Dual-purpose gripper and transfer manipulator

Abstract

The utility model relates to the field of automation equipment, in particular to a dual-purpose gripper and a transfer manipulator. The dual-purpose gripper comprises a supporting frame, a first gripping assembly and a second gripping assembly, wherein the first gripping assembly and the second gripping assembly are arranged on the side faces, in different directions, of the supporting frame correspondingly. The first grabbing assembly is used for grabbing a to-be-machined intermediate product, and the second grabbing assembly is used for grabbing a machined product obtained after the intermediate product is machined. The second grabbing assembly comprises multiple sets of extension arms and mechanical clamps, the extension arms are connected between the supporting frame and the mechanical clamps, and the multiple mechanical clamps controllably clamp or release the machined product. The transfer manipulator comprises a mechanical arm and a dual-purpose gripper borne by the mechanical arm. The first grabbing assembly and the second grabbing assembly are arranged on the different side faces of the supporting frame, so that the first grabbing assembly and the second grabbing assembly do not interfere with each other, the dual-purpose gripper has the functions of grabbing intermediate products and grabbing machined products at the same time, and the space cost can be reduced easily. The multiple mechanical clamps connected to the supporting frame clamp or release the machined product, and the risk that the machined product falls off can be reduced.

Description

Technical Field

[0001] The utility model relates to the field of automation equipment, in particular to a dual-purpose gripper and transfer manipulator. Background Art

[0002] With the steady development of the new energy vehicle industry, the production demand for automotive battery packs has gradually increased. An automotive battery pack is usually formed by installing several battery blocks in a battery pack shell, and the battery pack shell is usually prepared by die casting. Since the die-castings produced by die casting often produce additional edges and burrs at the position corresponding to the gap between the fixed mold and the movable mold, the die-castings obtained by die casting can only be used as intermediate products. The additional edges and burrs need to be removed in the next process to form the processed product of the battery pack shell. In addition, the overall structure of the battery pack shell is usually relatively flat. In order to facilitate the demolding of the die-casting, a handle that is easy to grasp is usually die-cast in the intermediate product, and it is removed together in the subsequent edge removal process to form a processed product.

[0003] At present, after die-casting is completed, a robot is usually used to transfer the intermediate product to the edge handle removal station. After removing the excess edges and handles, another robot transfers the processed product. This operation process can meet the needs of automated production, but the robot that can transfer the intermediate and processed products of the battery pack shell is usually large in size and requires a large space. Utility Model Content

[0004] The utility model aims to provide a dual-purpose gripper which has the functions of respectively grasping the intermediate product and the processed product of the battery pack shell.

[0005] In order to achieve the above object, the utility model provides the following technical solutions:

[0006] A dual-purpose gripper, comprising:

[0007] Support frame;

[0008] A first grabbing assembly, disposed on the support frame, for grabbing the intermediate product to be processed;

[0009] The second grasping assembly is used to grasp the processed product obtained after the intermediate product is processed. The second grasping assembly and the first grasping assembly are respectively arranged on the side surfaces of the support frame in different directions. The second grasping assembly includes multiple groups of extension arms arranged on the support frame and mechanical clamps arranged on the extension arms. The multiple mechanical clamps can respectively controllably clamp or release the processed product.

[0010] Optionally, the extension arm is detachably connected to the support frame.

[0011] Optionally, the support frame is a frame structure formed by connecting a plurality of mutually parallel horizontal frames and a plurality of mutually parallel vertical frames, each of the horizontal frames is connected to the vertical frames, and each of the vertical frames is connected to the horizontal frames.

[0012] Optionally, the horizontal frame and the vertical frame are both octagonal tubes, a plurality of connection holes are formed on each side of the octagonal tube, and the extension arm is detachably connected to the support frame.

[0013] Optionally, the mechanical clip is detachably connected to the extension arm.

[0014] Optionally, the mechanical clamp includes a connecting plate, a supporting block, a second driving member, a fixed claw and a movable claw, the connecting plate is connected between the extension arm and the supporting block, the fixed claw and the movable claw are arranged in the same plane, and a through hole perpendicular to the fixed claw and the movable claw is formed on the supporting block, the second driving member and the fixed claw are both connected to the supporting block, one end of the movable claw is rotatably connected to the through hole, and can rotate controllably along the through hole under the drive of the second driving member.

[0015] Optionally, the first grasping assembly includes a first driving member and two jaws, the intermediate product has a handle, the first driving member has a fixed end and two rotating ends arranged in the same plane, the two rotating ends are controllably rotated along two parallel rotation axes, the two jaws are respectively connected to the two rotating ends of the first driving member, and the inner walls of the jaws are adapted to the outer walls of the handle.

[0016] Optionally, the dual-purpose gripper further includes a first sensor and a second sensor, wherein the first sensor is used to sense whether the position of the intermediate product corresponds to the first gripping component, and the second sensor is used to sense whether the position of the processed product corresponds to the second gripping component.

[0017] Optionally, the dual-purpose gripper further includes a controller, and the first gripping component and the second gripping component are both electrically connected to the controller.

[0018] In a second aspect, the utility model further provides a transfer robot, characterized in that it comprises a robot arm and a dual-purpose gripper as described in any one of claims 1 to 9, wherein the dual-purpose gripper is arranged on the robot arm.

[0019] According to the first aspect of the utility model, by arranging a first grasping component for grasping intermediate products and a second grasping component for grasping processed products on different sides of a support frame, the dual-purpose gripper has the function of grasping both intermediate products and processed products, so that the dual-purpose gripper can be combined with a robotic arm to meet the two needs of transferring intermediate products and transferring processed products, which helps to reduce the space occupied by the transfer mechanism and reduce the overall manufacturing cost and operating cost of the automation equipment.

[0020] According to the second aspect of the utility model, by mounting a dual-purpose gripper on a robot arm, it helps to realize the transfer of intermediate products and processed products, thereby satisfying both needs at a lower cost.

[0021] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the utility model in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of a dual-purpose gripper shown in Embodiment 1 of the present utility model;

[0023] Figure 2 This is a schematic diagram of the structure of the dual-purpose gripper shown in the first embodiment of the utility model observed from another angle.

[0024] Legend: 1-support frame, 11-horizontal frame, 111-connecting hole, 12-vertical frame, 13-connecting piece, 131-matching part, 132-reinforcement part, 2-first grasping assembly, 21-base plate, 22-protection box, 23-jaw, 3-second grasping assembly, 31-extension arm, 32-mechanical clamp, 321-connecting plate, 322-carrying block, 323-second driving member, 324-fixed claw, 325-rotating shaft, 326-movable claw, 327-elastic body, 41-first sensor, 42-second sensor, 5-connecting flange, 6-controller. DETAILED DESCRIPTION

[0025] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of 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.

[0026] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0029] See also Figure 1 and Figure 2 The dual-purpose gripper protected by the utility model application includes a support frame 1, and a first gripping assembly 2 and a second gripping assembly 3 respectively arranged on different sides of the support frame 1. The first gripping assembly 2 is used to grab the intermediate product to be processed, and the second gripping assembly 3 is used to grab the processed product obtained after the intermediate product is processed. The second gripping assembly 3 includes multiple groups of extension arms 31 and mechanical clamps 32, and the extension arms 31 are connected between the support frame 1 and the mechanical clamps 32, and the multiple mechanical clamps 32 can clamp or release the processed product in a controllable manner. The first gripping assembly 2 and the second gripping assembly 3 are arranged on different sides of the support frame 1 so that the two do not interfere with each other, and it helps the dual-purpose gripper to have both the functions of grabbing the intermediate product and the processed product, which helps to reduce space costs. The multiple mechanical clamps 32 connected to the support frame 1 clamp or release the processed product respectively, which helps to stably clamp the processed product and reduce the risk of the processed product falling off.

[0030] Embodiment 1:

[0031] The transfer robot shown in a preferred embodiment of the present application includes a four-axis robot arm and a dual-purpose gripper installed on the four-axis robot arm.

[0032] See also Figure 1 and Figure 2The dual-purpose gripper includes a support frame 1, a first gripping component 2 and a second gripping component 3. The first gripping component 2 and the second gripping component 3 are respectively arranged on different sides of the support frame 1, so that the first gripping component 2 and the second gripping component 3 are oriented in different directions and do not interfere with each other.

[0033] The support frame 1 includes a plurality of mutually parallel horizontal frames 11, two mutually parallel vertical frames 12 and a plurality of connecting members 13, wherein the horizontal frames 11 and the vertical frames 12 are both made of an EU octagonal tube made of aluminum alloy, and the cross section thereof includes two coaxial regular octagonal rings, and the corresponding corner points of the two regular octagonal rings are connected to each other. A plurality of connecting holes 111 are evenly arranged on the side of the octagonal tube to facilitate the connection of the octagonal tube. The connecting member 13 includes two matching parts 131 and a reinforcing part 132. The matching part 131 has three side surfaces, and the whole is in the shape of a groove, and the inner wall of the groove matches the outer wall of the octagonal tube. Each side surface of the matching part 131 is provided with a plurality of through holes, and the spacing and size of the through holes are matched with the connecting holes 111. The side surfaces of the two matching parts 131 located in the middle are perpendicular to each other, and each side surface of the two matching parts 131 is connected to another matching part 131. The reinforcing portion 132 is in the form of a sheet-like isosceles right triangle, and two right-angled sides thereof are respectively connected to the outer walls of the two matching portions 131 , so that the overall structure of the connecting member 13 has greater strength and stability.

[0034] The two longitudinal frames 12 of the support frame 1 are arranged flush, and both ends of each transverse frame 11 are connected to the two longitudinal frames 12 through connectors 13. Each transverse frame 11 is arranged equidistantly and perpendicular to the transverse frame 11. When the connector 13 is connected between the transverse frame 11 and the longitudinal frame 12, the two mating parts 131 of the connector 13 are respectively in contact with the transverse frame 11 and the longitudinal frame 12, and the through hole of the connector 13 and the connecting hole 111 of the octagonal tube are fixed by bolts, so as to realize the detachable connection between the transverse frame 11 and the longitudinal frame 12. Since the support frame 1 is a frame structure made of aluminum alloy as a whole, it helps to reduce the overall mass of the dual-purpose gripper, thereby reducing the burden on the robot arm.

[0035] The second grab assembly 3 includes four groups of extension arms 31 and mechanical clamps 32. The two ends of the extension arms 31 are respectively connected to the support frame 1 and the mechanical clamp 32. The extension arms 31 are all made of the same octagonal tube as the longitudinal frame 12, and are detachably connected to the longitudinal frame 12 through another connecting member 13. The extension arm 31 is perpendicular to the longitudinal frame 12, extends in a direction away from the other longitudinal frame 12, and the angle between the extension arm 31 and the cross frame 11 is 135°. The four extension arms 31 are respectively arranged at positions adjacent to the two ends of the two longitudinal frames 12, and the positions of the extension arms 31 connected to different longitudinal frames 12 correspond to each other. The mechanical clamp 32 includes a connecting plate 321, a bearing block 322, a second driving member 323, a transmission member, a fixed claw 324 and a movable claw 326. The connecting plate 321 is a sheet-like structure with a plurality of bolt holes at both ends that match the connecting holes 111, and is used to connect the extension arm 31 and the bearing block 322. The fixed claw 324 is arranged on the bearing block 322, parallel to the horizontal frame 11, and the fixed claw 324 and the movable claw 326 are arranged in the same plane. The bearing block 322 is a hollow shell, and a through hole perpendicular to the fixed claw 324 and the movable claw 326 is formed on the side wall. The second driving member 323 is a cylinder, connected to the bearing block 322. The transmission member is built into the bearing block 322, one end of which is in conflict with the movable end of the second driving member 323, and the other end is formed with a rotating shaft 325 that matches the through hole on the bearing block 322. The rotating shaft 325 passes through the through hole on the side wall of the bearing block 322, so that the transmission member rotates along the rotating shaft 325. After passing through the through hole of the bearing block 322, the rotating shaft 325 expands into a rhombus shape, and the movable claw 326 is connected to the transmission member through the rhombus-shaped structure on both sides of the transmission member, so that the movable claw 326 cannot rotate relative to the transmission member. When the second driving member 323 is extended, its movable end pushes the transmission member to rotate, driving the movable claw 326 to rotate toward the movable claw 326, so that the mechanical clamp 32 clamps the workpiece. The side of the end of the movable claw 326 away from the transmission member and close to the fixed claw 324 is also adhered with an elastic body 327 to prevent the workpiece from being damaged and deformed due to the clamping force of the movable claw 326. The elastic body 327 is made of urethane.

[0036] The first gripping assembly 2 includes a base plate 21, a protective box 22, a first driving member and two jaws 23. The edge of the intermediate product in this embodiment has additional edges and burrs, so it is difficult to directly clamp the edge position by the second gripping assembly 3. Since the intermediate product also has a handle, the first gripping assembly 2 grabs the intermediate product by clamping the handle. The first driving member is an existing pneumatic finger, having a fixed end and two rotating ends arranged in the same plane, and the two rotating ends are controllably rotated along two parallel rotating axes 325. The two jaws 23 are respectively connected to the two rotating ends of the first driving member, and the inner walls of the jaws 23 are adapted to the outer walls of the handle, thereby clamping or releasing the handle of the intermediate product. The base plate 21 is connected to the support frame 1 by bolts, the protective box 22 is connected to the base plate 21 by bolts, and the first driving member is accommodated in the protective box 22.

[0037] The dual-purpose gripper in this embodiment further includes a first sensor 41 and a second sensor 42, both of which are photoelectric sensors, and are detachably connected to the support frame 1 by bolts. The first sensor 41 is used to sense whether the handle of the intermediate product is located at a position suitable for the first gripping component 2, and the second sensor 42 is used to sense whether the processed product is located at a position suitable for the second gripping component 3.

[0038] The dual-purpose gripper in this embodiment further comprises a connecting flange 5, which is a long butt-welding flange connected to the side of the protection box 22 away from the jaws 23, for connection with the robot arm.

[0039] The dual-purpose gripper in this embodiment further includes a controller 6, which is detachably connected to the support frame 1 and is electrically connected to the second drive member 323, the first drive member, the first sensor 41, and the second sensor 42. By providing the controller 6, the dual-purpose gripper can be more easily electrically connected to the mechanical arm and other mechanical structures, achieving integrated assembly and disassembly, and expanding the scope of application.

[0040] The beneficial effect of the utility model is that the dual-purpose gripper has the ability to grasp both intermediate products and processed products through integrated design, and the loading and unloading operations of the process are realized through a transfer manipulator, which helps to save the equipment cost, operation cost and space cost of the production line. The lightweight dual-purpose gripper helps to reduce the burden of the robot arm and extend the service life of the robot arm. The integrated design is easy to disassemble and assemble, and has high practicality. The modular design can adjust the position of each module according to needs, which helps to adapt to intermediate products and processed products of different specifications and has high universality.

[0041] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0042] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A dual-purpose gripper, characterized in that: include: Support frame (1); A first grabbing assembly (2), arranged on the support frame (1), and used for grabbing the intermediate product to be processed; The second grasping assembly (3) is used to grasp the processed product obtained after the intermediate product is processed. The second grasping assembly (3) and the first grasping assembly (2) are respectively arranged on the side surfaces of the support frame (1) in different directions. The second grasping assembly (3) includes a plurality of extension arms (31) arranged on the support frame (1) and mechanical clamps (32) arranged on the extension arms (31). The plurality of mechanical clamps (32) can respectively controllably clamp or release the processed product.

2. The dual-purpose gripper according to claim 1, characterized in that: The extension arm (31) is detachably connected to the support frame (1).

3. The dual-purpose gripper according to claim 1, characterized in that: The support frame (1) is a frame structure formed by connecting a plurality of mutually parallel transverse frames (11) and a plurality of mutually parallel longitudinal frames (12), wherein each of the transverse frames (11) is connected to the longitudinal frames (12), and each of the longitudinal frames (12) is connected to the transverse frames (11).

4. The dual-purpose gripper according to claim 3, characterized in that: The horizontal frame (11) and the vertical frame (12) are both octagonal tubes, and a plurality of connection holes (111) are formed on each side surface of the octagonal tube. The extension arm (31) is detachably connected to the support frame (1).

5. The dual-purpose gripper according to claim 1, characterized in that: The mechanical clip (32) is detachably connected to the extension arm (31).

6. The dual-purpose gripper according to claim 1, characterized in that: The mechanical clamp (32) includes a connecting plate (321), a bearing block (322), a second driving member (323), a fixed claw (324) and a movable claw (326); the connecting plate (321) is connected between the extension arm (31) and the bearing block (322); the fixed claw (324) and the movable claw (326) are arranged in the same plane, and a through hole perpendicular to the fixed claw (324) and the movable claw (326) is formed on the bearing block (322); the second driving member (323) and the fixed claw (324) are both connected to the bearing block (322); one end of the movable claw (326) is rotatably connected to the through hole, and can be controllably rotated along the through hole under the drive of the second driving member (323).

7. The dual-purpose gripper according to claim 1, characterized in that: The first grasping assembly (2) comprises a first driving member and two jaws (23), the intermediate product has a handle, the first driving member has a fixed end and two rotating ends arranged in the same plane, the two rotating ends are controllably rotatable along two parallel rotation axes (325), the two jaws (23) are respectively connected to the two rotating ends of the first driving member, and the inner wall of the jaws (23) is adapted to the outer wall of the handle.

8. The dual-purpose gripper according to claim 1, characterized in that: It also includes a first sensor (41) and a second sensor (42), wherein the first sensor (41) is used to sense whether the position of the intermediate product corresponds to the first grasping component (2), and the second sensor (42) is used to sense whether the position of the processed product corresponds to the second grasping component (3).

9. The dual-purpose gripper according to claim 1, characterized in that: It also includes a controller (6), and the first grabbing component (2) and the second grabbing component (3) are both electrically connected to the controller (6).

10. A transfer robot, characterized in that: It comprises a mechanical arm and a dual-purpose gripper as claimed in any one of claims 1 to 9, wherein the dual-purpose gripper is arranged on the mechanical arm.

Images