Intelligent grabbing manipulator for automobile part production

Abstract

The utility model relates to the technical field of automobile part production equipment, and discloses an intelligent grabbing manipulator for automobile part production, which comprises a mechanical arm main body, a base is slidably connected to the inner wall of the mechanical arm main body, two second screw blocks are slidably connected to the inner wall of the base, and clamps are fixedly connected to the outer walls, located outside the base, of the two second screw blocks. Self-adaptive grabbing mechanisms are installed on the outer walls of the two clamps, a visual identification camera is installed on the outer wall of the bottom of the middle section of the base in an embedded mode, a control module is fixedly installed on the outer wall of the mechanical arm body, and the control module is electrically connected with the visual identification camera, the electric telescopic rod and the pressure sensor. By means of the arranged visual recognition camera, the shape, the position and the posture of the automobile part can be quickly and accurately recognized, the control module accurately controls the actions of the mechanical arm and the grabbing mechanism according to the recognition result, intelligent grabbing is achieved, and the grabbing accuracy and efficiency are greatly improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of automobile part production equipment, and in particular to an intelligent grabbing manipulator for automobile part production. BACKGROUND

[0002] In the automobile part production process, parts of different shapes, sizes and weights often need to be grabbed, transported and assembled. The traditional grabbing manipulator is mostly simple in structure and low in intelligent degree, and it is difficult to accurately adapt to diversified automobile part grabbing requirements.

[0003] On the one hand, the existing manipulator often needs to manually replace the grabbing clamp when grabbing parts of different shapes, which is tedious and inefficient. On the other hand, the part position and posture recognition capability is insufficient, and it is difficult to achieve fast and accurate grabbing positioning, which limits the production efficiency, and the parts are easily damaged due to positioning deviation during the grabbing process. Therefore, an intelligent grabbing manipulator for automobile part production is proposed to solve the above problems. CONTENT OF THE UTILITY MODEL

[0004] The utility model aims at providing an intelligent grabbing manipulator for automobile part production to solve the problem of low intelligent degree of the existing manipulator and difficulty in adapting to diversified part grabbing requirements in the background art.

[0005] The intelligent grabbing manipulator for automobile part production provided by the application adopts the following technical scheme:

[0006] An intelligent grabbing manipulator for automobile part production comprises a mechanical arm main body, a base is slidably connected to the inner wall of the mechanical arm main body, two screw blocks two are slidably connected to the inner wall of the base, two clamps are fixedly connected to the outer wall of the base outside the two screw blocks two, and a self-adaptive grabbing mechanism is installed on the outer wall of the two clamps.

[0007] The self-adaptive grabbing mechanism comprises a plurality of electric telescopic rods fixedly installed on the outer wall of the two clamps, a pressure sensor is fixedly installed on the telescopic end of each electric telescopic rod, and a clamping block is fixedly connected to the outer wall of the side of the pressure sensor away from the electric telescopic rod.

[0008] A visual recognition camera is embeddedly installed on the outer wall of the middle section bottom of the base, a control module is fixedly installed on the outer wall of the mechanical arm main body, and the control module is electrically connected with the visual recognition camera, the electric telescopic rod and the pressure sensor.

[0009] Preferably, the inner wall of the two ends of the base is rotatably connected with a bidirectional screw rod, two screw blocks are symmetrically connected with the outer wall of the bidirectional screw rod, the outer wall of one end of the base is fixedly installed with a stepping motor, and the output shaft of the stepping motor penetrates through the base and is fixedly connected with one end of the bidirectional screw rod.

[0010] Preferably, the inner wall of the base is rotatably connected with a screw rod, the outer wall of the middle section inside the base is fixedly connected with a screw block one, the screw block one is threadedly connected with the outer wall of the screw rod, the outer wall of one end of the base is fixedly installed with a servo motor, and the output shaft of the servo motor penetrates through the base and is fixedly connected with one end of the screw rod.

[0011] Preferably, the outer wall of the screw block one is fixedly installed with a screw block two, the outer wall of the screw block two is fixedly installed with a screw block three, the outer wall of the screw block three is fixedly installed with a screw block four, and the outer wall of the screw block four is fixedly installed with a screw block five.

[0012] Preferably, the outer wall of the screw block one is fixedly installed with a screw block two, the outer wall of the screw block two is fixedly installed with a screw block three, the outer wall of the screw block three is fixedly installed with a screw block four, and the outer wall of the screw block four is fixedly installed with a screw block five.

[0013] Preferably, the outer wall of the screw block one is fixedly installed with a screw block two, the outer wall of the screw block two is fixedly installed with a screw block three, the outer wall of the screw block three is fixedly installed with a screw block four, and the outer wall of the screw block four is fixedly installed with a screw block five.

[0014] In summary, the present application has the following beneficial technical effects:

[0015] 1. The visual recognition camera can quickly and accurately identify the shape, position and attitude of the automobile parts, and the control module can accurately control the movement of the mechanical arm and the grabbing mechanism according to the identification result, so as to realize intelligent grabbing and greatly improve the accuracy and efficiency of grabbing.

[0016] 2. The plurality of electric telescopic rods in the self-adaptive grabbing mechanism can automatically adjust the position according to the shape and size of the parts, and the clamping force can be adjusted in real time through the pressure sensor, so as to adapt to the grabbing requirements of various types of automobile parts and avoid the trouble of frequent replacement of clamps, thereby improving the flexibility of production. DETAILED DESCRIPTION

[0017] Figure 1 is a schematic view of the whole application;

[0018] Figure 2 is a partial sectional view of the application;

[0019] Figure 3 is Figure 2 an enlarged schematic view of the structure at A in FIG. 6.

[0020] Explanation of reference signs: 1, mechanical arm body; 2, main gear; 3, rotating shaft; 4, shaft sleeve; 5, hydraulic cylinder; 6, connecting flange; 7, driving motor; 8, auxiliary gear; 9, servo motor; 10, base; 11, screw rod; 12, screw block one; 13, screw block two; 14, stepping motor; 15, bidirectional screw rod; 16, visual identification camera; 17, clamp; 18, electric telescopic rod; 19, pressure sensor; 20, clamping block; 21, control module. DETAILED DESCRIPTION

[0021] The following will be described in detail below Figures 1-3 The application is further described in detail.

[0022] The embodiment of the application discloses an intelligent grabbing manipulator for automobile part production. Figures 1-3 An intelligent grabbing manipulator for automobile part production, comprising a mechanical arm body 1, the inner wall of the mechanical arm body 1 is slidably connected with a base 10, the inner wall of the base 10 is slidably connected with two screw block twos 13, the outer wall of the two screw block twos 13 located outside the base 10 is fixedly connected with two clamps 17, and the outer wall of the two clamps 17 is installed with a self-adaptive grabbing mechanism;

[0023] The self-adaptive grabbing mechanism comprises a plurality of electric telescopic rods 18 fixedly installed on the outer wall of the two clamps 17, the telescopic end of the plurality of electric telescopic rods 18 is fixedly installed with a pressure sensor 19, and the outer wall of the side, away from the electric telescopic rod 18, of the pressure sensor 19 is fixedly connected with a clamping block 20.

[0024] The middle section bottom outer wall of the base 10 is embeddedly installed with a visual identification camera 16, the outer wall of the mechanical arm body 1 is fixedly installed with a control module 21, and the control module 21 is electrically connected with the visual identification camera 16, the electric telescopic rod 18 and the pressure sensor 19 respectively.

[0025] The two ends of the inner wall of the base 10 are rotatably connected with a bidirectional screw rod 15, the two screw block twos 13 are symmetrically and threadedly connected to the outer wall of the bidirectional screw rod 15, the outer wall of one end of the base 10 is fixedly installed with a stepping motor 14, and the output shaft of the stepping motor 14 penetrates through the base 10 and is fixedly connected to one end of the bidirectional screw rod 15.

[0026] The inner wall of the mechanical arm body 1 is rotatably connected with a screw rod 11, the middle section outer wall of the base 10 located inside the mechanical arm body 1 is fixedly connected with a screw block one 12, the screw block one 12 is threadedly connected to the outer wall of the screw rod 11, the outer wall of one end of the mechanical arm body 1 is fixedly installed with a servo motor 9, and the output shaft of the servo motor 9 penetrates through the mechanical arm body 1 and is fixedly connected to one end of the screw rod 11.

[0027] The end, away from the servo motor 9, of the mechanical arm body 1 is fixedly connected with a main gear 2, and the end, away from the servo motor 9, of the screw rod 11 is rotatably connected to the outer wall of the main gear 2.

[0028] The outer wall of the main gear 2 away from the mechanical arm body 1 is fixedly connected with a rotating shaft 3, the outer wall of the rotating shaft 3 is rotatably connected with a shaft sleeve 4, the outer wall of the shaft sleeve 4 is fixedly connected with a hydraulic cylinder 5, and one end of the hydraulic cylinder 5 away from the shaft sleeve 4 is fixedly connected with a connecting flange 6.

[0029] The outer wall of the shaft sleeve 4 is fixedly installed with a driving motor 7, and the output shaft tail end of the driving motor 7 is fixedly connected with a pinion 8, and the pinion 8 is engaged with the main gear 2.

[0030] The implementation principle of the intelligent grabbing manipulator for automobile part production is as follows: part recognition: when the automobile part enters the working area of the manipulator, the visual recognition camera 16 starts to collect the image information of the part and transmits it to the control module 21. The control module 21 analyzes the image through image recognition algorithm and identifies the shape, position and attitude of the part.

[0031] Positioning and grabbing: the control module 21 calculates the motion parameters of the base 10 according to the identified part information, controls the movement of the mechanical arm body 1, and moves the adaptive grabbing mechanism above the part. Then, the control module 21 controls the hydraulic cylinder 5 to elongate and adjusts the height position of the manipulator. When the control module 21 controls the driving motor 7 to start driving the pinion 8 to rotate, the main gear 2 can drive the mechanical arm body 1 to rotate to adjust the grabbing angle of the manipulator. Finally, the control module 21 controls the servo motor 9 to start, and the output shaft of the servo motor 9 drives the screw rod 11 to rotate on the inner surface of the screw block one 12 to drive the screw block one 12 to drive the base 10 to move left and right on the inner wall of the mechanical arm body 1 to adjust the position, so that the base 10 approaches the part. When the part is located between the two clamps 17, the stepping motor 14 is started, the output shaft of the stepping motor 14 drives the bidirectional screw rod 15 to rotate, and the bidirectional screw rod 15 rotates on the inner surface of the two screw block twos 13. Since the threads on the outer wall of the bidirectional screw rod 15 are symmetrically and oppositely arranged, the bidirectional screw rod 15 drives the two screw block twos 13 to move relatively on the inner wall of the base 10, so that the two clamps 17 move relatively to clamp the part. At the same time, multiple clamping blocks 20 contact the outer wall of the part, and the pressure sensor 19 detects the pressure signal and feeds it back to the control module 21. The control module 21 adjusts the extension length of the multiple electric telescopic rods 18 according to the pressure information, so that the output end of the multiple electric telescopic rods 18 extends to tightly fit the surface of the part, realizing adaptive grabbing. At the same time, the control module 21 adjusts the torque of the stepping motor 14 according to the weight and material of the part, and adjusts the clamping force of the two clamps 17, so as to ensure that the part is firmly grabbed and not damaged.

[0032] Transport and place: after grabbing the part, the control module 21 controls each driving component on the mechanical arm main body 1, drives the base 10 to move according to the predetermined path, and transports the part to the designated position for placement. During the placement process, the control module 21 detects and calibrates the placement position again through the visual identification camera 16, to ensure accurate placement of the part;

[0033] It is worth noting that the servo motor 9, the stepping motor 14, the driving motor 7 and the hydraulic cylinder 5 are all electrically connected with the control module 21 through the connecting lines, and the whole mechanical hand can be fixed at the specified installation position through the connecting flange 6.

[0034] Finally, it should be pointed out that: first, in the description of the present application, it should be pointed out that, unless otherwise specified and limited, the terms "installation", "connection", "connection" should be understood broadly, which can be mechanical connection or electrical connection, or the communication between two elements, or direct connection, "up", "down", "left", "right" and the like are only used to indicate the relative positional relationship, when the absolute position of the described object changes, the relative positional relationship may change;

[0035] Secondly: the utility model discloses the embodiment of the drawings, only relate to the structure involved in the embodiment of the present disclosure, other structures can refer to the usual design, under the condition of no conflict, the same embodiment and different embodiments of the utility model can be combined with each other;

[0036] Finally: the above only for the preferred embodiment of the utility model, and does not limit the utility model, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model should be included in the protection scope of the utility model.

[0037] The above are the preferred embodiments of the present application, and are not used to limit the protection scope of the present application, so: any equivalent change made according to the structure, shape, principle of the present application should be covered in the protection scope of the present application.

Claims

1. An intelligent gripping robot for automobile parts production, comprising a robotic arm body (1), characterized in that: The inner wall of the mechanical arm body (1) is slidably connected with a base (10), the inner wall of the base (10) is slidably connected with two screw blocks two (13), the outer wall of the two screw blocks two (13) located outside the base (10) is fixedly connected with clamps (17), and the outer wall of the two clamps (17) is installed with a self-adaptive grabbing mechanism. The self-adaptive grabbing mechanism comprises a plurality of electric telescopic rods (18) fixedly installed on the outer wall of the two clamps (17), the telescopic end of the plurality of electric telescopic rods (18) is fixedly installed with a pressure sensor (19), and the outer wall of the side away from the electric telescopic rod (18) of the pressure sensor (19) is fixedly connected with a clamping block (20). The middle section bottom outer wall of the base (10) is embeddedly installed with a visual identification camera (16), the outer wall of the mechanical arm body (1) is fixedly installed with a control module (21), and the control module (21) is electrically connected with the visual identification camera (16), the electric telescopic rod (18) and the pressure sensor (19) respectively.

2. The intelligent grabbing manipulator for automobile part production according to claim 1, characterized in that: The inner wall of the two ends of the base (10) is rotatably connected with a bidirectional screw rod (15), the outer wall of the two screw blocks two (13) is symmetrically and threadedly connected with the bidirectional screw rod (15), the outer wall of one end of the base (10) is fixedly installed with a stepping motor (14), and the output shaft of the stepping motor (14) penetrates through the base (10) and is fixedly connected with one end of the bidirectional screw rod (15).

3. The intelligent grabbing manipulator for automobile part production according to claim 1, characterized in that: The inner wall of the mechanical arm body (1) is rotatably connected with a screw rod (11), the middle section outer wall of the base (10) located inside the mechanical arm body (1) is fixedly connected with a screw block one (12), the screw block one (12) is threadedly connected with the outer wall of the screw rod (11), and the outer wall of one end of the mechanical arm body (1) is fixedly installed with a servo motor (9). The output shaft of the servo motor (9) penetrates through the mechanical arm body (1) and is fixedly connected with one end of the screw rod (11).

4. The intelligent grabbing manipulator for automobile part production according to claim 3, characterized in that: The end, away from the servo motor (9), of the mechanical arm body (1) is fixedly connected with a main gear (2), and the end, away from the servo motor (9), of the screw rod (11) is rotatably connected with the outer wall of the main gear (2).

5. The intelligent grabbing manipulator for automobile part production according to claim 4, characterized in that: The outer wall of the side, away from the mechanical arm body (1), of the main gear (2) is fixedly connected with a rotating shaft (3), the outer wall of the rotating shaft (3) is rotatably connected with a shaft sleeve (4), the outer wall of the shaft sleeve (4) is fixedly connected with a hydraulic cylinder (5), and the end, away from the shaft sleeve (4), of the hydraulic cylinder (5) is fixedly connected with a connecting flange (6).

6. The intelligent grabbing manipulator for automobile part production according to claim 5, characterized in that: The outer wall of the shaft sleeve (4) is fixedly installed with a driving motor (7), the output shaft end of the driving motor (7) is fixedly connected with a secondary gear (8), and the secondary gear (8) is engaged with the main gear (2).

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