Manipulator and automatic clamping equipment

Abstract

The utility model provides a manipulator and automatic clamping equipment, and the manipulator comprises a base assembly, a first clamping arm assembly, a second clamping arm assembly, a first driving assembly, a second driving assembly and a linkage assembly; the first driving assembly and the second driving assembly are both arranged on the base assembly, the first driving assembly is connected with the first clamping arm assembly, and the second driving assembly is connected with the second clamping arm assembly; the linkage assembly is connected with the first clamping arm assembly and the second clamping arm assembly. According to the technical scheme, the problem that in the prior art, when a mechanical arm clamps a to-be-clamped object, the centering performance is poor is effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator and an automatic clamping device. Background Art

[0002] Due to its flexibility and adaptability, the manipulator can be applied to a variety of industrial and service scenarios, such as assembly lines in manufacturing, logistics handling, technical processing, etc.

[0003] Some existing manipulators can only perform grasping and transferring, and have no requirement for the centering accuracy of holding the transferred object. For example, the utility model patent with the application number 201920341080.5 and the name of a storage cylinder manipulator with a clamping function. Summary of the Utility Model

[0004] One technical problem to be solved by the utility model is that when the manipulator clamps, the centering of the object to be clamped is not good.

[0005] To solve the above technical problem, the embodiment of the present application provides a manipulator, including: a base assembly, a first clamping arm assembly, a second clamping arm assembly, a first driving assembly, a second driving assembly and a linkage assembly; the first driving assembly and the second driving assembly are both arranged on the base assembly, the first driving assembly is connected to the first clamping arm assembly, the second driving assembly is connected to the second clamping arm assembly; the linkage assembly is connected to both the first clamping arm assembly and the second clamping arm assembly.

[0006] Further, the linkage assembly includes a transmission belt, the transmission belt is fixedly connected to the first clamping arm assembly, the transmission belt is fixedly connected to the second clamping arm assembly, and the directions in which the transmission belt is connected to the first clamping arm assembly and the second clamping arm assembly are opposite.

[0007] Further, the transmission belt is an endless belt, the transmission belt is fixedly connected to the upper surface of the first clamping arm assembly, and the transmission belt is fixedly connected to the lower surface of the second clamping arm assembly.

[0008] Further, the linkage assembly further includes two roller structures, the two roller structures are respectively connected to both ends of the base assembly, and the inner walls of both ends of the endless belt are respectively attached to the rollers of the two roller structures.

[0009] Further, the first clamping arm assembly includes a first clamping arm and a first connecting arm, the first driving assembly is connected to the first connecting arm, the first clamping arm is connected to the first connecting arm, the second clamping arm assembly includes a second clamping arm and a second connecting arm, the second driving assembly is connected to the second connecting arm, the second clamping arm is connected to the second connecting arm, and the first clamping arm and the second clamping arm are arranged opposite to each other.

[0010] Further, one side of the first clamping arm facing the second clamping arm has a first clamping and positioning mating part, and one side of the second clamping arm facing the first clamping arm has a second clamping and positioning mating part.

[0011] Further, the base assembly includes a connecting seat structure and a fixing seat structure. The connecting seat structure is arranged in the middle of the fixing seat structure. The first driving assembly and the second driving assembly are respectively located on both sides of the connecting seat structure, and the first clamping arm assembly and the second clamping arm assembly are respectively located at both ends of the fixing seat structure.

[0012] Further, the fixing seat structure has a first slide rail structure that cooperates with the first connecting arm, and the fixing seat structure has a second slide rail structure that cooperates with the second connecting arm.

[0013] Further, the manipulator further includes a pair of opposed photoelectric components, which are respectively arranged on the first clamping arm assembly and the second clamping arm assembly.

[0014] According to another aspect of the present application, an automated clamping device is also provided. The automated clamping device includes a control component and a manipulator. The control component is electrically connected to the manipulator, and the manipulator is the above-mentioned manipulator.

[0015] Through the above technical solution, the first driving assembly drives the first clamping arm assembly to move, and the second driving assembly drives the second clamping arm assembly to move. Since both the first driving assembly and the second driving assembly are independent driving assemblies, it may cause the first clamping arm assembly and the second clamping arm assembly to move out of sync. The linkage assembly is connected to both the first clamping arm assembly and the second clamping arm assembly. Through the setting of the linkage assembly, the first clamping arm assembly and the second clamping arm assembly can move synchronously, so that the moving distances of the first clamping arm assembly and the second clamping arm assembly relative to the object to be clamped are the same, that is, the centering performance is better. The technical solution of the present application effectively solves the problem of poor centering of the object to be clamped by the manipulator in the prior art during clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 Shows a three-dimensional structural schematic diagram of the manipulator according to the embodiment of the present application;

[0018] Figure 2 Shows Figure 1 the three-dimensional structural schematic diagram of the first clamping arm assembly of the manipulator;

[0019] Figure 3 shows the Figure 2 three-dimensional structural schematic diagram of the first clamping arm of the first clamping arm assembly.

[0020] Explanation of reference numerals:

[0021] 10. Base assembly; 11. Connecting seat structure; 12. Fixed seat structure; 20. First clamping arm assembly; 21. First clamping arm; 22. First connecting arm; 23. First clamping and positioning cooperation part; 30. Second clamping arm assembly; 31. Second clamping arm; 32. Second connecting arm; 40. First driving assembly; 50. Second driving assembly; 60. Linkage assembly; 61. Transmission belt; 62. Roller structure; 70. Opposite light-emitting and light-receiving photoelectric assembly; 100. Object to be clamped. Detailed implementation manners

[0022] The following further describes the implementation manners of the present application in detail in conjunction with the drawings and embodiments. The detailed descriptions and drawings of the following embodiments are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application. The present application can be implemented in many different forms, is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

[0023] These embodiments are provided by the present application to make the present application thorough and complete, and to fully convey the scope of the present application to those skilled in the art. It should be noted that: unless otherwise specifically stated, the relative arrangements of components and steps, the components of materials, numerical expressions and values described in these embodiments should be construed as merely exemplary, rather than as limitations.

[0024] It should be noted that in the description of the present application, unless otherwise specified, the meaning of "a plurality" is greater than or equal to two; the orientation or positional relationships indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", etc. are only for the convenience of describing the present application 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 thus cannot be construed as a limitation of the present application. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0025] In addition, the "first", "second" and similar terms used in the present application do not indicate any order, quantity or importance, but are only used to distinguish different parts. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range. Words such as "including" or "comprising" mean that the elements before the word cover the elements listed after the word, and do not exclude the possibility of also covering other elements.

[0026] It should also be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" 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 direct connection, or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances. When it is described that a specific device is located between a first device and a second device, an intermediate device may or may not exist between the specific device and the first device or the second device.

[0027] All terms used in this application have the same meanings as those understood by those of ordinary skill in the art to which this application pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as those, should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense, unless specifically defined as such here.

[0028] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technologies, methods, and devices should be regarded as part of the specification.

[0029] As Figures 1 to 3 shown in the figure, the embodiment shows a manipulator, including: a base assembly 10, a first clamping arm assembly 20, a second clamping arm assembly 30, a first driving assembly 40, a second driving assembly 50, and a linkage assembly 60. The first driving assembly 40 and the second driving assembly 50 are both arranged on the base assembly 10. The first driving assembly 40 is connected to the first clamping arm assembly 20, and the second driving assembly 50 is connected to the second clamping arm assembly 30. The linkage assembly 60 is connected to both the first clamping arm assembly 20 and the second clamping arm assembly 30.

[0030] Through the above technical solution, the first driving assembly 40 drives the first clamping arm assembly 20 to move, and the second driving assembly 50 drives the second clamping arm assembly 30 to move. Since the first driving assembly 40 and the second driving assembly 50 are both independent driving assemblies, it is possible that the first clamping arm assembly 20 and the second clamping arm assembly 30 move out of sync. The linkage assembly 60 is connected to both the first clamping arm assembly 20 and the second clamping arm assembly 30. Through the setting of the linkage assembly 60, the first clamping arm assembly 20 and the second clamping arm assembly 30 can move synchronously, so that the moving distances of the first clamping arm assembly 20 and the second clamping arm assembly 30 relative to the object 100 to be clamped are the same, that is, the centering performance is better. The technical solution of this embodiment effectively solves the problem that the manipulator in the prior art has poor centering performance when clamping an object to be clamped.

[0031] As Figure 1 shown, in the technical solution of this embodiment, the linkage assembly 60 includes a conveyor belt 61. The conveyor belt 61 is fixedly connected to the first clamping arm assembly 20, and the conveyor belt 61 is fixedly connected to the second clamping arm assembly 30. The directions in which the conveyor belt 61 is connected to the first clamping arm assembly 20 and the second clamping arm assembly 30 are opposite. The conveyor belt 61 has a relatively low setting cost and a good effect. When the deformation of the conveyor belt 61 is negligible, the moving distances of the first clamping arm assembly 20 and the second clamping arm assembly 30 towards the object 100 to be clamped are the same.

[0032] It should be noted that the conveyor belt 61 is fixedly connected to the first clamping arm assembly 20, and the conveyor belt 61 is fixedly connected to the second clamping arm assembly 30. The above-mentioned fixed connection means that the conveyor belt 61 and the first clamping arm assembly 20 cannot move relative to each other, and the conveyor belt 61 and the second clamping arm assembly 30 cannot move relative to each other. The conveyor belt 61 and the first clamping arm assembly 20 can be fixedly and detachably connected together through a pressing plate and fasteners, or the conveyor belt 61 and the first clamping arm assembly 20 can be an integral structure. The same applies to the conveyor belt 61 and the second clamping arm assembly 30, which will not be elaborated here.

[0033] As Figure 1 shown, in the technical solution of this embodiment, the conveyor belt 61 is an endless belt. The conveyor belt 61 is fixedly connected to the upper surface of the first clamping arm assembly 20, and the conveyor belt 61 is fixedly connected to the lower surface of the second clamping arm assembly 30. The above structure is set quite ingeniously, making full use of the rotating structure of the endless belt, that is, the moving directions of the upper part and the lower part of the conveyor belt 61 are opposite, or in other words, they move towards each other. Part of the first clamping arm assembly 20 and part of the second clamping arm assembly 30 are located inside the closed loop formed by the above-mentioned conveyor belt 61, and its surrounding structure is as Figure 1 shown.

[0034] It should be noted that as another feasible implementation, the conveyor belt 61 may not be a closed loop. The first end of the conveyor belt 61 is fixedly connected to the upper surface of the first clamping arm assembly 20, and the second end of the conveyor belt is fixedly connected to the lower surface of the second clamping arm assembly 30.

[0035] As Figure 1 shown, in the technical solution of this embodiment, the linkage assembly 60 further includes two roller structures 62. The two roller structures 62 are respectively connected to both ends of the base assembly 10, and the inner walls of both ends of the endless belt are respectively in contact with the rollers of the two roller structures 62. The setting of the two roller structures 62 makes, on the one hand, a certain distance formed between the upper side and the lower side of the endless conveyor belt 61 to accommodate the first clamping arm assembly 20 and the second clamping arm assembly 30, and on the other hand, the two roller structures 62 greatly reduce the friction of the conveyor belt 61.

[0036] It should be noted that there are two sets of linkage components 60, which are respectively arranged corresponding to the first driving component 40 and the second driving component 50. Such a structure makes the force application more uniform and the movement of the first clamping arm component 20 and the second clamping arm component 30 smoother.

[0037] As Figures 1 to 3 shown, in the technical solution of this embodiment, the first clamping arm component 20 includes a first clamping arm 21 and a first connecting arm 22. The first driving component 40 is connected to the first connecting arm 22, and the first clamping arm 21 is connected to the first connecting arm 22. The second clamping arm component 30 includes a second clamping arm 31 and a second connecting arm 32. The second driving component 50 is connected to the second connecting arm 32, and the second clamping arm 31 is connected to the second connecting arm 32. The first clamping arm 21 and the second clamping arm 31 are arranged opposite to each other. The first clamping arm 21 and the second clamping arm 31 perform a clamping function, and the first connecting arm 22 and the second connecting arm perform a connecting function. Such a setting is more flexible.

[0038] It should be noted that the first clamping arm component 20 and the second clamping arm component 30 have the same structure.

[0039] As Figure 1 shown, in the technical solution of this embodiment, one side of the first clamping arm 21 facing the second clamping arm 31 has a first clamping positioning and mating portion 23, and one side of the second clamping arm 31 facing the first clamping arm 21 has a second clamping positioning and mating portion. The settings of the first clamping positioning and mating portion 23 and the second clamping positioning and mating portion make it easier for the first clamping arm component 20 and the second clamping arm component 30 to cooperate with the object to be clamped 100 in place. It should be noted that the outer surface of the object to be clamped 100 has grooves, the first clamping positioning and mating portion 23 is a first protrusion, the second clamping positioning and mating portion is a second protrusion, there are two first protrusions and two second protrusions, and there are four grooves, which are respectively located on both sides of the object to be clamped 100. The four grooves cooperate with the four protrusions (two first protrusions and two second protrusions) in a one-to-one correspondence.

[0040] As Figure 1 shown, in the technical solution of this embodiment, the base component 10 includes a connecting seat structure 11 and a fixing seat structure 12. The connecting seat structure 11 is arranged in the middle of the fixing seat structure 12. The first driving component 40 and the second driving component 50 are respectively located on both sides (along the X-axis direction) of the connecting seat structure 11. The first clamping arm component 20 and the second clamping arm component 30 are respectively located at both ends (along the Y-axis direction) of the fixing seat structure 12. The first clamping arm component 20 and the second clamping arm component 30 both move along the Y-axis direction. It should be noted that in this embodiment, taking the fixing seat structure 12 as a plane as an example, the connecting seat structure 11 is located in the middle of the left and right (X-axis direction) and the middle of the front and back (Y-axis direction) of this plane.

[0041] As Figure 1 shown, in the technical solution of this embodiment, the fixed seat structure 12 has a first slide rail structure that cooperates with the first connecting arm 22, and the fixed seat structure 12 has a second slide rail structure that cooperates with the second connecting arm 32. The settings of the first slide rail structure and the second slide rail structure make the movement of the first clamping arm assembly 20 and the second clamping arm assembly 30 more stable, and the movement resistance of the first clamping arm assembly 20 and the second clamping arm assembly 30 is smaller.

[0042] As Figure 2 and Figure 3 shown, in the technical solution of this embodiment, the manipulator further includes an opposed photoelectric component 70, and the opposed photoelectric component 70 is respectively arranged on the first clamping arm assembly 20 and the second clamping arm assembly 30. The setting of the opposed photoelectric component 70 can realize the automatic detection of the position of the object 100 to be clamped. For example, when the manipulator does not clamp the object 100 to be clamped, the opposed photoelectric component 70 feeds back to the control component until the opposed photoelectric component 70 detects the object 100 to be clamped, and then the control component controls the manipulator to perform the next operation. It should be noted that there are multiple opposed photoelectric components 70 in this embodiment, which can effectively avoid the situation of detection errors.

[0043] It should be noted that the emitting end of the opposed photoelectric component 70 is located on the first clamping arm assembly 20, the receiving end of the opposed photoelectric component 70 is located on the second clamping arm assembly 30, and the emitting end and the receiving end of the opposed photoelectric component 70 are arranged corresponding to each other.

[0044] In this embodiment, the first driving component 40 is a cylinder component, a hydraulic component or an electric push rod component. Similarly, the second driving component 50 is a cylinder component, a hydraulic component or an electric push rod component. Taking the cylinder component as an example, the cylinder block of the cylinder component is fixed on the base component 10 through fasteners, the output end of the cylinder component is connected to the first clamping arm assembly 20, and the axis of the cylinder component is along the Y-axis direction.

[0045] According to another aspect of the present application, an automatic clamping device is further provided. The automatic clamping device includes a control component and a manipulator. The control component is electrically connected to the manipulator, and the manipulator is the above-mentioned manipulator. Through the control of the control component, the automatic clamping device of the present application can achieve accurate clamping, with a high degree of automation, saving manpower and material resources, and reducing the labor intensity of workers.

[0046] So far, the embodiments of the present application have been described in detail. In order to avoid obscuring the concept of the present application, some details well known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed here based on the above description.

[0047] Although some specific embodiments of the present application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified or partial technical features can be equivalently replaced without departing from the scope and spirit of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way.

Claims

1. A robot, characterized in that: include: A base assembly (10), a first clamping arm assembly (20), a second clamping arm assembly (30), a first drive assembly (40), a second drive assembly (50) and a linkage assembly (60); The first drive assembly (40) and the second drive assembly (50) are both arranged on the base assembly (10), the first drive assembly (40) is connected to the first clamping arm assembly (20), and the second drive assembly (50) is connected to the second clamping arm assembly (30); The linkage assembly (60) is connected to both the first clamping arm assembly (20) and the second clamping arm assembly (30).

2. The robot according to claim 1, characterized in that: The linkage assembly (60) comprises a transmission belt (61), wherein the transmission belt (61) is fixedly connected to the first clamping arm assembly (20), and the transmission belt (61) is fixedly connected to the second clamping arm assembly (30), and the directions in which the transmission belt (61) is connected to the first clamping arm assembly (20) and the second clamping arm assembly (30) are opposite.

3. The robot according to claim 2, characterized in that: The conveyor belt (61) is an annular belt, and the conveyor belt (61) is fixedly connected to the upper surface of the first clamping arm assembly (20), and the conveyor belt (61) is fixedly connected to the lower surface of the second clamping arm assembly (30).

4. The robot according to claim 3, characterized in that: The linkage assembly (60) further comprises two roller structures (62), wherein the two roller structures (62) are respectively connected to the two ends of the base assembly (10), and the inner walls at the two ends of the annular belt are respectively in contact with the rollers of the two roller structures (62).

5. The robot according to any one of claims 1 to 4, characterized in that: The first clamping arm assembly (20) comprises a first clamping arm (21) and a first connecting arm (22); the first driving assembly (40) is connected to the first connecting arm (22); the first clamping arm (21) is connected to the first connecting arm (22); the second clamping arm assembly (30) comprises a second clamping arm (31) and a second connecting arm (32); the second driving assembly (50) is connected to the second connecting arm (32); the second clamping arm (31) is connected to the second connecting arm (32); the first clamping arm (21) and the second clamping arm (31) are arranged opposite to each other.

6. The robot according to claim 5, characterized in that: The first clamping arm (21) has a first clamping positioning fitting portion (23) on the side facing the second clamping arm (31), and the second clamping arm (31) has a second clamping positioning fitting portion on the side facing the first clamping arm (21).

7. The robot according to claim 5, characterized in that: The base assembly (10) comprises a connecting seat structure (11) and a fixed seat structure (12); the connecting seat structure (11) is arranged in the middle of the fixed seat structure (12); the first drive assembly (40) and the second drive assembly (50) are respectively located on both sides of the connecting seat structure (11); and the first clamping arm assembly (20) and the second clamping arm assembly (30) are respectively located at both ends of the fixed seat structure (12).

8. The robot according to claim 7, characterized in that: The fixed seat structure (12) has a first slide rail structure that matches the first connecting arm (22), and the fixed seat structure (12) has a second slide rail structure that matches the second connecting arm (32).

9. The robot according to any one of claims 1 to 4, characterized in that: The robot further comprises a photoelectric component (70), wherein the photoelectric component (70) is respectively arranged on the first clamping arm component (20) and the second clamping arm component (30).

10. An automated clamping device, characterized in that: The automated clamping device comprises a control component and a manipulator, wherein the control component is electrically connected to the manipulator, and the manipulator is the manipulator according to any one of claims 1 to 9.

Images