Foldable automobile parts carrying robot and gripper structure

Abstract

The utility model provides a kind of foldable automobile parts carrying robot and gripper structure, comprising: base, the base is provided with the outer spreading mechanism for lifting mechanical gripper working range, the outer spreading mechanism is provided with folding arm, the folding arm is detachably connected with mechanical gripper by connecting mechanism, compared with prior art, the utility model has the beneficial effects as follows: by setting outer spreading mechanism, the horizontal displacement of support seat is generated by the screw thread movement of threaded rod and connecting block, so that mechanical gripper can move laterally in working space, adapt to the object grasping demand of different spacing, and the rotary assembly endows mechanical gripper with multi-angle freedom, improves the working range of robot, so that it can cover wider operating area, by setting connecting mechanism, mechanical gripper is quickly installed and matched by the cooperation of ball and recess on mounting arm, allowing to quickly switch special mechanical gripper according to different task requirements.

Description

Technical Field

[0001] This utility model belongs to the field of automotive parts handling, and specifically relates to a foldable automotive parts handling robot and its gripper structure. Background Technology

[0002] Automotive parts handling robots are automated devices specifically designed for handling, transferring, and positioning parts during automotive manufacturing or assembly. They typically consist of core components such as robotic arms, end effectors, control systems, and sensors. These robots can replace manual labor in performing repetitive, high-load, or harsh-environment handling tasks. However, without an extendable mechanism (such as a telescopic arm, guide rails, or a mobile platform), their working range cannot be expanded, significantly limiting their application efficiency. A primary drawback is the rigid limitation of the working space. Due to the lack of an extendable mechanism, the robot can only operate based on a fixed base and the range of motion of its joints. Its working radius is strictly constrained by the mechanical structure. For example, a standard articulated robot without guide rails can only cover a fan-shaped area centered on the base, making it unable to reach workstations at the far end of the production line or at different angles. This necessitates manual intervention or the use of other equipment to fill in gaps, reducing overall efficiency. Therefore, we aim to design a foldable automotive parts handling robot and gripper structure to solve this problem. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a foldable automotive parts handling robot and gripper structure to solve the problems mentioned in the background technology.

[0004] This utility model is achieved through the following technical solution: a foldable automotive parts handling robot and gripper structure, comprising: a base, wherein the base is provided with an extension mechanism for increasing the working range of the mechanical gripper, the extension mechanism is provided with a folding arm, and a mechanical gripper is detachably connected to the folding arm through a connecting mechanism;

[0005] The outward mechanism includes a slide rail and a support base. The slide rail is fixedly connected to the upper end of the base. A drive motor is installed on the base. A threaded rod is fixedly connected to the output shaft of the drive motor through a coupling. A support block is fixedly connected to the right end of the base. The interior of the support block is connected to the threaded rod through a bearing.

[0006] A slider is fixedly connected to the lower end of the support base, and a connecting block is fixedly connected to the middle of the support base. The connecting block is screwed onto the outside of the threaded rod, and the slider is slidably engaged with the outside of the slide rail. A rotating component is also provided on the support base. By setting an outward extension mechanism, the threaded rod and the connecting block generate threaded motion, causing the support base to produce horizontal displacement. This allows the mechanical gripper to move laterally in the workspace, adapting to the need to grasp objects at different distances. The rotating component gives the mechanical gripper multiple degrees of freedom, increasing the robot's working range and enabling it to cover a wider operating area.

[0007] In a preferred embodiment, the rotating assembly includes a mounting cylinder, which is fixedly connected to the upper surface of the support base. A rotary motor is disposed inside the mounting cylinder, and a drive gear is disposed on the output shaft of the rotary motor.

[0008] In a preferred embodiment, a support shaft is sleeved inside the mounting cylinder via a bearing. A turntable is fixedly connected to the upper end of the support shaft, and a driven gear is provided at the lower end of the support shaft. The driven gear meshes with the drive gear.

[0009] In a preferred embodiment, the connecting mechanism includes a connecting cylinder, which is fixedly connected to the upper end of the mechanical gripper. The connecting cylinder has a through groove, and a ball bearing is disposed inside the through groove. By setting up the connecting mechanism, the mechanical gripper can be quickly installed and engaged by the cooperation between the ball bearing and the groove on the mounting arm, allowing for quick switching of dedicated mechanical grippers according to different task requirements.

[0010] In a preferred embodiment, the cross-section of the through groove is trapezoidal, with the width of the side closer to the center of the connecting cylinder being smaller than that of the outer side, to prevent the balls from falling off.

[0011] In a preferred embodiment, a limiting ring is slidably sleeved on the outer side of the connecting cylinder, and the limiting ring is elastically connected to the mechanical gripper by a spring.

[0012] In a preferred embodiment, the inner side of the limiting ring is provided with an arc-shaped annular groove for providing space for ball displacement.

[0013] In a preferred embodiment, the folding arm includes a mounting arm with a groove for engaging with a ball bearing.

[0014] After adopting the above technical solution, the beneficial effects of this utility model are:

[0015] 1. By setting up an outward extension mechanism, the threaded rod and connecting block generate threaded motion, causing the support base to move horizontally, enabling the mechanical gripper to move laterally in the workspace to adapt to the gripping needs of objects with different spacing. The rotating component gives the mechanical gripper multiple degrees of freedom, increasing the robot's working range and enabling it to cover a wider operating area.

[0016] 2. By setting up a connecting mechanism, the mechanical gripper is quickly installed and engaged by the cooperation of the ball bearings and the groove on the mounting arm, allowing for rapid switching of dedicated mechanical grippers according to different task requirements. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional view of the overall structure of a foldable automotive parts handling robot and its gripper structure according to this utility model.

[0019] Figure 2 This is a partial three-dimensional view of a foldable automotive parts handling robot and its gripper structure according to the present invention.

[0020] Figure 3 This is a perspective view of the support base of a foldable automotive parts handling robot and its gripper structure according to this utility model.

[0021] Figure 4 This is a partial perspective view of the outward extension mechanism of a foldable automotive parts handling robot and gripper structure according to this utility model.

[0022] Figure 5 This is an exploded view of a partial component of the connecting mechanism of a foldable automotive parts handling robot and its gripper structure, according to this utility model.

[0023] In the diagram, 1-base, 2-extension mechanism, 3-folding arm, 4-connection mechanism, 5-mechanical gripper;

[0024] 31-Mounting arm, 311-Groove;

[0025] 21-Slide rail, 22-Drive motor, 23-Threaded rod, 24-Support block, 25-Support base, 26-Slider, 27-Connecting block, 28-Rotating assembly, 281-Mounting cylinder, 282-Rotating motor, 283-Drive gear, 284-Turntable, 285-Support shaft, 286-Driven gear;

[0026] 41-Connecting cylinder, 42-Through groove, 43-Ball, 44-Limiting ring, 441-Arc-shaped ring groove, 45-Spring. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Please see Figures 1-4 As the first embodiment of this utility model:

[0029] A foldable automotive parts handling robot and gripper structure includes: a base 1, an extension mechanism 2 for raising the working range of the mechanical gripper 5 on the base 1, a folding arm 3 on the extension mechanism 2, and a mechanical gripper 5 detachably connected to the folding arm 3 via a connecting mechanism 4.

[0030] The outward mechanism 2 includes a slide rail 21 and a support base 25. The slide rail 21 is fixedly connected to the upper end of the base 1. A drive motor 22 is provided on the base 1. A threaded rod 23 is fixedly connected to the output shaft of the drive motor 22 through a coupling. A support block 24 is fixedly connected to the right end of the base 1. The interior of the support block 24 is connected to the threaded rod 23 through a bearing.

[0031] A slider 26 is fixedly connected to the lower end of the support base 25, and a connecting block 27 is fixedly connected to the middle of the support base 25. The connecting block 27 is screwed onto the outside of the threaded rod 23. The slider 26 is slidably fitted onto the outside of the slide rail 21. A rotating component 28 is also provided on the support base 25. By setting the outward extension mechanism 2, the threaded rod 23 and the connecting block 27 generate threaded movement, causing the support base 25 to generate horizontal displacement, so that the mechanical gripper 5 can move laterally in the workspace to adapt to the grasping needs of objects with different spacing. The rotating component 28 gives the mechanical gripper 5 multiple degrees of freedom, improves the robot's working range, and enables it to cover a wider operating area.

[0032] The rotating assembly 28 includes a mounting cylinder 281, which is fixedly connected to the upper surface of the support base 25. A rotary motor 282 is installed inside the mounting cylinder 281, and a drive gear 283 is installed on the output shaft of the rotary motor 282.

[0033] Inside the mounting cylinder 281, a support shaft 285 is sleeved with a bearing. A turntable 284 is fixedly connected to the upper end of the support shaft 285, and a driven gear 286 is provided at the lower end of the support shaft 285. The driven gear 286 meshes with the drive gear 283.

[0034] Specifically, when it is necessary to grasp objects with different spacing and angles, the drive motor 22 is first started. The output shaft of the drive motor 22 drives the threaded rod 23 to rotate. During the rotation, the threaded rod 23 and the connecting block 27 undergo threaded movement, causing the support seat 25 to move. This allows the support seat 25 to drive the folding arm 3 (referring to the utility model patent application number: CN216759875U) and the mechanical gripper 5 to move horizontally. Then, the rotary motor 282 is started. The output shaft of the rotary motor 282 drives the drive gear 283 to rotate. During the rotation, the drive gear 283 drives the driven gear 286 to rotate. The driven gear 286 then drives the support shaft 285 and the turntable 284 to rotate. Finally, the turntable 284 drives the folding arm 3 and the mechanical gripper 5 to rotate, thereby realizing the multi-angle adjustment of the mechanical gripper 5, thus increasing the robot's working range and enabling it to cover a wider operating area.

[0035] Please see Figure 1 , Figure 4 as well as Figure 5 As a second embodiment of this utility model:

[0036] The connecting mechanism 4 includes a connecting cylinder 41, which is fixedly connected to the upper end of the mechanical gripper 5. A through groove 42 is provided on the connecting cylinder 41, and a ball bearing 43 is provided inside the through groove 42. By setting the connecting mechanism 4, the mechanical gripper 5 can be quickly installed and engaged by the cooperation between the ball bearing 43 and the groove 311 on the mounting arm 31, allowing for quick switching of the dedicated mechanical gripper 5 according to different task requirements.

[0037] The cross-section of the through groove 42 is trapezoidal, and the width of the side closer to the center of the connecting cylinder 41 is smaller than that of the outer side to prevent the balls 43 from falling off.

[0038] A limiting ring 44 is slidably sleeved on the outer side of the connecting cylinder 41, and the limiting ring 44 is elastically connected to the mechanical gripper 5 through a spring 45.

[0039] An arc-shaped groove 441 is provided on the inner side of the limiting ring 44 to provide displacement space for the ball 43.

[0040] The folding arm 3 includes a mounting arm 31, on which a groove 311 is provided for engaging with the ball bearing 43.

[0041] Based on the above embodiments, further, when the mechanical gripper 5 needs to be replaced, the limiting ring 44 is first pushed downward. During the displacement process, the limiting ring 44 compresses the spring 45 and causes it to deform. After the spring 45 is compressed to the position, the mechanical gripper 5 is pulled downward. At the same time, the ball 43 is squeezed by the groove 311 of the mounting arm 31, causing the ball 43 to move into the arc-shaped groove 441 inside the limiting ring 44. When the ball 43 is displaced into the inside of the arc-shaped groove 441, the limiting of the ball 43 between the connecting cylinder 41 and the mounting arm 31 is lost, thereby completing the disassembly of the mechanical gripper 5 and completing the rapid switching of the mechanical gripper 5 without the assistance of external tools.

[0042] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A foldable automotive parts handling robot and gripper structure, comprising: The base (1) is characterized in that an extension mechanism (2) for raising the working range of the mechanical gripper (5) is provided on the base (1), and a folding arm (3) is provided on the extension mechanism (2), and the mechanical gripper (5) is detachably connected to the folding arm (3) through a connecting mechanism (4); The outward mechanism (2) includes a slide rail (21) and a support base (25). The slide rail (21) is fixedly connected to the upper end of the base (1). A drive motor (22) is provided on the base (1). A threaded rod (23) is fixedly connected to the output shaft of the drive motor (22) through a coupling. A support block (24) is fixedly connected to the right end of the base (1). The interior of the support block (24) is connected to the threaded rod (23) through a bearing. The lower end of the support base (25) is fixedly connected to a slider (26), and the middle part of the support base (25) is fixedly connected to a connecting block (27). The connecting block (27) is screwed onto the outside of the threaded rod (23) by a thread. The slider (26) is slidably fitted onto the outside of the slide rail (21). The support base (25) is also provided with a rotating component (28).

2. The foldable automotive parts handling robot and gripper structure as described in claim 1, characterized in that: The rotating assembly (28) includes a mounting cylinder (281), which is fixedly connected to the upper surface of the support base (25). A rotary motor (282) is installed inside the mounting cylinder (281), and a drive gear (283) is installed on the output shaft of the rotary motor (282).

3. The foldable automotive parts handling robot and gripper structure as described in claim 2, characterized in that: The mounting cylinder (281) has a support shaft (285) sleeved inside by a bearing. The upper end of the support shaft (285) is fixedly connected to a turntable (284), and the lower end of the support shaft (285) is provided with a driven gear (286), which meshes with a drive gear (283).

4. The foldable automotive parts handling robot and gripper structure as described in claim 1, characterized in that: The connecting mechanism (4) includes a connecting cylinder (41), which is fixedly connected to the upper end of the mechanical gripper (5). A through groove (42) is provided on the connecting cylinder (41), and a ball bearing (43) is provided inside the through groove (42).

5. The foldable automotive parts handling robot and gripper structure as described in claim 4, characterized in that: The cross-section of the through groove (42) is trapezoidal, and the width of the side closer to the center of the connecting cylinder (41) is smaller than that of the outer side to prevent the balls (43) from falling off.

6. The foldable automotive parts handling robot and gripper structure as described in claim 4, characterized in that: A limiting ring (44) is slidably sleeved on the outer side of the connecting cylinder (41), and the limiting ring (44) is elastically connected to the mechanical gripper (5) by a spring (45).

7. The foldable automotive parts handling robot and gripper structure as described in claim 6, characterized in that: The inner side of the limiting ring (44) is provided with an arc-shaped annular groove (441) for providing displacement space for the ball (43).

8. The foldable automotive parts handling robot and gripper structure as described in claim 1, characterized in that: The folding arm (3) includes a mounting arm (31) on which a groove (311) is provided for engaging with a ball (43).

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