Clamping jaw mechanism and manipulator

Abstract

The utility model discloses a clamping jaw mechanism and a manipulator, and belongs to the technical field of engine machining. The clamping jaw mechanism comprises a mounting seat and two centrosymmetric clamping jaw assemblies, the clamping jaw assemblies are mounted on the mounting seat, each clamping jaw assembly comprises a first clamping piece and a second clamping piece which are arranged in a spaced mode in the first horizontal direction, and a clamping space is jointly formed between the first clamping piece and the second clamping piece; the clamping space is used for clamping the end of the engine assembly, and the first clamping piece is provided with a positioning part matched with the engine assembly in a positioning mode. Through the two centrosymmetric clamping jaw assemblies and the first clamping piece and the second clamping piece which are arranged in a spaced mode, the stability and safety of clamping of the engine assembly are guaranteed. And meanwhile, due to the existence of the positioning part of the first clamping piece, the clamping accuracy is improved, errors possibly occurring in the operation process are reduced, and the follow-up assembly efficiency and accuracy are improved.

Description

Technical Field

[0001] This application belongs to the field of engine processing technology, and in particular relates to a gripper mechanism and a robotic arm. Background Technology

[0002] With increasing automation in industrial manufacturing, especially the growing maturity of automobile production technology, people's demands for automobiles are rising. Improving the lean manufacturing process is a standard for enterprises to enhance their competitiveness. Among them, the engine assembly is one of the most important parts of a car. During the production and assembly process, the placement and angle of the engine assembly often need to be changed frequently. However, due to the unevenness of the engine assembly's exterior, current robotic arms may not be able to grip it securely, affecting the efficiency and accuracy of subsequent assembly. Utility Model Content

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a gripper mechanism and a robotic arm that ensures the stability and safety of gripping the engine assembly, and improves the efficiency and accuracy of subsequent assembly.

[0004] In a first aspect, this application provides a gripper mechanism, comprising:

[0005] Mounting base;

[0006] Two centrally symmetrical gripper assemblies are mounted on the mounting base. Each gripper assembly includes a first clamping member and a second clamping member spaced apart along a first horizontal direction. The first clamping member and the second clamping member together form a clamping space for clamping the end of the engine assembly. The first clamping member has a positioning part that positions and engages with the engine assembly.

[0007] According to the gripper mechanism of this application, two centrally symmetrical gripper assemblies help to clamp the two ends of the engine assembly respectively, providing balanced clamping force and reducing the risk of damage to the engine assembly. Simultaneously, each gripper assembly includes a first clamping member and a second clamping member spaced apart and forming a clamping space together, thereby ensuring stable clamping of the two ends of the engine assembly. Furthermore, the positioning cooperation between the first clamping member and the engine assembly ensures accurate positioning of the engine assembly while clamping, improving the stability of gripping the engine cylinder head.

[0008] According to one embodiment of this application, the first clamping member is movably disposed on the mounting base along the first horizontal direction to adjust the size of the clamping space.

[0009] According to one embodiment of this application, one of the mounting base and the first clamping member is provided with a slide rail extending along the first horizontal direction, and the other of the mounting base and the first clamping member is provided with a slider that slides with the slide rail. The gripper assembly further includes:

[0010] A linear drive unit, wherein the fixed end of the linear drive unit is disposed on the second clamping member, and the driving end of the linear drive unit is connected to the first clamping member.

[0011] According to one embodiment of this application, the engine assembly forms a first positioning hole, the first clamping member forms a second positioning hole, the positioning part includes the second positioning hole, and the gripper assembly further includes a first fixing member, one end of the first fixing member passing through the second positioning hole and cooperating with the first positioning hole.

[0012] According to one embodiment of this application, the second positioning hole includes a first hole segment and a second hole segment connected in sequence, the inner diameter of the first hole segment is larger than the inner diameter of the second hole segment, the portion of the outer side wall of the first fixing member away from the first clamping member abuts against the inner edge of the second hole segment, and the gripper assembly further includes:

[0013] The second fastener has a portion of its outer side wall abutting against the inner edge of the first hole, and the other portion passing through the first fastener.

[0014] According to one embodiment of this application, the second clamping member forms a slot, which engages with the end of the first fixing member away from the first clamping member.

[0015] According to one embodiment of this application, the second clamping member includes:

[0016] The second main body section has its upper end connected to the bottom surface of the mounting base and extends in a vertical direction;

[0017] The second connecting block is disposed at the lower end of the second main body segment and close to the first clamping member. The second connecting block protrudes from the side wall of the second main body segment along the second horizontal direction and forms the slot.

[0018] According to one embodiment of this application, the first clamping member includes:

[0019] The first main body segment has its upper end connected to the bottom surface of the mounting base and extends in a vertical direction;

[0020] A first connecting block is disposed at the lower end of the first main body segment and located on one side near the center of the mounting base. The first connecting block protrudes from the side wall of the first main body segment along a second horizontal direction, and the first connecting block forms the positioning part.

[0021] According to one embodiment of this application, it also includes:

[0022] A camera module is mounted on the mounting base; and / or

[0023] A sensing sensor is mounted on the mounting base.

[0024] Secondly, this application provides a robotic arm, which includes:

[0025] robotic arms; and

[0026] The gripper mechanism described above is located at the end of the robotic arm.

[0027] The robotic arm according to this application increases handling efficiency and precision by improving the stability and safety of gripping, thereby enhancing the level of automation.

[0028] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0029] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0030] Figure 1 This is a schematic diagram of the structure of the robot arm and engine assembly in cooperation according to an embodiment of this application;

[0031] Figure 2 This is one of the structural schematic diagrams of the gripper mechanism provided in the embodiments of this application;

[0032] Figure 3 This is the second schematic diagram of the gripper mechanism provided in the embodiments of this application;

[0033] Figure 4 This is a schematic diagram of the gripper assembly provided in the embodiments of this application.

[0034] Figure label:

[0035] 100. Gripper mechanism;

[0036] 110. Mounting bracket;

[0037] 120. Gripper assembly;

[0038] 121. First clamping member; 1210. Second positioning hole; 1211. First main body segment; 1212. First connecting block;

[0039] 122. Second clamping component; 1220. Slot; 1221. Second main body section; 1222. Second connecting block;

[0040] 123. Linear drive component; 124. First fixing component; 125. Second fixing component;

[0041] 130. Slide rail; 140. Slider; 150. Camera module; 160. Sensor;

[0042] 200, robotic arm; 900, engine assembly. Detailed Implementation

[0043] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0044] The following is for reference. Figures 1-4 The gripper mechanism 100 provided in the embodiments of this application is described. The gripper mechanism 100 includes a mounting base 110 and two centrally symmetrical gripper assemblies 120.

[0045] The gripper assembly 120 is mounted on the mounting base 110. The gripper assembly 120 includes a first clamping member 121 and a second clamping member 122 spaced apart along a first horizontal direction. The first clamping member 121 and the second clamping member 122 together form a clamping space for clamping the end of the engine assembly 900. The first clamping member 121 has a positioning part that positions and cooperates with the engine assembly 900.

[0046] Understandably, the two centrally symmetrical gripper assemblies 120 help to clamp the two ends of the engine assembly 900 respectively, providing balanced clamping force and reducing the risk of damage to the engine assembly 900. Simultaneously, each gripper assembly 120 includes a first clamping member 121 and a second clamping member 122 spaced apart and forming a clamping space together, thereby ensuring stable clamping of the two ends of the engine assembly 900. Furthermore, the positioning cooperation between the first clamping member 121 and the engine assembly 900 ensures accurate positioning of the engine assembly 900 while clamping, improving the stability of gripping the engine cylinder head.

[0047] According to the gripper mechanism 100 provided in the embodiments of this application, the stability and safety of gripping the engine assembly 900 are ensured by two centrally symmetrical gripper assemblies 120 and their respective first gripping member 121 and second gripping member 122 arranged at intervals. At the same time, the presence of the positioning part of the first gripping member 121 improves the gripping accuracy, reduces possible errors during operation, and improves the efficiency and accuracy of subsequent assembly.

[0048] In some embodiments, such as Figures 2 to 4 As shown, the first clamping member 121 is movably disposed on the mounting base 110 along the first horizontal direction to adjust the size of the clamping space.

[0049] It is understood that the first clamping member 121 and the second clamping member 122 are spaced apart along the first horizontal direction, and the first clamping member 121 is moved along the first horizontal direction to the mounting base 110 to move closer to or further away from the second clamping member 122, thereby changing the size of the clamping space. That is, when it is necessary to clamp the engine assembly 900, the positioning part first cooperates with the engine assembly 900 to complete the positioning of the engine assembly 900, and then the first clamping member 121 is moved closer to the second clamping member 122 to reduce the size of the clamping space until the end of the engine assembly 900 can simultaneously abut against the first clamping member 121 and the second clamping member 122, thereby firmly clamping the engine assembly. When the engine assembly 900 is transported to the designated position, the first clamping member 121 is moved away from the second clamping member 122 to expand the clamping space, so that the first clamping member 121 and the second clamping member 122 move away from each other to release the clamped engine assembly 900, thus completing the transportation process of the engine assembly 900. This saves time and effort, improves handling efficiency, and enhances the stability of clamping the engine assembly 900.

[0050] In some embodiments, such as Figures 2 to 4 As shown, one of the mounting base 110 and the first clamping member 121 is provided with a slide rail 130, which extends along a first horizontal direction. The other of the mounting base 110 and the first clamping member 121 is provided with a slider 140 that slides in cooperation with the slide rail 130. The gripper assembly 120 also includes a linear drive member 123, the fixed end of which is disposed on the second clamping member 122, and the driving end of which is connected to the first clamping member 121. Exemplarily, the linear drive member 123 includes, but is not limited to, a locking cylinder.

[0051] Understandably, the movement of the first clamping member 121 is precisely guided by the cooperating slide plate and slider 140. The linear drive member 123 clamps or releases the engine assembly 900 by driving the first clamping member 121 along a first horizontal direction to move closer to or away from the second clamping member 122.

[0052] In some embodiments, such as Figures 2 to 4 As shown, the engine assembly 900 forms a first positioning hole, the first clamping member 121 forms a second positioning hole 1210, the positioning part includes the second positioning hole 1210, and the gripper assembly 120 also includes a first fixing member 124, one end of the first fixing member 124 passing through the second positioning hole 1210 and cooperating with the first positioning hole. It should be noted that the size and shape of the first positioning hole and the second positioning hole 1210 can be designed according to actual needs, and this embodiment does not impose specific limitations on this.

[0053] Understandably, when the gripper assembly 120 approaches the engine assembly 900, the end of the engine assembly 900 is positioned between the first clamping member 121 and the second clamping member 122. By having the first fixing member 124 pass through the second positioning hole 1210 in sequence and engage with the first positioning hole, the first clamping member 121 can subsequently drive the engine assembly 900 closer to the second clamping member 122, thereby achieving precise alignment between the gripper assembly 120 and the engine assembly 900 and ensuring stability and fixation during the clamping process.

[0054] In some embodiments, such as Figure 3 and Figure 4 As shown, the first clamping member 121 includes a first main body segment 1211 and a first connecting block 1212. The upper end of the first main body segment 1211 is connected to the bottom surface of the mounting base 110 and extends in the vertical direction. The first connecting block 1212 is disposed at the lower end of the first main body segment 1211 and is located on one side close to the center of the mounting base 110. The first connecting block 1212 protrudes from the side wall of the first main body segment 1211 in the second horizontal direction and forms a positioning part.

[0055] Understandably, the upper end of the first main body segment 1211 is slidably connected to the bottom surface of the mounting base 110 and extends vertically to provide necessary support for the first clamping member 121. The first connecting block 1212 is disposed at the lower end of the first main body segment 1211 and located on the side near the center of the mounting base 110. It protrudes from the side wall of the first main body segment 1211 along the second horizontal direction, increasing the contact area with the engine assembly 900 and helping to maintain the symmetry and balance of the gripper assembly 120, thus achieving the requirements of uniform distribution of clamping force and precise positioning.

[0056] In some embodiments, such as Figures 2 to 4As shown, the second positioning hole 1210 includes a first hole segment and a second hole segment connected in sequence. The inner diameter of the first hole segment is larger than the inner diameter of the second hole segment. The outer side wall of the first fixing member 124, away from the first clamping member 121, abuts against the inner edge of the second hole segment. The gripper assembly 120 also includes a second fixing member 125. A portion of the outer side wall of the second fixing member 125 abuts against the inner edge of the first hole segment, and the other portion passes through the first fixing member 124.

[0057] Understandably, the inner diameter of the first hole is larger than that of the second hole, meaning the second positioning hole 1210 is a stepped hole. This ensures that the first fixing member 124 can smoothly pass through the first hole when passing through the second positioning hole 1210, while providing a tighter fit when reaching the second hole, thus ensuring the stability of the connection between the second fixing member 125 and the first clamping member 121. Simultaneously, a portion of the outer wall of the second fixing member 125 abuts against the inner edge of the first hole, while another portion passes through the first fixing member 124. This allows the second fixing member 125 to simultaneously cooperate with both the first hole and the first fixing member 124, providing additional fixation and support. This enhances the structural strength and reliability of the entire gripper mechanism 100 and improves the accuracy and stability of the positioning between the first clamping member 121 and the engine assembly 900.

[0058] In some embodiments, such as Figure 3 and Figure 4 As shown, the second clamping member 122 forms a slot 1220, which engages with the end of the first fixing member 124 away from the first clamping member 121. It should be noted that the shape and size of the slot 1220 can be designed according to actual needs, and this embodiment does not impose specific limitations on it.

[0059] It can be understood that one end of the first fixing member 124 passes through the second positioning hole 1210 and the first positioning hole and can engage with the slot 1220 of the second clamping member 122. This not only provides additional fixing function, but also provides a certain amount of adjustment space to adapt to different clamping requirements and changes in the size of the engine assembly 900.

[0060] In some embodiments, such as Figure 3 and Figure 4 As shown, the second clamping member 122 includes a second main body segment 1221 and a second connecting block 1222. The upper end of the second main body segment 1221 is connected to the bottom surface of the mounting base 110 and extends in the vertical direction. The second connecting block 1222 is disposed at the lower end of the second main body segment 1221 and close to the first clamping member 121. The second connecting block 1222 protrudes from the side wall of the second main body segment 1221 in the second horizontal direction and forms a slot 1220.

[0061] Understandably, the upper end of the first main body segment 1211 is connected to the bottom surface of the mounting base 110 and extends vertically to provide necessary support for the second clamping member 122. The second connecting block 1222 is located at the lower end of the second main body segment 1221, on the side near the center of the mounting base 110, and protrudes from the side wall of the second main body segment 1221 in the second horizontal direction, increasing the contact area with the engine assembly 900 and helping to maintain the symmetry and balance of the gripper assembly 120, thus achieving the requirements of uniform distribution of clamping force and precise positioning.

[0062] In some embodiments, such as Figure 2 As shown, the gripper mechanism 100 also includes a camera module 150 disposed on the mounting base 110 to capture images of the engine assembly 900, provide precise positioning information for the gripper assembly 120, and play a role in detecting appearance defects of the engine assembly 900, so as to ensure that only qualified engine assemblies 900 can enter the assembly process, thereby improving assembly efficiency and pass rate.

[0063] In some embodiments, such as Figure 3 As shown, the gripper mechanism 100 also includes a sensing sensor 160 disposed on the mounting base 110 to monitor whether the gripper assembly 120 is correctly gripped to the engine assembly 900, thereby enhancing the intelligence level of the gripper mechanism 100, improving the flexibility and safety of operation, and also improving the accuracy and efficiency of the gripping process.

[0064] This application also provides a robotic arm. For example... Figure 1 As shown, the robotic arm includes a robotic arm 200 and the aforementioned gripper mechanism 100, which is disposed at the end of the robotic arm 200. Exemplarily, the robotic arm 200 includes, but is not limited to, a six-axis robotic arm 200.

[0065] The robotic arm provided according to the embodiments of this application improves the stability and safety of gripping, increases handling efficiency and accuracy, and enhances the level of automation.

[0066] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0067] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0068] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0069] In the description of this application, "multiple" means two or more.

[0070] In the description of this application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0071] In the description of this application, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0072] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0073] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A gripper mechanism, characterized by, The utility model relates to an engine assembly positioning device, comprising: a mounting base (110); two center-symmetrical jaw assemblies (120) mounted on the mounting base (110), the jaw assemblies (120) comprising a first clamping piece (121) and a second clamping piece (122) spaced apart along a first horizontal direction, the first clamping piece (121) and the second clamping piece (122) together forming a clamping space for clamping an end of an engine assembly (900), and the first clamping piece (121) having a positioning part for positioning with the engine assembly (900).

2. The jaw mechanism of claim 1, wherein, The first clamping piece (121) is movably arranged in the mounting base (110) along the first horizontal direction to adjust the size of the clamping space.

3. The jaw mechanism of claim 2, wherein, One of the mounting base (110) and the first clamping piece (121) is provided with a sliding rail (130) extending along the first horizontal direction, and the other is provided with a sliding block (140) slidingly matched with the sliding rail (130), and the jaw assemblies (120) further comprise: a linear drive (123) having a fixed end arranged on the second clamping piece (122) and a driving end connected with the first clamping piece (121).

4. The jaw mechanism of claim 1, wherein, The engine assembly (900) forms a first positioning hole, the first clamping piece (121) forms a second positioning hole (1210), the positioning part comprises the second positioning hole (1210), and the jaw assemblies (120) further comprise a first fixing piece (124) having one end passing through the second positioning hole (1210) and matched with the first positioning hole.

5. The jaw mechanism of claim 4, wherein, The second positioning hole (1210) comprises a first hole section and a second hole section connected in sequence, the inner diameter of the first hole section is greater than that of the second hole section, and the outer side wall of the first fixing piece (124) is in abutment with the inner edge of the second hole section away from the first clamping piece (121), and the jaw assemblies (120) further comprise: a second fixing piece (125) having one part of the outer side wall in abutment with the inner edge of the first hole section and the other part passing through the first fixing piece (124).

6. The jaw mechanism of claim 4, wherein, The second clamping piece (122) forms a clamping groove (1220) matched with the end of the first fixing piece (124) away from the first clamping piece (121).

7. The jaw mechanism of claim 6, wherein, The second clamping piece (122) comprises: a second body section (1221) having an upper end connected with the bottom surface of the mounting base (110) and extending along a vertical direction; A second connecting block (1222) is arranged at the lower end of the second main section (1221) and close to the first clamping member (121). The second connecting block (1222) protrudes from the side wall of the second main section (1221) in the second horizontal direction. The second connecting block (1222) forms the clamping groove (1220).

8. The jaw mechanism according to any one of claims 1 to 7, characterized in that The first clamping member (121) comprises: A first main section (1211) is arranged at the upper end of the mounting base (110) and extends in the vertical direction. A first connecting block (1212) is arranged at the lower end of the first main section (1211) and located close to the center of the mounting base (110). The first connecting block (1212) protrudes from the side wall of the first main section (1211) in the second horizontal direction. The first connecting block (1212) forms the positioning portion.

9. The jaw mechanism according to any one of claims 1 to 7, wherein Further comprising: A camera module (150) is arranged on the mounting base (110). And / or An inductive sensor (160) is arranged on the mounting base (110).

10. A robot, characterized in that Comprise: A mechanical arm (200); and The clamping jaw mechanism according to any one of claims 1 to 9 is arranged at the end of the mechanical arm (200). ​

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