Turnover manipulator

Abstract

The utility model relates to the technical field of manipulators, in particular to an overturning manipulator which comprises a driving mechanism, the driving mechanism comprises a rotating driving assembly and a clamping driving assembly which are connected with each other, and the rotating driving assembly is configured to drive the clamping driving assembly to rotate around a rotating axis; the clamping driving assembly is provided with a first execution end and a second execution end, and at least one of the first execution end and the second execution end is configured to move between a clamping position and a loosening position; the first clamping jaw is arranged at the first execution end; the first clamping jaw is arranged at the first executing end, the second clamping jaw is arranged at the second executing end, a clamping area is formed between the first clamping jaw and the second clamping jaw, a first positioning piece is arranged on the side, facing the clamping area, of the first clamping jaw, and a second positioning piece is arranged on the side, facing the clamping area, of the second clamping jaw.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of mechanical hand, and particularly relates to a turnover mechanical hand. BACKGROUND

[0002] As an important executive mechanism in the field of modern industrial automation, the mechanical hand has been widely applied in the fields of automobile manufacturing, electronic assembly, precision machining, etc. The mechanical hand grasps the workpiece through the gripper and realizes the spatial pose transformation, and plays a key role in material handling, process switching, precision positioning, etc.

[0003] In a typical application scenario, the mechanical hand is often configured to implement a specific angle of the workpiece. For example, between the library construction step and the sequencing reaction step in high-throughput sequencing, the chip needs to be turned over by 180 degrees so that the chip can be inserted into the sequencer in the correct posture.

[0004] At present, the gripper of the mainstream mechanical hand mainly depends on the profile structure to match the shape of the clamped workpiece, or generates clamping friction through the driving mechanism of the mechanical hand to realize the fixation of the workpiece. However, the mechanical hand only relies on the shape of the gripper or the clamping friction to clamp the workpiece, which leads to low positioning accuracy when clamping the workpiece, affecting the subsequent processing of the workpiece. CONTENT OF THE UTILITY MODEL

[0005] The purpose of the present disclosure is to provide a turnover mechanical hand, which inserts a positioning member into a positioning hole on the workpiece by setting the positioning member on the gripper, thereby improving the positioning accuracy when clamping the workpiece.

[0006] To achieve the above purpose, the present disclosure provides a turnover mechanical hand, comprising:

[0007] A driving mechanism, the driving mechanism comprises a rotation driving component and a clamping driving component connected with each other, the rotation driving component is configured to drive the clamping driving component to rotate around a rotation axis, the clamping driving component has a first execution end and a second execution end, at least one of the first execution end and the second execution end is configured to be movable between a clamping position and a relaxed position;

[0008] A first gripper, the first gripper is arranged at the first execution end; and

[0009] A second gripper, the second gripper is arranged at the second execution end,

[0010] Wherein, the first gripper and the second gripper form a clamping area between them, the first gripper is provided with a first positioning member on one side facing the clamping area, and the second gripper is provided with a second positioning member on one side facing the clamping area.

[0011] Compared with the prior art, the present disclosure has at least the following beneficial effects:

[0012] In the process of clamping the workpiece, the first positioning member of the first clamping jaw is inserted into the first positioning hole of the workpiece, and the second positioning member of the second clamping jaw is inserted into the second positioning hole of the workpiece, thereby improving the positioning accuracy in the process of clamping the workpiece through the mechanical cooperation of the positioning members and the positioning holes. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 A perspective view of the turnover manipulator of the first embodiment of the present disclosure is shown, in which the workpiece is located between the first clamping jaw and the second clamping jaw.

[0014] Figure 2 A right view of the turnover manipulator of the present disclosure is shown. Figure 1

[0015] Figure 3 A perspective view of the turnover manipulator of the second embodiment of the present disclosure is shown.

[0016] In the drawings:

[0017] 10, fixed seat; 11, mounting hole;

[0018] 20, driving mechanism; 21, rotary driving assembly; 22, clamping driving assembly; 221, first execution end; 222, second execution end; 23, rotary axis;

[0019] 30, first clamping jaw;

[0020] 40, second clamping jaw; 41, second positioning member;

[0021] 50, connecting assembly; 51, first connecting member; 52, second connecting member;

[0022] 60, sensor assembly; 61, slot photoelectric switch; 62, switch baffle; 63, switch mounting seat;

[0023] 70, workpiece; 71, first positioning hole; 72, second positioning hole. DETAILED DESCRIPTION

[0024] The technical solutions of the present disclosure will be further described below in combination with the drawings and through specific embodiments. It can be understood that the specific embodiments described herein are only used to explain the present disclosure, but not to limit the present disclosure. In addition, it should be noted that, for the convenience of description, only the parts related to the present disclosure are shown in the drawings, but not all.

[0025] In the present disclosure, some orientation words are defined. Without making the opposite statement, the orientation words used such as "up", "down", "left", "right", "inner", "outer" are adopted for the convenience of understanding, and thus do not constitute a limitation on the protection scope of the present disclosure.​

[0026] In the present disclosure, unless specifically defined and limited otherwise, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0027] In the description of the present disclosure, unless specifically defined and limited otherwise, the terms "connected", "connected", "fixed" should be understood broadly, for example, can be fixedly connected, or can be detachably connected, or integrated; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0028] Figure 1 And Figure 2 A turnover manipulator according to a first embodiment of the present disclosure is shown.

[0029] The turnover manipulator includes a fixed seat 10, a driving mechanism 20, a first clamping jaw 30 and a second clamping jaw 40.

[0030] The fixed seat 10 can be provided on a static part (not shown). The static part can be the ground, a table top, a wall surface, etc. Exemplarily, in Figure 1 And Figure 2 The fixed seat 10 is a vertical plate, and the lower end of the vertical plate is used to connect the static part. Specifically, the lower end of the vertical plate can be provided with a mounting hole, so as to be connected to the static part by a fastener (such as a screw).

[0031] The driving mechanism 20 can be provided on the fixed seat 10, i.e. the fixed seat 10 provides support for the driving mechanism 20. Exemplarily, in Figure 1 And Figure 2 The driving mechanism can be provided on the upper end of the fixed seat 10.

[0032] The driving mechanism 20 is connected with the first clamping jaw 30 and the second clamping jaw 40, and can drive the first clamping jaw 30 and the second clamping jaw 40 to move and / or rotate synchronously.

[0033] Specifically, the driving mechanism 20 includes a rotation driving assembly 21 and a clamping driving assembly 22 connected with each other.

[0034] The rotation driving assembly 21 is configured to drive the clamping driving assembly 22 to rotate around a rotation axis 23. The rotation axis 23 can be the axis of the rotation driving assembly 21 itself. In Figure 1 and Figure 2 , the axis of the rotation driving assembly 21 and the axis of the clamping driving assembly 22 are collinear. In addition, in Figure 1 and Figure 2 , the rotation axis 23 extends in a horizontal direction.

[0035] The clamping driving assembly 22 has a first execution end 221 and a second execution end 222. The first clamping jaw 30 is arranged at the first execution end 221, and the second clamping jaw 40 is arranged at the second execution end 222. At least one of the first execution end 221 and the second execution end 222 is configured to be movable between a clamping position and a release position, so that the first clamping jaw 30 and the second clamping jaw 40 can be switched between a clamping state and a release state.

[0036] Specifically, in one example, the first execution end 221 is fixedly arranged, and the second execution end 222 is movable between the clamping position and the release position, so that the first clamping jaw 30 is not movable, and the second clamping jaw 40 can be moved under the drive of the second execution end 222.

[0037] In another example, both the first execution end 221 and the second execution end 222 are movable between the clamping position and the release position, so that both the first clamping jaw 30 and the second clamping jaw 40 are movable.

[0038] The distance between the first clamping jaw 30 and the second clamping jaw 40 is smaller in the clamping state than in the release state, so that the workpiece 70 can be clamped between the first clamping jaw 30 and the second clamping jaw 40.

[0039] As shown in Figure 1 , a clamping area is formed between the first clamping jaw 30 and the second clamping jaw 40, and the clamped workpiece 70 is located in the clamping area. Specifically, the first clamping jaw 30 is located on one side of the workpiece 70, and the second clamping jaw 40 is located on the other side of the workpiece 70, i.e. the first clamping jaw 30 and the second clamping jaw 40 can clamp the workpiece from opposite sides.

[0040] As shown in Figure 1 , a first positioning hole 71 is arranged on the side wall of one side of the workpiece 70, and a second positioning hole 72 is arranged on the side wall of the other side of the workpiece 70. The first positioning hole 71 and the second positioning hole 72 can be through holes or blind holes.

[0041] The first jaw 30 is provided with a first positioning member (not shown) on the side facing the clamping area, the shape and size of the first positioning member corresponding to the shape and size of the first positioning hole 71. When the first jaw is in the clamping state, the first positioning member is inserted into the first positioning hole 71.

[0042] The second jaw 40 is provided with a second positioning member 41 (see Figure 3 ) on the side facing the clamping area, the shape and size of the second positioning member 41 corresponding to the shape and size of the second positioning hole 72. When the second jaw 40 is in the clamping state, the second positioning member is inserted into the second positioning hole 72.

[0043] In summary, when clamping the workpiece according to the first embodiment of the present disclosure, the first positioning member of the first jaw 30 is inserted into the first positioning hole 71 of the workpiece 70, and the second positioning member 41 of the second jaw 40 is inserted into the second positioning hole 72 of the workpiece 70, thereby improving the positioning accuracy when clamping the workpiece 70 through the mechanical cooperation of the positioning member and the positioning hole.

[0044] Alternatively, the first positioning member can be detachably provided on the first jaw 30, so as to replace the worn first positioning member or replace the first positioning member with different shapes and / or sizes. For similar reasons, the second positioning member 41 can also be detachably provided on the second jaw 40.

[0045] Alternatively, the first positioning member can be selected from one of a positioning protrusion and a positioning pin. The positioning protrusion can be a semicircular protrusion. The positioning pin can be a cylindrical positioning pin or a conical positioning pin, and the shape of the first positioning hole 71 is adapted to the shape of the first positioning member, for example, when the positioning pin is a conical positioning pin, the first positioning hole 71 is a conical hole. For similar reasons, the second positioning member 41 can be selected from one of a positioning protrusion and a positioning pin.

[0046] Alternatively, there can be multiple first positioning members, for example, two, three, etc., and the positioning accuracy when clamping the workpiece 70 can be further improved by providing multiple first positioning members. For similar reasons, there can also be multiple second positioning members 41.

[0047] In Figure 1 and Figure 2 , the rotary drive assembly 21 and the clamping drive assembly 22 are two independent assemblies from each other. Specifically, the rotary drive assembly 21 can be a rotary pneumatic cylinder or a rotary electric cylinder. The clamping drive assembly 22 can be a finger pneumatic cylinder or a finger electric cylinder.

[0048] The rotary drive assembly 21 and the clamping drive assembly 22 can be connected to each other through a connecting assembly 50.

[0049] For example, the connecting assembly 50 includes a first connecting member 51 and a second connecting member 52. The first connecting member 51 is connected to the rotating seat of the rotating driving assembly 21. The second connecting member 52 is connected to the first connecting member 51, and the second connecting member 52 is connected to the outer side wall of the clamping driving assembly 22. Thus, when the rotating seat of the rotating driving assembly 21 rotates, the first connecting member 51 rotates accordingly and drives the second connecting member 52 to rotate synchronously, and finally the clamping driving assembly 22 also rotates synchronously.

[0050] As shown in Figure 2 The overturning manipulator further includes a sensor assembly 60 configured to measure the angle of rotation of the clamping driving assembly 22. When the sensor assembly 60 detects that the clamping driving assembly 22 has rotated by a preset angle (for example, 45 degrees, 90 degrees, 180 degrees, etc.), the rotating motion of the rotating driving assembly 21 is stopped.

[0051] For example, the sensor assembly 60 includes a slot photoelectric switch 61 and a switch baffle 62. The slot photoelectric switch 61 is fixedly arranged relative to the rotating driving assembly 21, for example, the slot photoelectric switch 61 is fixed on the fixed seat 10 through a switch mounting seat 63. The switch baffle 62 is arranged on the connecting assembly 50 (for example, the first connecting member 51). When the connecting assembly 50 rotates under the driving of the rotating driving assembly 21, the switch baffle 62 rotates with the connecting assembly 50, and the movement track of the switch baffle 62 passes through the slot photoelectric switch 61. Thus, the slot photoelectric switch 61 can detect that the connecting assembly 50 has rotated by a preset angle, that is, the clamping driving assembly 22 has rotated by a preset angle.

[0052] Figure 3 A perspective view of an overturning manipulator according to a second embodiment of the present disclosure is shown. Unlike the first embodiment, the driving mechanism 20 is a rotating gripper, that is, the rotating driving assembly 21 and the clamping driving assembly 22 are integrated in one assembly. The rotating gripper can drive the first gripper 30 and the second gripper 40 to move, and can also drive the first gripper 30 and the second gripper 40 to rotate synchronously.

[0053] Although the present disclosure has been described in detail with general description, specific embodiments and experiments, some modifications or improvements can be made on the basis of the present disclosure, which is obvious to those skilled in the art. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the present disclosure are within the scope of the present disclosure.

Claims

1. A flipping robotic arm, characterized in that, include: A drive mechanism (20) includes a rotary drive assembly (21) and a clamping drive assembly (22) connected to each other. The rotary drive assembly (21) is configured to drive the clamping drive assembly (22) to rotate about a rotation axis (23). The clamping drive assembly (22) has a first actuating end (221) and a second actuating end (222), at least one of the first actuating end (221) and the second actuating end (222) being configured to be movable between a clamping position and a releasing position. A first gripper (30) is disposed at the first execution end (221); and The second gripper (40) is disposed at the second actuating end (222). A clamping area is formed between the first gripper (30) and the second gripper (40). A first positioning element is provided on the side of the first gripper (30) facing the clamping area, and a second positioning element (41) is provided on the side of the second gripper (40) facing the clamping area.

2. The flipping robot according to claim 1, characterized in that, The drive mechanism (20) is a rotating gripper.

3. The flipping robot according to claim 1, characterized in that, The rotary drive assembly (21) and the clamping drive assembly (22) are connected to each other via a connecting assembly (50).

4. The flipping robot according to claim 3, characterized in that, The rotary drive assembly (21) is a rotary cylinder or a rotary electric cylinder; and / or The clamping drive assembly (22) is a finger cylinder or a finger electric cylinder.

5. The flipping robot according to claim 3, characterized in that, The connection component (50) includes: A first connector (51) is connected to the rotating seat of the rotary drive assembly (21); and The second connector (52) is connected to the first connector (51) and is connected to the outer side wall of the clamping drive assembly (22).

6. The flipping robot according to claim 3, characterized in that, The flipping manipulator also includes: A sensor assembly (60) is configured to measure the angle of rotation of the clamping drive assembly (22).

7. The flipping robot according to claim 6, characterized in that, The sensor assembly (60) includes: A slotted photoelectric switch (61), the slotted photoelectric switch (61) being fixedly disposed relative to the rotary drive assembly (21); and A switch baffle (62) is disposed on the connecting assembly (50), and the movement trajectory of the switch baffle (62) passes through the slotted photoelectric switch (61).

8. The flipping robot according to any one of claims 1 to 7, characterized in that, The first positioning element is detachably disposed on the first gripper (30); and / or The second positioning member (41) is detachably disposed on the second gripper (40).

9. The flipping robot according to any one of claims 1 to 7, characterized in that, The first positioning element is selected from one of the following: a positioning protrusion, a positioning pin; and / or The second positioning element (41) is selected from either a positioning protrusion or a positioning pin.

10. The flipping robot according to any one of claims 1 to 7, characterized in that, There are multiple first positioning elements; and / or There are multiple second positioning elements (41).

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