Multifunctional manipulator and system for assembling and transporting butt-assembled workpieces

Abstract

The utility model relates to a multifunctional manipulator and a system for assembling and transporting butt-assembled workpieces, which are used for assembling and transferring the butt-assembled workpieces, the multifunctional manipulator is a multi-shaft manipulator, the part at the tail end of the multifunctional manipulator is a first mechanical arm, the first mechanical arm is controlled by a first shaft to rotate, and the second mechanical arm is controlled by a second shaft to rotate. A transfer bin is fixedly arranged on the first mechanical arm, a first grabbing tool and a visual module are fixedly arranged on the transfer bin, and the first grabbing tool is used for achieving carrying and butt-assembling work of workpieces; the visual module is used for identifying the no-load state and the full-load state of the transfer target area and judging whether a butt-assembling workpiece can be placed or not; the transfer bin comprises a hollow sleeve and an ejection mechanism, the ejection mechanism is used for ejecting the butt-assembled workpieces placed in the hollow sleeve, so that the butt-assembled workpieces are transported from the transfer bin to the inside of the storage lattices, the assembly and transfer of the butt-assembled workpieces are realized by adopting the multifunctional manipulator, the transfer bin is provided with the visual module, visual calibration can be provided for the transfer process, and the transfer efficiency is improved. And the automatic transfer capability is enhanced.

Description

Technical Field

[0001] The utility model belongs to the field of assembly and transportation equipment, in particular to a multi-functional manipulator and system for the assembly and transportation of mating workpieces. Background Technique

[0002] In the manufacturing industry, the assembly of mating and buckling workpieces is a common and key technological process. The assembly quality of these workpieces directly affects the performance and reliability of the final product, so it is particularly important. Traditionally, this assembly process mostly relies on manual operation to complete. From mating to flipping the workpieces to assembly, many steps require manual participation.

[0003] However, the efficiency of manual assembly is relatively low. Especially in mass production, it cannot meet the requirements of high-efficiency production; and the accuracy of manual operation is limited, which affects the assembly quality. Therefore, many enterprises choose to use mechanical equipment to assist, such as manipulators to participate in the assembly and transfer of mating workpieces. However, ordinary manipulators also have problems of difficult grasping and inconvenient transfer when transferring mating and buckling workpieces. Due to the special shape and structure of the buckling workpieces, it is difficult for traditional grasping devices to effectively grasp and fix the workpieces, resulting in easy falling off or position deviation of the workpieces during transfer. This not only affects the transfer efficiency, but also may cause workpiece damage or assembly quality decline.

[0004] Therefore, there is an urgent need for a set of multi-functional manipulators that can realize the feeding, flipping, assembly and transfer transportation of mating and buckling workpieces, so as to achieve efficient, accurate and stable assembly and transfer, and improve production efficiency and assembly quality. Summary of the Utility Model

[0005] To solve the above problems, the utility model proposes a multi-functional manipulator and system for the assembly and transportation of mating workpieces, which are used for the assembly and transfer of mating workpieces. The multi-functional manipulator is a multi-axis manipulator. The part located at the end of the multi-functional manipulator is the first robotic arm, and the first robotic arm is controlled by the first axis to rotate. A transfer bin is fixedly arranged on the first robotic arm, and a first grasping tool and a vision module are fixedly arranged on the transfer bin. The first grasping tool is used to realize the handling and mating of workpieces; the vision module is used to identify the empty and full states of the transfer target area and judge whether the mating workpieces can be placed; the transfer bin includes a hollow sleeve and an ejection mechanism, and the ejection mechanism is used to eject the mating workpieces placed inside the hollow sleeve, so that the mating workpieces are transported from the transfer bin to the inside of the storage grid.

[0006] Further, the vision module includes a camera and a light source.

[0007] Furthermore, the ejection mechanism includes a slide rail, a slider, a first power cylinder, and an ejection plate. The slide rail is fixedly arranged on the outer surface of the transfer bin. The slider is slidably connected to the slide rail. A first slideway is formed on the transfer bin. Part of the slider passes through the slideway and is fixedly connected to the ejection plate arranged inside the transfer bin on both the inner and outer sides of the transfer bin. The first power cylinder is fixedly connected to the ejection plate and is used to provide a pushing and pulling force for the ejection plate.

[0008] Furthermore, an internal camera slide rail is arranged on the surface of the transfer bin. An internal camera is slidably arranged on the internal camera slide rail. The lens of the internal camera faces the inside of the transfer bin. An internal light source is fixedly arranged inside the transfer bin and is used to provide illumination for the internal camera.

[0009] Furthermore, the first grasping tool is a flexible suction cup.

[0010] Furthermore, at least one side of the transfer bin is provided with a push plate for secondarily buckling the assembled workpieces.

[0011] Furthermore, it includes a push plate chute. The push plate is slidably connected to the transfer bin through the push plate chute fixedly arranged on the transfer bin.

[0012] The utility model further includes a transfer system for assembled workpieces, including the multifunctional manipulator described in any one of the foregoing items.

[0013] Furthermore, it further includes an assembly platform and a carrier mechanism. The assembly platform is used to provide an assembly station for the multifunctional manipulator. The carrier mechanism is used to receive the assembled workpieces transported by the multifunctional manipulator.

[0014] Furthermore, the assembly platform includes a feeding mechanism, a flipping mechanism, and a discharging mechanism. The feeding mechanism is used to transfer workpieces. The flipping mechanism is used to flip workpieces. The discharging mechanism is used to transfer the buckled assembled workpieces into the transfer bin.

[0015] The utility model has the following advantages: The functions of assembling and transferring assembled workpieces are realized by using a multifunctional manipulator. A vision module is arranged on the transfer bin, which can provide visual calibration for the transfer process and enhance the automatic transfer ability. Description of the Drawings

[0016] Figure 1 is a 3D structural schematic diagram of the multifunctional manipulator of the utility model

[0017] Figure 2 is a front view schematic diagram of the multifunctional manipulator of the utility model

[0018] Figure 3 is a top view schematic diagram of the multifunctional manipulator of the utility model

[0019] Figure 4 is a schematic cross-sectional view of the preferred transfer bin of the present utility model Detailed implementation manners

[0020] In the description of the present utility model, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation of the present utility model.

[0021] In addition, it should be noted that in the description of the present utility model, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0022] The present utility model will be further described below according to embodiments:

[0023] Refer to Figure 1 、 Figure 2 and Figure 3 , Figure 1 is a 3D structural schematic diagram of the multi-functional manipulator of the present utility model, Figure 2 is a front view schematic diagram of the multi-functional manipulator of the present utility model, Figure 3 is a top view schematic diagram of the multi-functional manipulator of the present utility model. The multi-functional manipulator is a multi-axis manipulator. In the preferred structure, the multi-functional manipulator is a six-axis manipulator, including a robotic arm 1 and a transfer bin 2. The preferred robotic arm 1 is a four-axis robotic arm. The section closest to the end is the first robotic arm 101. The transfer bin 2 is fixedly arranged on the first robotic arm 101. The transfer bin 2 includes a rectangular hollow sleeve structure. The inside of the sleeve is used to accommodate the paired workpieces to complete the storage function during the transfer process.

[0024] A vision module is fixedly arranged on the transfer bin 2. Generally speaking, the vision module at least includes a camera, such as the camera 204 shown in the figure. Considering the need for supplementary lighting in the working environment, a light source needs to be supplemented, such as the light source 205 in the figure. A first grasping tool 201 is also fixedly arranged on the transfer bin 2. According to different types of mating workpieces, the composition and grasping principle of the first grasping tool 201 are also different, but the components used for grasping applications should all fall within the protection scope of the present utility model. Specifically, in the figure, the first grasping tool 201 is composed of a bracket and several flexible suction cups 2011. The flexible suction cups 2011 are telescopically and fixedly connected to the bracket. When the flexible suction cups 2011 contact the surface of the object to be grasped, they can adaptively adjust their orientation to facilitate grasping components with inconsistent surface heights, and at the same time form a buffer to ensure that the object to be grasped is not damaged during grasping. Specifically, the flexible suction cups 2011 for grasping components such as smooth plates are a preferred structure. The present utility model is mainly aimed at assembling mating workpieces. Therefore, the main function of the first grasping tool 201 is to pick up the assembly A, buckle it on the assembly B to form a snap connection and compact it, and then through the blanking device, place the mated mating workpieces into the interior of the transfer bin 2 for preparation of transfer.

[0025] The transfer bin 2 further includes an ejection mechanism. When the mating workpiece enters the interior of the transfer bin 2, the ejection mechanism should remain in the initial position. The ejection mechanism is composed of a slide rail 2024, a slider 2023, a first power cylinder 2021 and an ejection plate 2025. A first slideway 2022 is provided on the surface of the transfer bin 2. A part of the structure of the slider 2023 passes through the first slideway 2022 and is fixedly connected to the ejection plate 2025 inside the transfer bin 2. Under the action of the power provided by the first power cylinder 2021, the slider 2023 slides bidirectionally on the slide rail 2024, driving the ejection plate 2025 to slide inside the transfer bin 2. When there is a mating workpiece inside the transfer bin 2, the ejection plate 2025 can eject the mating workpiece. A preferred structure can be referred to Figure 4 , Figure 4 is a schematic cross-sectional view of a preferred transfer bin of the present utility model, showing a preferred structure of the transfer bin 2. Figure 4 In [the figure], the ejection plate 2025 further includes an ejection plate push plate 20251. Through a power cylinder (an electric cylinder, a pneumatic cylinder, a hydraulic cylinder, etc. that can provide power is called a power cylinder in the present utility model), the ejection plate push plate 20251 is pushed to a farther position to facilitate placing it into the storage space.

[0026] Figure 4In the preferred structure of the transfer bin 2 shown, it further includes an internal camera 207 and an internal camera slide rail 2071. The internal camera 207 can slide bidirectionally on the internal camera slide rail 2071 through a power cylinder. In a preferred form, the internal camera slide rail 2071 is a chute opened on the outer shell of the transfer bin 2. In another preferred form, to avoid mutual influence with the ejector plate push plate 20251, components such as the internal camera 207 and the power cylinder required to move it can be arranged in a groove formed by expanding the housing of the transfer bin 2 outward. When the mating workpiece is placed into the transfer bin 2, the internal camera 207 can capture the mating position of the mating workpiece, which can be used to confirm whether the installation of the mating workpiece is qualified. This detection method can meet the detection requirements of most mating workpieces. However, to ensure high-quality detection, in another preferred structure, another internal camera is provided on the opposite side of the internal camera 207 to observe the mating situation on the other side. To ensure the brightness inside the transfer bin 2, at least one internal light source 206 is fixedly arranged inside the transfer bin 2.

[0027] Figure 4 In the preferred structure of the transfer bin 2 shown, it further includes a lower pressing plate 203. The lower pressing plate 203 penetrates the transfer bin 2 and can extend downward through the action of a power cylinder. When the internal camera 207 detects that the mating of the mating workpiece is abnormal and requires secondary mating, the lower pressing plate 203 presses down to perform secondary mating on the mating workpiece. In this structure, the coverage area of the lower pressing plate 203 should cover at least 70% of the area of the mating component to prevent damage during the mating process. It can also refer to the structure design of the flexible suction cup 2011 to ensure the safety of the workpiece. In another preferred structure, it further includes a lower pressing plate chute 2031. Through the action of the lower pressing plate power cylinder, the lower pressing plate 203 can slide on the lower pressing plate chute 2031. When the internal camera 207 detects that any part of the mating is abnormal, the information is fed back to the lower pressing plate power cylinder of the lower pressing plate 203, and the position of the lower pressing plate 203 is adjusted to perform targeted area pressing to complete the mating.

[0028] In an assembly transfer system for mating workpieces that includes the multi-functional manipulator of the above embodiments, there is at least one more mating platform and a carrier mechanism. The carrier mechanism is provided with a number of compartments for carrying the mating workpieces transferred by the multi-functional manipulator. The mating platform needs to provide at least one tabletop for placing fitting A and fitting B. On this tabletop, the two fittings should be in a state where the mating surface of one of the fittings faces upward. For example, the mating surface of fitting B is placed facing upward, and the mating surface of fitting A is placed facing downward. The multi-functional manipulator grabs fitting A and fastens it onto fitting B. Fitting A and fitting B can be the same type of fitting, which makes the feeding more difficult. In a preferred structure, the mating platform includes a feeding conveyor and a flipping mechanism. The multi-functional manipulator places fitting A from the feeding conveyor on the tabletop and places fitting B on the flipping mechanism. The flipping mechanism flips fitting B, and then the multi-functional manipulator grabs fitting A and fastens it onto fitting B to complete the fastening assembly. A discharging device is provided on the mating platform.

[0029] The use of the multi-functional manipulator in the embodiments of the present invention will be described below. The multi-functional manipulator selected in the present invention is a multi-axis manipulator. When the user uses the multi-functional manipulator of the present invention, the multi-functional manipulator can be actively controlled through the controller or automatically controlled through a preset program. During the process: the first robotic arm 101 of the multi-functional manipulator adjusts its orientation by rotating around the first robotic arm axis, and sets the surface with the first grasping tool 101 facing the direction of fitting A. Fitting A is fastened onto fitting B through the first grasping tool 101 to complete the assembly. The mated workpiece is placed into the interior of the transfer bin 2 through the discharging tool provided on the mating platform. At this time, the ejector plate 2025 is in its original position (not ejected state). The multi-functional manipulator adjusts its orientation so that the camera 204 faces the compartment of the carrier mechanism. Light is emitted through the light source 205, and the camera 204 takes a photo to determine whether there is an empty compartment in the carrier mechanism. If not, a signal is sent to the central control device and waiting for the carrier mechanism to be replaced and then taking another photo. If there is an empty compartment, the transfer bin 2 is aligned with the ejector plate 2025 of the empty compartment. Through the cooperation of the slider 2023 and the slide rail 2024, the ejector plate 2025 is coordinated to eject the mated workpiece into the empty compartment to complete the transfer process.

[0030] Some preferred components can be added in this process. The components and their usage methods are shown below: A slidable internal camera 202 is added inside the transfer bin 2. After the mating workpiece enters the transfer bin 2, the internal camera 202 can perform visual inspection on the mating position of the mating workpiece to check whether the mating structure is stable. If it is not stable, the mating workpiece is secondarily clamped by a push plate 203 arranged inside the transfer bin 2. The push plate 203 can be in a form that covers most of the area of the mating workpiece or in a form that can slide to adjust its position to ensure that the mating quality is qualified. When performing visual inspection, the transfer bin 2 can be supplemented with light by an internal light source 206.

[0031] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments.

[0032] Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0033] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multifunctional manipulator for assembly and transportation of paired workpieces, used for assembly and transportation of paired workpieces, characterized in that: The multifunctional manipulator is a multi-axis manipulator, wherein the part located at the end of the multifunctional manipulator is a first manipulator arm, the first manipulator arm is controlled to rotate by a first axis, a transfer bin is fixedly arranged on the first manipulator arm, a first grasping tool and a visual module are fixedly arranged on the transfer bin, the first grasping tool is used to realize the handling and assembly of workpieces; the visual module is used to identify the empty and full load states of the transfer target area, and determine whether the assembled workpieces can be placed; the transfer bin includes a hollow sleeve and an ejection mechanism, the ejection mechanism is used to eject the assembled workpieces placed inside the hollow sleeve, so that the assembled workpieces are transported from the transfer bin to the inside of the storage grid.

2. The multifunctional manipulator according to claim 1, characterized in that: The visual module includes a camera and a light source.

3. The multifunctional manipulator according to claim 1, characterized in that: The ejection mechanism includes a slide rail, a slider, a first power cylinder and an ejection plate. The slide rail is fixedly arranged on the outer surface of the transfer warehouse, the slider is slidably connected to the slide rail, a first slideway is provided on the transfer warehouse, and the slider partially passes through the slideway and is fixedly connected to the ejection plate arranged inside the transfer warehouse on the inner and outer sides of the transfer warehouse. The first power cylinder is fixedly connected to the ejection plate to provide push-pull force for the ejection plate.

4. The multifunctional manipulator according to claim 1, characterized in that: An internal camera slide rail is arranged on the surface of the transfer warehouse, an internal camera is slidably arranged on the internal camera slide rail, a lens of the internal camera is arranged toward the interior of the transfer warehouse, and an internal light source is fixedly arranged inside the transfer warehouse for providing lighting for the internal camera.

5. The multifunctional manipulator according to claim 1, characterized in that: The first gripping tool is a flexible suction cup.

6. The multifunctional manipulator according to claim 1, characterized in that: At least one side of the transfer bin is provided with a push plate for secondary buckling of the paired workpieces.

7. The multifunctional manipulator according to claim 6, characterized in that: It includes a push plate slide groove, and the push plate is slidably connected to the transfer bin through the push plate slide groove fixedly arranged on the transfer bin.

8. An assembly and transfer system for workpieces, characterized in that: Comprising a multifunctional manipulator as described in any one of claims 1-7.

9. The assembly and transfer system according to claim 8, characterized in that: It also includes an assembly platform and a carrying mechanism. The assembly platform is used to provide an assembly station for the multifunctional manipulator, and the carrying mechanism is used to receive the assembled workpieces transported by the multifunctional manipulator.

10. The assembly and transfer system according to claim 9, characterized in that: The mounting platform includes a loading mechanism, a flipping mechanism and a unloading mechanism. The loading mechanism is used to transfer the workpieces, the flipping mechanism is used to flip the workpieces, and the unloading mechanism is used to transfer the fastened mounted workpieces to the transfer bin.

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