Gripper for fitting two matched workpieces

Abstract

The utility model belongs to the technical field of automobile production, and particularly relates to a gripper for fitting two matched workpieces, which comprises a base plate frame, a driving unit, a fitting side positioning mechanism and a reference side positioning mechanism, the driving unit is mounted on the base plate frame, the fitting side positioning mechanism is mounted on the driving unit, and the reference side positioning mechanism is mounted on the reference side positioning mechanism. The driving unit drives the fitting side positioning mechanism to move, the fitting side positioning mechanism is used for grasping a fitting side workpiece, and the reference side positioning mechanism is installed on the basic frame and used for clamping a reference side workpiece. According to the device, the mode that the robot grabs two workpieces twice is changed, the problem that manual workpiece feeding is difficult is solved, and meanwhile the problem that workpiece taking is complex after welding is completed is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of automobile production, and in particular relates to a gripper used for fitting two mutually matching workpieces. Background Art

[0002] At present, the joining of two workpieces in domestic industrial automobile production mostly adopts the method of ground positioning fixtures and manual joining. This method has the problems of large floor space, complex structure, high cost, and low equipment utilization, which reduces the production efficiency and economic benefits of automobile industry production. Utility Model Content

[0003] The utility model aims to provide a gripper for fitting two mutually matching workpieces, so as to solve the problems existing in the background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a gripper for fitting two mutually matching workpieces, comprising a substrate frame, a drive unit, a fitting side positioning mechanism and a reference side positioning mechanism, wherein the drive unit is mounted on the substrate frame, the fitting side positioning mechanism is mounted on the drive unit, the drive unit drives the fitting side positioning mechanism to move, the fitting side positioning mechanism is used to grasp the fitting side workpiece, the reference side positioning mechanism is mounted on the substrate frame, and the reference side positioning mechanism is used to clamp the reference side workpiece.

[0005] Preferably, the driving unit includes a cylinder, a cylinder connecting block, a cylinder head mounting seat, a movable plate, a slider mounting seat, a guide rail and a guide rail support; the cylinder is connected to the substrate frame through the cylinder connecting block, the piston rod of the cylinder is equipped with a cylinder head mounting seat, the cylinder head mounting seat is connected to the movable plate through bolts, guide rail supports are respectively installed on the substrate frames on both sides of the cylinder, the guide rails are installed on the guide rail supports, the slider mounting seat is slidably matched with the guide rails, and the two ends of the movable plate are respectively connected to the slider mounting seat.

[0006] Preferably, an extension limit block is fixed on the substrate frame, and an extension proximity switch is provided on one side of the extension limit block, and the extension limit block and the extension proximity switch are respectively matched with the cylinder head mounting seat.

[0007] Preferably, a retraction limit block and a retraction proximity switch are provided in the middle of the substrate frame, the retraction limit block cooperates with the side of the movable plate, and the retraction proximity switch cooperates with the baffle on the piston rod of the cylinder.

[0008] Preferably, a guide rail guard is provided on the upper portion of the guide rail.

[0009] Preferably, there are two fitting side positioning mechanisms, which are respectively fixed on both sides of the movable plate, including a fitting side positioning cylinder, a fitting side clamping cylinder and a fitting side clamping grasper. The fitting side clamping cylinder is fixed to the upper part of the movable plate through a fitting column, and the piston rod of the fitting side clamping cylinder is connected to the fitting side clamping grasper. The fitting side positioning cylinder is fixed to the side of the movable plate through a fitting side U-shaped column, and a fitting side positioning pin is connected to the piston rod of the fitting side positioning cylinder.

[0010] Preferably, the reference side positioning mechanism includes two, which are respectively fixed on both sides of the substrate frame, and the reference side positioning mechanism includes a reference side positioning pin, a first reference side clamping cylinder, a second reference side clamping cylinder, a first reference side support column, a second reference side support column, a first reference side column, a second reference side column and a third reference side column. The first reference side support column is fixed to one side of the substrate frame, the first reference side column and the second reference side column are vertically fixed to the first reference side support column in parallel, the reference side positioning pin is fixed to the top end of the first reference side column, the first reference side clamping cylinder is installed on the second reference side column, the first reference side clamping cylinder is installed with a first reference side clamping claw, the second reference side support column is laterally and vertically fixed to the side of the first reference side support column, the third column is vertically fixed to the end of the second reference side support column, the second reference side clamping cylinder is installed on the third reference side column, and the second reference side clamping claw is installed on the piston rod of the second reference side clamping cylinder.

[0011] The beneficial effect of the utility model is that the device abandons the general welding method using a ground positioning fixture (manually placing parts on the fixture twice), and changes it to a method in which the robot grabs two workpieces twice, which solves the problem of difficulty in manual loading and the problem of complex part removal after welding. This fitting gripper improves equipment utilization and production rhythm, and changes the shortcomings of the ground positioning fixture that occupies a large area and has a high equipment manufacturing cost, truly achieving a relatively low equipment investment, realizing a double increase in the automation rate and production rhythm of the welding production line, and making the white body welding simpler and more convenient with a relatively novel idea. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a top view of the utility model;

[0013] Figure 2 It is a structural schematic diagram of the drive unit in the utility model;

[0014] Figure 3 It is a partial enlarged view of the drive unit in the utility model;

[0015] Figure 4It is a schematic diagram of the mechanism of the drive unit in the utility model without the upper moving plate;

[0016] Figure 5 It is an axonometric view of one of the fitting side positioning mechanisms in the utility model;

[0017] Figure 6 It is an axonometric diagram of one of the reference side positioning mechanisms in the utility model. DETAILED DESCRIPTION

[0018] The specific implementation of the utility model is described in detail below with reference to the accompanying drawings and preferred embodiments.

[0019] like Figure 1-Figure 4 As shown, a gripper for fitting two mutually matching workpieces comprises a substrate frame 1, a driving unit 2, a fitting side positioning mechanism 3 and a reference side positioning mechanism 4, wherein the driving unit is mounted on the substrate frame, the fitting side positioning mechanism is mounted on the driving unit, the driving unit drives the fitting side positioning mechanism to move, the fitting side positioning mechanism is used to grasp the fitting side workpiece, the reference side positioning mechanism is mounted on the substrate frame, and the reference side positioning mechanism is used to clamp the reference side workpiece. The fitting gripper grasps two workpieces separately, and drives the cylinder to push the fitting side workpiece to complete the splicing of the two workpieces to achieve a weldable state, which not only saves time, but also solves the problem that the two workpieces cannot be grasped at the same time. The above mechanism is controlled by PLC to realize the fitting function of the two workpieces.

[0020] like Figure 2-3 As shown, the driving unit 2 includes a cylinder 21, a cylinder connecting block 22, a cylinder head mounting seat 23, a movable plate 24, a slider mounting seat 25, a guide rail 26 and a guide rail support 27; the cylinder is connected to the base plate frame via the cylinder connecting block, the piston rod of the cylinder is mounted with a cylinder head mounting seat, the cylinder head mounting seat is connected to the movable plate via bolts, guide rail supports are respectively mounted on the base plate frames on both sides of the cylinder, the guide rails are mounted on the guide rail supports, the slider mounting seat is slidably matched with the guide rails, and the two ends of the movable plate are respectively connected to the slider mounting seat. The cylinder drives the movable plate to move on the guide rails, and in order to protect the guide rails and prevent dust from entering, a guide rail guard 28 is provided on the upper part of the guide rails. As shown Figure 3 As shown, the cross section of the slider mounting seat in the device is W-shaped, which can facilitate the installation of the guide rail guard and effectively protect the guide rail.

[0021] like Figure 4As shown, in order to limit the extension and retraction of the cylinder, an extension limit block 11 is fixed on the substrate frame 1, and an extension proximity switch 12 is provided on one side of the extension limit block, and the extension limit block and the extension proximity switch are respectively matched with the cylinder head mounting seat. A retraction limit block 13 and a retraction proximity switch 14 are provided in the middle of the substrate frame, and the retraction limit block is matched with the side of the movable plate, and the retraction proximity switch is matched with the baffle 15 on the piston rod of the cylinder.

[0022] like Figure 5 As shown, specifically, the device has two fitting side positioning mechanisms 3, which are fixed on both sides of the movable plate, respectively, including a fitting side positioning cylinder 31, a fitting side clamping cylinder 32 and a fitting side clamping grip 33. The fitting side clamping cylinder is fixed to the upper part of the movable plate through a fitting column 34, and the piston rod of the fitting side clamping cylinder is connected to the fitting side clamping grip. The fitting side positioning cylinder is fixed to the side of the movable plate through a fitting side U-shaped column 35, and a fitting side positioning pin 36 is connected to the piston rod of the fitting side positioning cylinder. The fitting side clamping cylinder of the device clamps and fixes the fitting side workpiece through the fitting side clamping grip, wherein the fitting side clamping grip can be designed according to the shape of the fitting side workpiece, which is an existing structure. Similarly, the fitting side positioning pin is designed accordingly according to the fixing hole on the fitting side workpiece.

[0023] like Figure 6 As shown, specifically, the reference side positioning mechanism 4 includes two, which are respectively fixed on both sides of the substrate frame, and the reference side positioning mechanism includes a reference side positioning pin 41, a reference side first clamping cylinder 42, a reference side second clamping cylinder 43, a reference side first support column 44, a reference side second support column 45, a reference side first column 46, a reference side second column 47 and a reference side third column 48. The reference side first support column is fixed on one side of the substrate frame, the reference side first column and the reference side second column are vertically fixed in parallel on the reference side first support column, and the reference side positioning pin is fixed on the top end of the reference side first column. The first clamping cylinder on the reference side is installed on the second column on the reference side, and the first clamping cylinder on the reference side is installed with the first clamping claw 49 on the reference side. The second support column on the reference side is transversely and vertically fixed to the side of the first support column on the reference side, and the third column is vertically fixed to the end of the second support column on the reference side. The second clamping cylinder on the reference side is installed on the third column on the reference side, and the piston rod of the second clamping cylinder on the reference side is installed with the second clamping claw 40 on the reference side. In this device, two reference side clamping claws are used to clamp and fix the reference side workpiece, and it can also be designed according to the shape of the workpiece, which is an existing structure.

[0024] The robot is connected to the substrate frame through the valve guide (power supply and air supply unit) on the substrate frame to complete electrical control. The reference side positioning mechanism is fixedly connected to the substrate frame, and the fitting side positioning mechanism is movably connected to the drive unit. The guide rail support of the drive unit is placed at 5° with the substrate frame, and the substrate frame and the fitting side positioning are connected. The PLC controls the robot to grab the reference side workpiece, and the valve guide controls the clamping of the reference side workpiece. After the reference side workpiece is grabbed, the PLC controls the robot to grab the fitting side workpiece, and the valve guide controls the tightening of the fitting side workpiece. After the fitting side workpiece is grabbed, the cylinder of the drive unit pulls the fitting side positioning through telescoping to match the two workpieces, thereby completing the fitting during the robot's handling process, and then completing the splicing of the two workpieces.

[0025] The utility model is suitable for a working environment in which two workpieces in an industrial automobile production line cannot be grasped at one time. The robot gripper needs to grasp the workpieces twice, and the two workpieces are driven by a cylinder to complete the fitting and matching together, and then the welding is completed and placed in the next workstation. At the same time, the fitting gripper also solves the problem of insufficient production rhythm. After the robot gripper grasps the parts, the fitting of the two workpieces can be completed in the air, which saves one step of action and improves production efficiency.

[0026] It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the utility model, and these improvements and modifications should also be regarded as the protection scope of the utility model.

Claims

1. A gripper for fitting two mutually matching workpieces, characterized in that : It includes a substrate frame, a driving unit, a fitting side positioning mechanism and a reference side positioning mechanism, the driving unit is installed on the substrate frame, the fitting side positioning mechanism is installed on the driving unit, the driving unit drives the fitting side positioning mechanism to move, the fitting side positioning mechanism is used to grasp the fitting side workpiece, the reference side positioning mechanism is installed on the substrate frame, and the reference side positioning mechanism is used to clamp the reference side workpiece.

2. The gripper for fitting two mutually matching workpieces according to claim 1, characterized in that: The driving unit includes a cylinder, a cylinder connecting block, a cylinder head mounting seat, a movable plate, a slider mounting seat, a guide rail and a guide rail support; the cylinder is connected to the base plate frame through the cylinder connecting block, the piston rod of the cylinder is equipped with a cylinder head mounting seat, the cylinder head mounting seat is connected to the movable plate through bolts, guide rail supports are respectively installed on the base plate frames on both sides of the cylinder, the guide rails are installed on the guide rail supports, the slider mounting seat is slidably matched with the guide rails, and the two ends of the movable plate are respectively connected to the slider mounting seats.

3. The gripper for fitting two mutually matching workpieces according to claim 2, characterized in that: An extension limit block is fixed on the base plate frame, and an extension proximity switch is arranged on one side of the extension limit block. The extension limit block and the extension proximity switch are respectively matched with the cylinder head mounting seat.

4. The gripper for fitting two mutually matching workpieces according to claim 2, characterized in that: A retraction limit block and a retraction proximity switch are provided in the middle of the base plate frame. The retraction limit block cooperates with the side of the movable plate, and the retraction proximity switch cooperates with the baffle on the piston rod of the cylinder.

5. The gripper for fitting two mutually matching workpieces according to claim 2, characterized in that: A guide rail shield is provided on the upper part of the guide rail.

6. The gripper for fitting two mutually matching workpieces according to claim 2, characterized in that: There are two fitting side positioning mechanisms, which are respectively fixed on both sides of the movable plate, including a fitting side positioning cylinder, a fitting side clamping cylinder and a fitting side clamping grasper. The fitting side clamping cylinder is fixed to the upper part of the movable plate through a fitting column, and the piston rod of the fitting side clamping cylinder is connected to the fitting side clamping grasper. The fitting side positioning cylinder is fixed to the side of the movable plate through a fitting side U-shaped column, and a fitting side positioning pin is connected to the piston rod of the fitting side positioning cylinder.

7. The gripper for fitting two mutually matching workpieces according to claim 2, characterized in that: The reference side positioning mechanism includes two, which are respectively fixed on both sides of the substrate frame, and the reference side positioning mechanism includes a reference side positioning pin, a first reference side clamping cylinder, a second reference side clamping cylinder, a first reference side support column, a second reference side support column, a first reference side column, a second reference side column and a third reference side column. The first reference side support column is fixed to one side of the substrate frame, the first reference side column and the second reference side column are vertically fixed to the first reference side support column in parallel, the reference side positioning pin is fixed to the top end of the first reference side column, the first reference side clamping cylinder is installed on the second reference side column, the first reference side clamping cylinder is installed with a first reference side clamping claw, the second reference side support column is laterally and vertically fixed to the side of the first reference side support column, the third column is vertically fixed to the end of the second reference side support column, the second reference side clamping cylinder is installed on the third reference side column, and the second reference side clamping claw is installed on the piston rod of the second reference side clamping cylinder.

Images