the six-degree-of-freedom mechanical arm, which can clamp a plurality of vehicle-mounted lens accessories at the same time, and can clamp vehicle-mounted lens accessories of different specifications and shapes, thereby reducing the number of settings of the six-degree-of-freedom mechanical arm and thus reducing the cost.

[0040] Other additional advantages and beneficial effects of the present application will be given in part in the following description, and in part will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0042] Figure 1 It is a structural schematic diagram of the utility model;

[0043] Figure 2This is a schematic diagram of the axonometric structure of the drive box in the utility model;

[0044] Figure 3 This is a schematic diagram of the axonometric structure of the clamping mechanism in the utility model;

[0045] Figure 4 For this utility model Figure 3 A in the figure is an enlarged structural diagram.

[0046] In the figure: 1. Six-degree-of-freedom robotic arm; 2. Clamping mechanism; 21. Drive box; 211. Protective cover; 212. End cover; 22. Movable mounting frame; 221. Support seat; 222. Fixed seat; 23. Pneumatic gripper No. 1; 24. Vacuum suction cup; 25. Pneumatic gripper No. 2; 3. Cylinder No. 1; 4. Cylinder No. 2; 5. Suction cup frame; 6. Cylinder No. 3; 7. Gripper fixing frame; 8. Cylinder No. 4; 9. Guide rod No. 1; 10. Guide rod No. 2; 11. Guide rail; 12. Slider; 13. Rotating plate; 14. Rotating rod; 15. Mounting shaft. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0048] See also Figure 1-Figure 4 The utility model provides the following technical solutions: a vehicle-mounted lens manipulator removal fixture, comprising a six-degree-of-freedom mechanical arm 1, at the end of which is installed a clamping mechanism 2, the clamping mechanism 2 comprising: a drive box 21, a movable mounting frame 22, a No. 1 pneumatic clamp 23, a vacuum suction cup 24 and a No. 2 pneumatic clamp 25.

[0049] Specifically, by Figure 1 and Figure 2As shown, in this embodiment, the drive box 21 is connected to the end of the six-degree-of-freedom robot 1, the movable mounting frame 22 is movably connected to the drive box 21, and the movable mounting frame 22 can move in a direction relative to the drive box 21, the No. 1 pneumatic clamp 23 is rotatably connected to the movable mounting frame 22, the vacuum suction cup 24 is movably connected to the movable mounting frame 22, and the vacuum suction cup 24 can move in a direction relative to the movable mounting frame 22, the No. 2 pneumatic clamp 25 is movably connected to the movable mounting frame 22, and the No. 2 pneumatic clamp 25 can move in a direction relative to the movable mounting frame 22. After adopting the above scheme, the No. 1 pneumatic clamp 23, the vacuum suction cup 24 and the No. 2 pneumatic clamp 25 form a three-station clamping mechanism 2, which can clamp multiple vehicle-mounted lens accessories at the same time, and can clamp vehicle-mounted lens accessories of different specifications and shapes, reducing the number of settings of the six-degree-of-freedom robot 1, thereby reducing the cost.

[0050] It should be noted that the six-degree-of-freedom robotic arm 1 is a conventional device purchased from the market or customized. The six-degree-of-freedom robotic arm 1 has been widely used in the prior art, and its working principle will not be described in detail in this article.

[0051] Optionally, by Figure 1 and Figure 2 As shown, in this embodiment, the drive box 21 includes: a protective cover 211 and an end cover 212, the protective cover 211 is connected to the end of the six-degree-of-freedom robotic arm 1, and the end cover 212 is fixed to the end of the protective cover 211 away from the six-degree-of-freedom robotic arm 1, the protective cover 211 includes but is not limited to being fixed to the end of the six-degree-of-freedom robotic arm 1 using a flange, and the end cover 212 includes but is not limited to being fixed to the end of the protective cover 211 using bolts.

[0052] Optionally, by Figure 1-Figure 3 As shown, in this embodiment, the clamping mechanism 2 also includes: No. 1 cylinder 3, No. 1 cylinder 3 is fixed to the end cover 212, and the piston rod of No. 1 cylinder 3 passes through the end cover 212 and is fixedly connected to the movable mounting frame 22. No. 1 cylinder 3 includes but is not limited to being fixed to the end cover 212 with bolts, and the movable mounting frame 22 is driven by No. 1 cylinder 3 to adjust the positions of No. 1 pneumatic clamp 23, vacuum suction cup 24 and No. 2 pneumatic clamp 25 to meet the needs of clamping work.

[0053] Optionally, by Figure 1-Figure 4As shown, in the present embodiment, the clamping mechanism 2 also includes: a support seat 221, a fixed seat 222, a rotating rod 14, a rotating plate 13 and a No. 2 cylinder 4, the support seat 221 is fixed to the top of the movable mounting frame 22, the fixed seat 222 is fixed to the end of the movable mounting frame 22, the rotating rod 14 is rotatably connected to the fixed seat 222, the No. 1 pneumatic clamp 23 is fixed on the rotating rod 14, the rotating plate 13 is fixed to the end of the rotating rod 14, the No. 2 cylinder 4 is rotatably connected to the support seat 221, and the piston rod of the No. 2 cylinder 4 is rotatably connected to the rotating plate 13 by the mounting shaft 15. After adopting the above scheme, start the No. 2 cylinder 4, the No. 2 cylinder 4 drives the rotating plate 13 to rotate, and the rotating plate 13 drives the rotating rod 14 to rotate, so that the rotating rod 14 drives the No. 1 pneumatic clamp 23 to rotate, which is used to adjust the angle of the No. 1 pneumatic clamp 23 to meet the needs of the clamping work.

[0054] It should be noted that the above-mentioned rotating rod 14 includes but is not limited to being rotatably mounted on the fixing seat 222 using a bearing.

[0055] Optionally, by Figure 1-Figure 3 As shown, in this embodiment, the clamping mechanism 2 also includes: a No. 3 cylinder 6 and a suction cup frame 5, the No. 3 cylinder 6 is fixed to the movable mounting frame 22, the suction cup frame 5 is fixed to the end of the piston rod of the No. 3 cylinder 6, and the vacuum suction cup 24 is fixed on the suction cup frame 5. After adopting the above scheme, the position of the vacuum suction cup 24 can be adjusted by starting the No. 3 cylinder 6 to meet the needs of the clamping work, and the vacuum suction cup 24 can be used to absorb the vehicle-mounted lens accessories.

[0056] Optionally, by Figure 1-Figure 3 As shown, in this embodiment, the clamping mechanism 2 also includes: a No. 4 cylinder 8 and a clamp fixing frame 7, the No. 4 cylinder 8 is fixed to the top of the movable mounting frame 22, the clamp fixing frame 7 is fixed to the end of the piston rod of the No. 4 cylinder 8, and the No. 2 pneumatic clamp 25 is fixed on the clamp fixing frame 7. After adopting the above scheme, the position of the No. 2 pneumatic clamp 25 can be adjusted by starting the No. 4 cylinder 8 to meet the needs of the clamping work, and the No. 2 pneumatic clamp 25 can be used to clamp the vehicle-mounted lens accessories.

[0057] Preferably, by Figure 1-Figure 3 As shown, in this embodiment, it also includes: a No. 1 guide rod 9, which is fixed on the movable mounting frame 22 and passes through the end cover 212. The movable mounting frame 22 is guided by the set No. 1 guide rod 9 to improve the stability of the movable mounting frame 22.

[0058] Preferably, by Figure 1-Figure 3 As shown, in this embodiment, it also includes: a No. 2 guide rod 10, which is fixed on the suction cup frame 5 and passes through the movable mounting frame 22 and the end cover 212. The suction cup frame 5 is guided by the No. 2 guide rod 10 to improve the stability of the suction cup frame 5.

[0059] Preferably, by Figure 1-Figure 3 As shown, in this embodiment, it also includes: a guide rail 11 and a slider 12. The guide rail 11 is fixed on the top surface of the No. 4 cylinder 8, and the slider 12 is fixed on the clamping jaw fixing frame 7 and slidingly cooperates with the guide rail 11. When the clamping jaw fixing frame 7 moves, it will drive the slider 12 to slide along the guide rail 11 to guide the clamping jaw fixing frame 7 and improve the stability of the clamping jaw fixing frame 7.

[0060] It should be noted that the six-degree-of-freedom robotic arm 1, pneumatic gripper No. 1 23, pneumatic gripper No. 2 25, cylinder No. 1 3, cylinder No. 2 4, cylinder No. 3 6 and cylinder No. 4 8 are all conventional commercially available equipment with built-in power switches. Technicians in this field can make routine selections according to usage needs. Their working principles are common knowledge well known to technicians in this field and have been fully disclosed by the prior art, so they will not be elaborated in this article.

[0061] The circuit connection involved in the utility model is a common means used by those skilled in the art, and technical inspiration can be obtained through a limited number of experiments, and it belongs to the widely used existing technology.

[0062] Components not described in detail herein are prior art.

[0063] Working principle and use process of the utility model: The manipulator clamp of the utility model, the No. 1 pneumatic clamp 23, the vacuum suction cup 24 and the No. 2 pneumatic clamp 25 form a three-station clamping mechanism 2, which can clamp multiple vehicle-mounted lens accessories at the same time, and can clamp vehicle-mounted lens accessories with different specifications and shapes, reducing the number of settings of the six-degree-of-freedom manipulator 1, thereby reducing costs;

[0064] During operation, the six-degree-of-freedom mechanical arm 1 is fixed on the workbench by conventional means, and the six-degree-of-freedom mechanical arm 1 is used to control the movement of the clamping mechanism 2 to change the orientation of the clamping mechanism 2. The first pneumatic clamp 23, the vacuum suction cup 24 and the second pneumatic clamp 25 can be used to clamp different vehicle-mounted lens accessories to meet different work needs. The first pneumatic clamp 23, the vacuum suction cup 24 and the second pneumatic clamp 25 can also work at the same time;

[0065] The first pneumatic clamping jaw 23 can be rotated and adjusted, and the vacuum suction cup 24 and the second pneumatic clamping jaw 25 can be displacement-adjusted, which can effectively meet the needs of different clamping operations.

[0066] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A vehicle-mounted lens robot removal fixture, comprising a six-degree-of-freedom robot arm (1), a clamping mechanism (2) being installed at the end of the six-degree-of-freedom robot arm (1), characterized in that: The clamping mechanism (2) comprises: A drive box (21), the drive box (21) being connected to the end of the six-degree-of-freedom mechanical arm (1); A movable mounting frame (22), the movable mounting frame (22) being movably connected to the driving box (21), and the movable mounting frame (22) being movable in a direction relative to the driving box (21); A first pneumatic clamp (23), the first pneumatic clamp (23) being rotatably connected to the movable mounting frame (22); A vacuum suction cup (24), wherein the vacuum suction cup (24) is movably connected to the movable mounting frame (22), and the vacuum suction cup (24) can move in a direction relative to the movable mounting frame (22); A second pneumatic clamp (25), the second pneumatic clamp (25) is movably connected to the movable mounting frame (22), and the second pneumatic clamp (25) can move in a direction relative to the movable mounting frame (22).

2. The vehicle-mounted lens manipulator removal fixture according to claim 1, characterized in that: The drive box (21) comprises: A protective cover (211), the protective cover (211) being connected to the end of the six-degree-of-freedom mechanical arm (1); An end cover (212), wherein the end cover (212) is fixed to an end of the protective cover (211) away from the six-degree-of-freedom mechanical arm (1).

3. The vehicle-mounted lens manipulator removal fixture according to claim 2, characterized in that: The clamping mechanism (2) further comprises: A No. 1 cylinder (3), the No. 1 cylinder (3) is fixed to the end cover (212), and the piston rod of the No. 1 cylinder (3) passes through the end cover (212) and is fixedly connected to the movable mounting frame (22).

4. The vehicle-mounted lens manipulator removal fixture according to claim 1, characterized in that: The clamping mechanism (2) further comprises: A support seat (221), wherein the support seat (221) is fixed to the top end of the movable mounting frame (22); A fixed seat (222), the fixed seat (222) being fixed to an end of the movable mounting frame (22); A rotating rod (14), the rotating rod (14) being rotatably connected to the fixing seat (222), and the first pneumatic clamping jaw (23) being fixed on the rotating rod (14); A rotating plate (13), wherein the rotating plate (13) is fixed to an end of the rotating rod (14); The second cylinder (4) is rotatably connected to the support seat (221), and the piston rod of the second cylinder (4) is rotatably connected to the rotating plate (13) by means of a mounting shaft (15).

5. The vehicle-mounted lens manipulator removal fixture according to claim 2, characterized in that: The clamping mechanism (2) further comprises: A third cylinder (6), the third cylinder (6) being fixed to the movable mounting frame (22); A suction cup frame (5), wherein the suction cup frame (5) is fixed to the end of the piston rod of the No. 3 cylinder (6), and the vacuum suction cup (24) is fixed on the suction cup frame (5).

6. The vehicle-mounted lens manipulator removal fixture according to claim 1, characterized in that: The clamping mechanism (2) further comprises: A fourth cylinder (8), the fourth cylinder (8) being fixed to the top end of the movable mounting frame (22); A clamp fixing frame (7), wherein the clamp fixing frame (7) is fixed to the end of the piston rod of the No. 4 air cylinder (8), and the No. 2 pneumatic clamp (25) is fixed on the clamp fixing frame (7).

7. The vehicle-mounted lens manipulator removal fixture according to claim 2, characterized in that: Also includes: A number one guide rod (9), the number one guide rod (9) being fixed on the movable mounting frame (22) and passing through the end cover (212).

8. The vehicle-mounted lens robot removal fixture according to claim 5, characterized in that: Also includes: A No. 2 guide rod (10), wherein the No. 2 guide rod (10) is fixed on the suction cup frame (5) and passes through the movable mounting frame (22) and the end cover (212).

9. The vehicle-mounted lens robot removal fixture according to claim 6, characterized in that: Also includes: A guide rail (11), wherein the guide rail (11) is fixed on the top surface of the fourth cylinder (8); A sliding block (12), wherein the sliding block (12) is fixed on the clamping jaw fixing frame (7) and is slidably matched with the guide rail (11).

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