CN112223325B

CN112223325B - Manipulator and operation method thereof

Info

Publication number: CN112223325B
Application number: CN202011060221.XA
Authority: CN
Inventors: 陈涵
Original assignee: Wenzhou Rikang Machinery Technology Factory
Current assignee: Wenzhou Rikang Machinery Technology Factory
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-09-21
Anticipated expiration: 2040-09-30
Also published as: CN112223325A

Abstract

A manipulator and an operation method thereof. The method is characterized in that: the device is provided with a push-pull rod, the push-pull rod extends downwards to a position between a first chuck and a second chuck, and the operation steps are as follows: 1) clamping the workpiece by the push-pull rod and the second chuck; 2) when the push-pull rod moves upwards, the workpiece is stirred to vertically turn over, and the workpiece is clamped by the first chuck and the second chuck; 3) the push-pull rod moves downwards to push the workpiece to move downwards to realize press mounting. The advantages are that: by adopting the scheme, the clamping, overturning and press-fitting of the workpiece can be realized, the action of pushing and pressing can be carried out by clamping similar human fingers, the workpiece can be enabled to overturn from a thicker side to a narrower side in the clamping process, and the narrower side can correspond to the target slot, so that the workpiece can be smoothly pressed and fitted into the slot, the automatic work is realized, the manual operation is reduced, and the working efficiency is improved.

Description

Manipulator and operation method thereof

Technical Field

The invention relates to automation equipment, in particular to a manipulator and an operation method thereof.

Background

A robot is an automated device that mimics some of the motion of a human hand and arm to grasp, carry objects or manipulate tools according to a fixed program.

In order to improve the production efficiency, reduce the production cost and reduce some adverse factors caused by manpower, automatic processing equipment such as robots and mechanical arms are applied to actual production and processing by many industrial enterprises.

For example, in mounting a ceramic resistor, as shown in fig. 1, a ceramic resistor 7 and a ceramic resistor mounting member 8, the ceramic resistor 7 includes a resistor 71 and leads 72 at both ends of the resistor 71, the resistor 71 is rectangular, the leads 72 are provided at both ends in the longitudinal direction of the resistor 71, and the ceramic resistor 7 is required to be completely fitted into a single slit 81 as required, and the width of the slit 81 is equal to the thickness of the resistor 71, so that only a surface having a thickness thereof is directed downward toward the slit 81 in mounting, and the ceramic resistor can be pressed into the slit 81.

Because the thickness of the resistor body 71 is small, when the ceramic resistor 7 is automatically fed and conveyed by using a conveying belt, the ceramic resistor 7 is difficult to keep in a standing state, and usually lies on the conveying belt, namely, the side with the thickness faces to the side, so that when a conventional clamp manipulator is adopted, the ceramic resistor 7 cannot be correspondingly matched with the slot 81, automatic operation cannot be realized, and only manual installation can be relied on, thus not only being difficult to operate and high in manual labor intensity, but also being low in working efficiency.

Therefore, how to utilize the manipulator to realize the automatic clamping, overturning and press mounting of the cuboid workpiece such as the ceramic resistor is the key for realizing the automatic work.

Disclosure of Invention

In order to overcome the defects of the background art, the invention provides a manipulator and an operation method thereof.

The technical scheme adopted by the invention is as follows: a manipulator comprises a connecting seat connected with the manipulator, wherein a clamping assembly is arranged at the bottom of the connecting seat, the clamping assembly comprises a first clamping part and a second clamping part which are arranged correspondingly, and a first power source for driving the first clamping part and the second clamping part to move oppositely, the first clamping part comprises a first chuck arranged at the bottom, the second clamping part comprises a second chuck arranged at the bottom, and the first chuck and the second chuck are arranged correspondingly; the push-pull assembly comprises a push-pull rod and a second power source for driving the push-pull rod to move up and down; the second power source is fixedly arranged on the first clamping part, the push-pull rod extends downwards to a position between the first chuck and the second chuck, and the clamping assembly has a first clamping state that the push-pull rod is matched with the second chuck to clamp the workpiece when the push-pull rod is at a lower stop position and a second clamping state that the push-pull rod is matched with the first chuck and the second chuck to clamp the workpiece when the push-pull rod is at an upper stop position.

And the push-pull rod is kept in contact with the clamping surface of the first chuck.

And a concave groove is formed on one side of the push-pull rod corresponding to the second chuck, and the bottom surface of the concave groove is an inclined surface extending to the bottom of the push-pull rod.

The concave groove is an arc-shaped groove.

And a limiting step surface is formed at the bottom of the clamping surface of the second chuck.

And positioning guide inclined planes are arranged on two sides of the clamping surface of the second chuck.

The first clamping part further comprises a first mounting seat, a first guide pillar and a first spring, the first mounting seat is connected with a first power source, the first guide pillar longitudinally penetrates through the first mounting seat to be arranged, the upper end of the first guide pillar is limited with the upper end face of the first mounting seat, the lower end of the first guide pillar is connected with a first chuck, the first spring is sleeved on the first guide pillar, and the upper end and the lower end of the first spring are respectively abutted against the first mounting seat and the first chuck;

the second clamping part further comprises a second mounting seat, a second guide pillar and a second spring, the second mounting seat is connected with a first power source, the second guide pillar longitudinally penetrates through the second mounting seat to be arranged, the upper end of the second guide pillar is in limit arrangement with the upper end face of the second mounting seat, the lower end of the second guide pillar is connected with a second chuck, the second spring is sleeved on the second guide pillar, and the upper end and the lower end of the second spring are respectively abutted against the second mounting seat and the second chuck.

The first mounting seat is provided with an upward convex mounting boss, and the second power source is mounted on the side wall of the mounting boss.

An operation method for clamping, overturning and press-fitting through the manipulator specifically comprises the following steps:

1) the first clamping part and the second clamping part oppositely act under the action of a first power source, and a workpiece is clamped by the push-pull rod and the second chuck;

2) the push-pull rod moves upwards under the action of a second power source to stir the workpiece to vertically turn over, the first clamping part and the second clamping part continue to move oppositely under the action of the first power source, and the workpiece is clamped by the first chuck and the second chuck after the push-pull rod is separated from the workpiece;

3) the push-pull rod moves downwards under the action of the second power source to push the workpiece to move downwards to realize press mounting.

The invention has the beneficial effects that: by adopting the scheme, the clamping, overturning and press-fitting of the workpiece can be realized, the action of pushing and pressing can be carried out by clamping similar human fingers, the workpiece can be enabled to overturn from a thicker side to a narrower side in the clamping process, and the narrower side can correspond to the target slot, so that the workpiece can be smoothly pressed and fitted into the slot, the automatic work is realized, the manual operation is reduced, and the working efficiency is improved.

Drawings

Fig. 1 is a schematic structural diagram of a ceramic resistor and a ceramic resistor mounting component according to an embodiment of the invention.

Fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention.

Fig. 3 is a schematic structural view of a push-pull rod according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a second chuck according to an embodiment of the present invention.

Fig. 5 is a schematic diagram 1 illustrating the operation of a robot according to an embodiment of the present invention.

Fig. 6 is a schematic diagram 2 illustrating the operation of a robot according to an embodiment of the present invention.

Fig. 7 is a schematic diagram 3 illustrating the operation of the robot according to the embodiment of the present invention.

Detailed Description

The embodiments of the invention will be further described with reference to the accompanying drawings in which:

as shown in fig. 1, a ceramic resistor 7 and a ceramic resistor mounting 8, the ceramic resistor 7 includes a resistor 71 and leads 72 at both ends of the resistor 71, the resistor 71 is rectangular, the leads 72 are disposed at both ends of the resistor 71 in a longitudinal direction, the ceramic resistor mounting 8 is formed with a slit 81, a width of the slit 81 is adapted to a thickness of the resistor 71, and the ceramic resistor 7 can be fitted into the slit 81.

As shown in fig. 2 to 4, a robot hand is capable of holding a resistor body of a ceramic resistor and vertically turning it so that a narrower side of the resistor body faces downward, and then performing a press-fitting operation to fit the ceramic resistor into a slot of a ceramic resistor mounting member. The manipulator mainly comprises a connecting seat, a clamping assembly and a push-pull assembly.

The connecting seat is used for being connected with the arm of robot, and its connected mode with the arm has a lot, for example flange joint, is connected the back with the arm for whole manipulator can follow the action of arm and move, thereby can realize the holistic position of mechanical hand and shift or the angle upset under the drive of arm, can shift the manipulator to first operating position through the arm promptly and shift to the second operating position. The mechanical arm directly adopts the prior art, such as a parallel robot, and therefore, the description is omitted here.

The centre gripping unit mount is in the connecting seat bottom, and it is including corresponding first clamping part 1, second clamping part 2, the first power supply 3 that sets up, 3 fixed mounting of first power supply is in the connecting seat bottom, and it can adopt two-way cylinder, install respectively at its both ends first clamping part 1 and second clamping part 2, can realize synchronous opposite or opposite action under the effect of first power supply 3.

The first clamping portion 1 comprises a first chuck 11, a first mounting seat 12, a first guide pillar 13 and a first spring 14, the first mounting seat 12 is connected with the first power source 3, the first guide pillar 13 longitudinally penetrates through the first mounting seat 12, the upper end of the first guide pillar 13 is limited by the upper end face of the first mounting seat 12, the lower end of the first guide pillar 13 is connected with the first chuck 11, the first spring 14 is sleeved on the first guide pillar 13, and the upper end and the lower end of the first spring 14 are respectively abutted to the first mounting seat 12 and the first chuck 11.

The structure of the second clamping portion 2 is substantially the same as that of the first clamping portion 1, the second clamping portion 2 includes a second chuck 21, a second mounting seat 22, a second guide post 23, and a second spring 24, the second mounting seat 22 is connected to the first power source 3, the second guide post 23 longitudinally penetrates through the second mounting seat 22, the upper end of the second guide post 23 is disposed in a position-limited manner with the upper end face of the second mounting seat 22, the lower end of the second guide post 23 is connected to the second chuck 21, the second spring 24 is sleeved on the second guide post 23, and the upper end and the lower end of the second spring 24 respectively abut against the second mounting seat 22 and the second chuck 21.

The first chuck 11 and the second chuck 21 can be correspondingly matched to clamp a ceramic resistor, and the first chuck 11 and the second chuck 21 are arranged to be in an up-and-down floating structure, so that a certain up-and-down floating space exists between the first chuck 11 and the second chuck 21, the manipulator can move down (grab or press) to achieve a buffering effect, the first chuck 11 and the second chuck 21 are prevented from being damaged by collision when the lower ends of the first chuck 11 and the second chuck 21 contact other objects, and an enough depth space can be provided for press-fitting actions, and when the first chuck 11 and the second chuck 21 float upwards, the push-pull rod 4 in the follow-up process can correspondingly extend to the lower parts of the first chuck 11 and the second chuck 21, so that a deep-pressing effect is achieved.

The push-pull assembly comprises a push-pull rod 4 and a second power source 5 for driving the push-pull rod to move up and down, the first mounting base 12 is provided with an upward protruding mounting boss 121, the second power source 5 can directly adopt an air cylinder and is fixedly mounted on the side wall of the mounting boss 121, the upper end of the push-pull rod 4 is connected with the second power source 5, the lower end of the push-pull rod 4 extends downwards to a position between the first chuck 11 and the second chuck 21, and the push-pull rod 4 is in contact with the clamping surface of the first chuck 11.

As shown in fig. 5-7, the operation method for installing the ceramic resistor by the manipulator specifically comprises the following steps:

1) feeding, namely horizontally placing the ceramic resistor on a conveying belt, and automatically feeding and conveying the ceramic resistor by the conveying belt;

2) clamping, when the ceramic resistor is in place, the manipulator is aligned with the ceramic resistor under the driving of the mechanical arm, the first clamping part 1 and the second clamping part 2 move oppositely under the action of the first power source 3, and the push-pull rod 4 and the second chuck 21 clamp the resistor 71 of the ceramic resistor together;

3) turning over, the push-pull rod 4 moves upwards under the action of the second power source 5, meanwhile, the first clamping part 1 and the second clamping part 2 continue to move oppositely under the action of the first power source 3, so that the resistor 71 can be stirred to realize vertical turning, and after the push-pull rod 4 is separated from the resistor 71, the resistor 71 of the ceramic resistor is continuously clamped by the first chuck 11 and the second chuck 21 and is clamped flat, so that the narrower side of the resistor faces downwards;

4) press fitting, wherein the manipulator is driven by the mechanical arm to transfer and integrally press down after being aligned with the ceramic resistor mounting piece, the bottoms of the first chuck 11 and the second chuck 21 are firstly contacted with the ceramic resistor mounting piece so as to compress the first spring and the second spring, and then the push-pull rod 4 moves downwards under the action of the second power source 5 so as to push the resistor 71 of the ceramic resistor to move downwards and press the ceramic resistor into the slot 81;

5) pressing the wire, wherein the mechanical arm moves under the driving of the mechanical arm, and the lead 72 is pressed down to be bent;

6) reset and repeat the next action.

In order to realize the actions, the push-pull rod 4 is kept in contact with the clamping surface of the first chuck 11, the push-pull rod 4 can be supported to keep the ceramic resistor clamping action of the push-pull rod 4 and the second chuck 21, in an initial state, the bottom of the push-pull rod 4 is flush with the bottom of the first chuck 11, so that the ceramic resistor is ensured to be clamped by the push-pull rod 4 and the second chuck 21 during initial clamping, and meanwhile, the thickness of the part, extending into the space between the first chuck 11 and the second chuck 21, of the push-pull rod 4 is required to be smaller than that of the ceramic resistor, so that the push-pull rod 4 can move up and down to realize the ceramic resistor press-fitting action.

In addition, a concave groove 41 is formed on one side of the push-pull rod 4 corresponding to the second chuck 21, and the bottom surface of the concave groove 41 is an inclined surface extending to the bottom of the push-pull rod 4; the width of the concave groove 41 is larger than the thickness of the cuboid workpiece and smaller than the width of the cuboid workpiece, when the ceramic resistor is clamped by the push-pull rod 4 and the second chuck 21, one end of the resistor body can be embedded into the concave groove 41 under the guiding action of the inclined surface, and the resistor body can be driven to turn over in the upward movement process of the push-pull rod 4.

Wherein, the concave groove 41 is an arc-shaped groove.

The bottom of the clamping surface of the second chuck 21 is provided with a limiting step surface 211, the width of the limiting step surface 211 is larger than or equal to the thickness of the cuboid workpiece and smaller than the width of the cuboid workpiece, and the step formed between the clamping surface of the second chuck 21 and the step surface 211 can limit the resistor body, so that the turning action of the resistor body is further ensured.

Positioning guide inclined planes 212 are arranged on two sides of the clamping surface of the second chuck 21, and automatic centering of the resistor body is realized through the positioning guide inclined planes 212, so that the accuracy of subsequent press mounting is further ensured, and the precision is improved.

In the embodiment, although only the application of clamping, turning and pressing the ceramic resistor into the slot of the ceramic resistor mounting part by using the manipulator is given, besides, the manipulator can also be applied to other workpieces with similar shapes, such as rectangular workpieces or long workpieces with different thicknesses, and the manipulator can realize similar automatic actions by actions similar to the poking of fingers, and is not limited to the automatic installation of the ceramic resistor.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

The skilled person should understand that: although the invention has been described in terms of the above specific embodiments, the inventive concept is not limited thereto and any modification applying the inventive concept is intended to be included within the scope of the patent claims.

Claims

1. A manipulator comprises a connecting seat connected with the manipulator, a clamping assembly is arranged at the bottom of the connecting seat, the clamping assembly comprises a first clamping part (1) and a second clamping part (2) which are arranged correspondingly, and a first power source (3) for driving the first clamping part (1) and the second clamping part (2) to move oppositely/oppositely, the first clamping part (1) comprises a first chuck (11) arranged at the bottom, the second clamping part (2) comprises a second chuck (21) arranged at the bottom, and the first chuck (11) and the second chuck (21) are arranged correspondingly;

the method is characterized in that: the clamping assembly further comprises a push-pull rod (4) and a second power source (5) for driving the push-pull rod to move up and down; the second power source (5) is fixedly arranged on the first clamping part (1), and the push-pull rod (4) extends downwards to a position between the first chuck (11) and the second chuck (21);

the clamping assembly has a first clamping state that the push-pull rod (4) and the second chuck (21) are matched to clamp the workpiece when the push-pull rod (4) is at a lower stop position, and a second clamping state that the first chuck (11) and the second chuck (21) are matched to clamp the workpiece when the push-pull rod (4) is at an upper stop position.

2. The robot hand according to claim 1, wherein: the push-pull rod (4) is kept in contact with the clamping surface of the first chuck (11).

3. The robot hand according to claim 1, wherein: a concave groove (41) is formed in one side, corresponding to the second chuck (21), of the push-pull rod (4), and the bottom surface of the concave groove (41) is an inclined surface extending to the bottom of the push-pull rod (4).

4. The robot hand according to claim 3, wherein: the concave groove (41) is an arc-shaped groove.

5. The robot hand according to claim 1, wherein: the bottom of the clamping surface of the second clamping head (21) is provided with a limiting step surface (211).

6. The robot hand according to claim 1, wherein: and positioning guide inclined planes (212) are arranged on two sides of the clamping surface of the second clamping head (21).

7. The robot hand according to claim 1, wherein: the first clamping part (1) further comprises a first mounting seat (12), a first guide pillar (13) and a first spring (14), the first mounting seat (12) is connected with a first power source (3), the first guide pillar (13) longitudinally penetrates through the first mounting seat (12) to be arranged, the upper end of the first guide pillar (13) is limited to the upper end face of the first mounting seat (12), the lower end of the first guide pillar (13) is connected with a first chuck (11), the first spring (14) is sleeved on the first guide pillar (13), and the upper end and the lower end of the first spring (14) are respectively abutted against the first mounting seat (12) and the first chuck (11);

the second clamping part (2) further comprises a second mounting seat (22), a second guide pillar (23) and a second spring (24), the second mounting seat (22) is connected with the first power source (3), the second guide pillar (23) longitudinally penetrates through the second mounting seat (22) to be arranged, the upper end of the second guide pillar (23) is limited to the upper end face of the second mounting seat (22), the lower end of the second guide pillar (23) is connected with a second chuck (21), the second spring (24) is sleeved on the second guide pillar (23), and the upper end and the lower end of the second spring (24) are respectively abutted to the second mounting seat (22) and the second chuck (21).

8. The robot hand of claim 7, wherein: the first mounting seat (12) is provided with a mounting boss (121) protruding upwards, and the second power source (5) is mounted on the side wall of the mounting boss (121).

9. An operation method for clamping, overturning and press-fitting through the manipulator of any one of claims 1-8 is characterized by comprising the following steps:

1) the first clamping part (1) and the second clamping part (2) oppositely act under the action of the first power source (3), and a workpiece is clamped by the push-pull rod (4) and the second chuck (21);

2) the push-pull rod (4) moves upwards under the action of the second power source (5) to toggle the workpiece to vertically turn over, the first clamping part (1) and the second clamping part (2) continue to move oppositely under the action of the first power source (3), and the workpiece is clamped by the first chuck (11) and the second chuck (21) after the push-pull rod (4) is separated from the workpiece;

3) the push-pull rod (4) moves downwards under the action of the second power source (5) to push the workpiece to move downwards to realize press mounting.