Multifunctional manipulator and industrial robot

Abstract

The utility model discloses a multifunctional manipulator and an industrial robot, and relates to the technical field of industrial automation. The multifunctional manipulator comprises a mounting frame, an electromagnet and at least one electric clamping mechanism located on one side of the electromagnet are arranged on the mounting frame, and a first visual positioning device used in cooperation with the electromagnet and a second visual positioning device used in cooperation with the electric clamping mechanism are further arranged on the mounting frame. The method is used for assembling the structural parts; accurate suction of the workpiece is achieved through cooperation of the electromagnet and the first visual positioning device, and accurate grabbing of the workpiece is achieved through cooperation of the electric clamping mechanism and the second visual positioning device. When structural parts are assembled, different types of workpieces can be attracted and grabbed through the electromagnets and the electric clamping mechanisms, so that various operation tasks can be efficiently completed on the same station; compared with the prior art, manual intervention can be reduced, the labor cost is reduced, and the overall safety of the production line is improved.

Description

Technical Field

[0001] The present application relates to the field of industrial automation technology, and in particular to a multifunctional manipulator and an industrial robot. Background Art

[0002] In industrial production, industrial robots are installed on production lines to replace manual labor in highly repetitive tasks such as assembling structural components. However, the manipulators on existing industrial robots are often single-function, designed to perform only a single, specific task. This lacks flexibility and adaptability, making them inefficient at workstations requiring multiple tasks, thus becoming a bottleneck in the production process.

[0003] Specifically, after completing a task, a single-function robot usually requires human intervention to perform additional processes, which not only increases labor costs but also reduces overall production efficiency. In addition, human intervention also increases safety risks in the workplace. In some cases, in order to adapt to different tasks, the workpiece may need to be moved from one workstation to another, which not only increases the demand for production space, but may also lead to the complication of the production process and reduced efficiency. Utility Model Content

[0004] The purpose of this application is to provide a multifunctional manipulator and an industrial robot to solve the problem that existing manipulators with single functions can no longer efficiently complete multiple work tasks at the same workstation.

[0005] The technical solution adopted by this application to solve its technical problems is:

[0006] In a first aspect, a multifunctional manipulator is provided, comprising a mounting frame, on which an electromagnet and at least one electric clamping mechanism located on one side of the electromagnet are provided, and the mounting frame is also provided with a first visual positioning device used in conjunction with the electromagnet and a second visual positioning device used in conjunction with the electric clamping mechanism.

[0007] Furthermore, the electromagnet includes an energized and de-energized electromagnet.

[0008] Furthermore, an air buffer cylinder is provided on the mounting frame, and the electromagnet is connected to the air buffer cylinder.

[0009] Furthermore, the air buffer cylinder includes a double-rod cylinder.

[0010] Furthermore, the electric clamping mechanism includes a fixing frame connected to the mounting frame, and the fixing frame is movably connected to two oppositely arranged clamping plates and a motor that drives the two clamping plates to move closer to or away from each other.

[0011] Furthermore, the electric clamping mechanism also includes two racks arranged in parallel and extending along the moving direction of the clamping plate and a gear meshing between the two racks. The two racks correspond one-to-one to the two clamping plates, and the racks are connected to the corresponding clamping plates, and the gears are connected to the motor transmission.

[0012] Furthermore, a buffer pad is provided on one side of the splint facing the other splint.

[0013] Furthermore, the fixing frame includes a first fixing plate connected to the mounting frame, a second fixing plate arranged on one side of the first fixing plate, and a connecting piece connected between the first fixing plate and the second fixing plate, and the clamping plate is arranged on the second fixing plate.

[0014] Furthermore, the first visual positioning device and the second visual positioning device both include a camera and a laser scanner.

[0015] In a second aspect, an industrial robot is provided, comprising a robot base, a robotic arm connected to the robot base, and a robotic hand connected to the robotic arm, wherein the robotic hand is the multifunctional robotic hand provided in the first aspect.

[0016] Beneficial effects of this application:

[0017] The multifunctional manipulator and industrial robot provided in the embodiments of the present application are used for assembling structural parts; precise suction of the workpiece is achieved through the cooperation of the electromagnet and the first visual positioning device, and precise grasping of the workpiece is achieved through the cooperation of the electric clamping mechanism and the second visual positioning device; when assembling structural parts, different types of workpieces can be sucked and grasped using the electromagnet and the electric clamping mechanism, so as to efficiently complete multiple work tasks at the same work station; compared with the existing technology, it can reduce manual intervention, reduce labor costs, and improve the overall safety of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 is a three-dimensional diagram of a multifunctional manipulator provided in an embodiment of the present application;

[0020] Figure 2 is a side view of the multifunctional manipulator provided in an embodiment of the present application;

[0021] Figure 3 It is a three-dimensional diagram of the electric clamping mechanism;

[0022] Figure 4 is a side view of the electric clamping mechanism;

[0023] Figure 5 It is a three-dimensional diagram of the industrial robot provided in an embodiment of the present application.

[0024] Reference numerals:

[0025] 1-Robot base;

[0026] 2-Robotic arm;

[0027] 3-Manipulator;

[0028] 31-mounting frame;

[0029] 311-Mounting plate;

[0030] 32-electromagnet;

[0031] 33-electric clamping mechanism;

[0032] 331-fixed frame;

[0033] 3311-first fixing plate;

[0034] 3312-second fixing plate;

[0035] 3313-connectors;

[0036] 332-Splint;

[0037] 333-motor;

[0038] 334- rack;

[0039] 335-gear;

[0040] 336- cushion;

[0041] 337-slide rail;

[0042] 338-slider;

[0043] 34-first visual positioning device;

[0044] 35- second visual positioning device;

[0045] 36-Air cushion cylinder. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0047] It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures. In addition, the embodiments and features in the embodiments of this application can be combined with each other unless there is a conflict.

[0048] In the description of the embodiments of the present application, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the product of the application is usually placed when in use, or the orientation or position relationship commonly understood by those skilled in the art. The terms "disposed", "opened", "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, and an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components.

[0049] See also Figure 1 、 Figure 2 An embodiment of the present application provides a multifunctional manipulator, including a mounting frame 31, on which is provided an electromagnet 32 ​​and at least one electric clamping mechanism 33 located on one side of the electromagnet 32. The mounting frame 31 is also provided with a first visual positioning device 34 used in conjunction with the electromagnet 32 ​​and a second visual positioning device 35 used in conjunction with the electric clamping mechanism 33.

[0050] See also Figure 1 、 Figure 2 The mounting frame 31 is used to install and support other components of the multifunctional manipulator, and is fixed to the flange of the robotic arm of the industrial robot by bolts when in use. The industrial robot can be a four-axis robot or a six-axis robot, or other types of robots, or special machine mechanisms such as transplanters. The mounting frame 31 can be a plate-like structure or a frame structure. The electromagnet 32 ​​is mounted on the mounting frame 31 and is used to absorb ferromagnetic materials such as steel using the principle of magnetic attraction; wherein, the electromagnet 32 ​​is mainly used to absorb plate-type workpieces such as steel plates. The electric clamping mechanism 33 is mounted on the mounting frame 31 and is located on one side of the electromagnet 32, and is used to provide a holding force through a motor to grasp the workpiece; wherein, the electric clamping mechanism 33 is mainly used to grasp profile-type workpieces.

[0051] See also Figure 1 、 Figure 2The first visual positioning device 34 and the second visual positioning device 35 are both mounted on the mounting frame 31 and can provide high-precision positioning information for workpieces of various shapes and sizes, helping the industrial robot accurately identify the position and orientation of the workpieces and achieve precise assembly and operation of structural parts. The first visual positioning device 34 is used in conjunction with the electromagnet 32, using the first visual positioning device 34 to provide the position and orientation of the workpiece to be picked up, and the electromagnet 32 ​​to accurately pick up the workpiece. The second visual positioning device 35 is used in conjunction with the electric clamping mechanism 33, using the second visual positioning device 35 to provide the position and orientation of the workpiece to be grasped, and the electric clamping mechanism 33 to accurately grasp the workpiece.

[0052] For example, see Figure 1 、 Figure 2 The mounting frame 31 includes a rectangular mounting plate 311, which is perpendicular to the horizontal plane and horizontally arranged in its length direction; the electric clamping mechanism 33 includes two electric clamping mechanisms 33, which are spaced apart along the length direction of the mounting plate 311 and mounted on the front of the mounting plate 311; the back of the mounting plate 311 is used to connect with the flange of the robotic arm of the industrial robot; the second visual positioning device 35 is installed at the bottom of the mounting plate 311 and is located between the two electric clamping mechanisms 33; the electromagnet 32 ​​is installed at the top of the front of the mounting plate 311 and is located between the two electric clamping mechanisms 33; the first visual positioning device 34 is installed at the top of the back of the mounting plate 311 and is located between the two electric clamping mechanisms 33.

[0053] The multifunctional manipulator provided in the embodiment of the present application is used to be installed on an industrial robot to assemble structural parts; the workpiece is accurately sucked by the cooperation of the electromagnet 32 ​​and the first visual positioning device 34, and the workpiece is accurately grasped by the cooperation of the electric clamping mechanism 33 and the second visual positioning device 35; when assembling structural parts, different types of workpieces can be sucked and grasped by using the electromagnet 32 ​​and the electric clamping mechanism 33, so as to efficiently complete multiple work tasks at the same work station; compared with the existing technology, it can reduce manual intervention, reduce labor costs, and improve the overall safety of the production line.

[0054] The multifunctional manipulator provided in the embodiment of the present application has the characteristics of rapid response and efficient execution due to the use of electromagnet 32 ​​for suction and electric clamping mechanism 33 for gripping. In the actual production process, it can quickly grasp and release workpieces to ensure a smooth production process.

[0055] The electromagnet 32 ​​may comprise a conventional electromagnet that is magnetic when energized and demagnetized when deenergized. During operation, the electromagnet 32 ​​attracts sheet-like workpieces when energized and releases them when deenergized. In some embodiments, the electromagnet 32 ​​may comprise a deenergized electromagnet. This deenergized electromagnet requires only a brief current pulse to attract and release the workpiece, but does not require current to maintain the workpiece during movement, resulting in very low energy consumption. Compared to conventional electromagnets, this deenergized electromagnet maintains its magnetic force even in the event of a power outage or malfunction, preventing the workpiece from falling and injuring personnel or damaging equipment, thereby improving the safety of workpiece attraction.

[0056] The electromagnet 32 ​​can be directly mounted on the mounting bracket 31 by bolts. Figure 1 、 Figure 2 The mounting frame 31 is provided with an air cushion cylinder 36, to which the electromagnet 32 ​​is connected. For example, the air cushion cylinder 36 is vertically mounted, with its cylinder body bolted to the top of the front surface of the mounting plate 311. The electromagnet 32 ​​is positioned above the air cushion cylinder 36 and bolted to the piston rod of the air cushion cylinder 36. The air cushion cylinder 36 not only allows for adjustment of the mounting position of the electromagnet 32 ​​but also provides a buffering effect for the electromagnet 32. This prevents significant impact, especially when the workpiece is heavy, making it safer and more reliable for the electromagnet 32 ​​to absorb the workpiece.

[0057] The air cushion cylinder 36 may be a single-rod cylinder. In some embodiments, the air cushion cylinder 36 comprises a double-rod cylinder. A double-rod cylinder, with two piston rods, not only provides double the force, making it suitable for applications requiring greater push and pull forces, but also effectively prevents piston rod deflection or swing. It can also withstand greater lateral loads, effectively preventing piston rod deflection or swing.

[0058] In some embodiments, see Figure 3 、 Figure 4 The electric clamping mechanism 33 includes a fixed frame 331 connected to the mounting frame 31. Two opposing clamping plates 332 are movably connected to the fixed frame 331, and a motor 333 is used to drive the two clamping plates 332 toward or away from each other. During use, the motor 333 drives the two clamping plates 332 toward each other, thereby clamping the profile workpiece through the two clamping plates 332 to grasp the profile workpiece. The motor 333 drives the two clamping plates 332 away from each other to remove the clamping force on the profile workpiece, thereby releasing the profile workpiece.

[0059] For example, see Figure 3 、 Figure 4A slide rail 337 is bolted to the fixing frame 331. Two sliders 338 are slidably connected to the slide rail 337. The two sliders 338 on the slide rail 337 are respectively connected to the two clamping plates 332. As a result, the two clamping plates 332 can be moved closer to or away from each other under the guidance of the slide rail 337 and the sliders 338. The slide rail 337 can include one, two, or more than two.

[0060] The motor 333 can be connected to the two clamping plates 332 via a screw mechanism or a chain mechanism to drive the two clamping plates 332 to move closer to or farther from each other. Figure 3 、 Figure 4 The electric clamping mechanism 33 also includes two racks 334 arranged in parallel and extending along the moving direction of the clamping plates 332, and a gear 335 meshing between the two racks 334. The two racks 334 correspond one-to-one to the two clamping plates 332, and the racks 334 are connected to the corresponding clamping plates 332. The gear 335 is in transmission connection with the motor 333. During use, the motor 333 rotates forward and drives the gear 335 to rotate. The gear 335 drives the two racks 334 to move, and the two racks 334 drive the two clamping plates 332 closer to each other. The motor 333 rotates backward and drives the gear 335 to rotate in the opposite direction. The gear 335 drives the two racks 334 to move in the opposite direction, and the two racks 334 drive the two clamping plates 332 away from each other. During this process, the two racks 334 move in opposite directions.

[0061] In some embodiments, see Figure 3 A buffer pad 336 is provided on the side of the clamping plate 332 facing the other clamping plate 332. The buffer pad 336 not only reduces direct contact between the clamping plate 332 and the workpiece during gripping, preventing bumps and scratches, but also absorbs the impact force generated by the closing of the clamping plates 332 during gripping, reducing vibration and protecting the workpiece from damage. For example, the buffer pad 336 may comprise a silicone pad, a rubber pad, or the like, and may be fixed to the clamping plate 332 using bolts or adhesive.

[0062] The fixing frame 331 may be a plate-like structure or a frame structure, which may be connected to the mounting frame 31 by bolts. Figure 3 、 Figure 4 The fixing frame 331 includes a first fixing plate 3311 connected to the mounting frame 31, a second fixing plate 3312 arranged on one side of the first fixing plate 3311, and a connecting member 3313 connected between the first fixing plate 3311 and the second fixing plate 3312, and the clamping plate 332 is arranged on the second fixing plate 3312.

[0063] For example, see Figure 3 、 Figure 4The first fixing plate 3311 and the second fixing plate 3312 are both perpendicular to the horizontal plane; the first fixing plate 3311 is circular, and its back side is used to fit with the front side of the mounting plate 311 and be fixed by bolts; the second fixing plate 3312 is rectangular, and its length direction is horizontally arranged; the connecting member 3313 is a horizontally arranged columnar structure, and the two ends of the connecting member 3313 are respectively fixedly connected to the front side of the first fixing plate 3311 and the back side of the second fixing plate 3312, and the sliding rail 337 is horizontally fixed to the front side of the second fixing plate 3312 by bolts. The sliding rail 337 includes two, and the two sliding rails 337 are arranged up and down. The splint 332 is slidably installed on the sliding rail 337 through the slider 338.

[0064] The connecting member 3313 can be a prism or a cylinder. Figure 3 、 Figure 4 Connector 3313 is a hollow quadrangular prism. Motor 333 is mounted within the inner cavity of the prism. The output shaft of motor 333 passes through second fixing plate 3312 and is fixedly connected to gear 335. Second fixing plate 3312 is provided with a through-hole for the output shaft of power supply 333 to pass through. An observation hole is provided in the wall of the prism. The observation hole allows operators to directly observe the operation of motor 333, detect any anomalies promptly, and perform appropriate maintenance or treatment. The observation hole also serves as a heat dissipation channel, helping to dissipate heat from motor 333, preventing overheating and extending its service life.

[0065] The first visual positioning device 34 and the second visual positioning device 35 may include cameras. Their principle is to achieve high-precision positioning of the workpiece by capturing, processing, extracting features, matching, and estimating the position of the image. In some embodiments, the first visual positioning device 34 and the second visual positioning device 35 both include cameras and laser scanners. The camera is responsible for capturing images of the working environment. These images contain visual information of the workpiece. Subsequently, through image processing techniques such as graying, noise reduction, filtering, binarization, and edge detection, key feature points in the image are extracted. After feature extraction, the extracted feature points are compared with a pre-stored model or map through an image matching algorithm to identify the identity and location of the workpiece. Once the workpiece is identified, its position and orientation in space can be calculated. The laser scanner plays an auxiliary role in this process. By emitting a laser beam and measuring the time it takes for the laser beam to be reflected back, it obtains distance information of the workpiece. This distance information can provide additional spatial information, helping to improve the accuracy of positioning and achieve high-precision positioning of the workpiece.

[0066] See also Figure 5An embodiment of the present application provides an industrial robot, including a robot base 1, a robotic arm 2 connected to the robot base 1, and a robotic hand 3 connected to the robotic arm 2. The robotic hand 3 is the multifunctional robotic hand provided in the above embodiment.

[0067] See also Figure 5 The robot base 1 is used to mount and support the robotic arm 2. The robot base 1 can be a fixed base or a movable base. One end of the robotic arm 2 is fixedly connected to the robot base 1 via bolts, and the other end of the robotic arm 2 is fixedly connected to the manipulator 3 via bolts. Specifically, the other end of the robotic arm 2 is fixedly connected to the mounting plate 311 of the mounting frame 31 via bolts.

[0068] The industrial robot provided in the embodiment of the present application is used to be set on a production line to assemble structural parts; when assembling the structural parts, the electromagnet 32 ​​and the electric clamping mechanism 33 can be used to absorb and grasp different types of workpieces, so as to efficiently complete various work tasks at the same work station; compared with the existing technology, it can reduce manual intervention, reduce labor costs, and improve the overall safety of the production line.

[0069] The above is only a preferred embodiment of the present application and does not constitute any form of limitation to the present application. Based on the technical essence of the present application and within the spirit and principles of the present application, any simple modification, equivalent replacement and improvement of the above embodiment shall still fall within the scope of protection of the technical solution of the present application.

Claims

1. A multifunctional manipulator, characterized in that: The invention comprises a mounting frame (31), wherein the mounting frame (31) is provided with an electromagnet (32) and at least one electric clamping mechanism (33) located on one side of the electromagnet (32); the mounting frame (31) is also provided with a first visual positioning device (34) used in conjunction with the electromagnet (32) and a second visual positioning device (35) used in conjunction with the electric clamping mechanism (33).

2. The multifunctional manipulator according to claim 1, characterized in that: The electromagnet (32) comprises an energized and de-energized electromagnet.

3. The multifunctional manipulator according to claim 1 or 2, characterized in that: An air buffer cylinder (36) is provided on the mounting frame (31), and the electromagnet (32) is connected to the air buffer cylinder (36).

4. The multifunctional manipulator according to claim 3, characterized in that: The air cushion cylinder (36) comprises a double-rod cylinder.

5. The multifunctional manipulator according to claim 1, characterized in that: The electric clamping mechanism (33) comprises a fixing frame (331) connected to the mounting frame (31), and the fixing frame (331) is movably connected to two oppositely arranged clamping plates (332) and a motor (333) for driving the two clamping plates (332) to move closer to or away from each other.

6. The multifunctional manipulator according to claim 5, characterized in that: The electric clamping mechanism (33) further comprises two racks (334) arranged in parallel and extending along the moving direction of the clamping plate (332) and a gear (335) meshed between the two racks (334), the two racks (334) corresponding to the two clamping plates (332) one by one, and the racks (334) are connected to the corresponding clamping plates (332), and the gear (335) is transmission-connected to the motor (333).

7. The multifunctional manipulator according to claim 5 or 6, characterized in that: A buffer pad (336) is provided on one side of the clamping plate (332) facing the other clamping plate (332).

8. The multifunctional manipulator according to claim 5 or 6, characterized in that: The fixing frame (331) includes a first fixing plate (3311) connected to the mounting frame (31), a second fixing plate (3312) arranged on one side of the first fixing plate (3311), and a connecting member (3313) connected between the first fixing plate (3311) and the second fixing plate (3312), and the clamping plate (332) is arranged on the second fixing plate (3312).

9. The multifunctional manipulator according to claim 1, characterized in that: The first visual positioning device (34) and the second visual positioning device (35) both include a camera and a laser scanner.

10. An industrial robot, characterized in that: The invention comprises a robot base (1), a robot arm (2) connected to the robot base (1), and a robot hand (3) connected to the robot arm (2), wherein the robot hand (3) is a multifunctional robot hand according to any one of claims 1 to 9.

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