A quick handling device for picking up and placing automobile stamping parts

Abstract

The present invention discloses a fast handling device for picking up and placing automobile stamping parts, comprising a rocker mechanism, a gripper mechanism, a direction control mechanism and a gripper placement mechanism; the rocker mechanism comprises a rocker unit and a driving motor arranged in parallel, the rocker unit comprises a base, a left rocker and a right rocker, the left and right rockers are connected by a connecting rod, and the rocker performs left and right swinging motions under the action of the driving motor; the gripper mechanism comprises a gripper frame, a gripper and a gripper cylinder, the direction control mechanism comprises a double-acting cylinder, a left spring and a right spring; the gripper placement mechanism comprises an inner and outer positioning block, and a limit block is arranged on the outer positioning block. The present invention can complete the handling of stamping parts with one motor, greatly saving the handling time and improving the beat of the equipment; not only the handling efficiency is high, time and labor are saved, the picking and placing position of stamping parts is high, but also the principle is simple, and only one motor drive is required to complete the handling operation of stamping parts, saving costs.

Description

Technical Field

[0001] The invention relates to a quick-transport device for picking up and placing automobile stamping parts, belonging to the technical field of article transport. Background Art

[0002] At present, in the automobile welding workshop, in the automatic welding production line, some stamping parts such as fenders, roof outer panels, side outer panels, etc. are first placed by workers on the loading station, and then the stamping parts are transported to the robot grabbing station by the handling equipment, and then the robot grabs them to the body welding station for welding.

[0003] Because the robot needs to accurately position the stamped parts when grabbing them, the position accuracy of the handling equipment is required to be high. Currently, multiple positioning pins are mainly used to position the stamped parts. The stamped parts are provided with pin holes, and the equipment is used to vertically insert the stamped parts into the positioning pins.

[0004] Therefore, existing handling equipment uses grippers. When the grippers are above the loading station, such as Figure 1 As shown in the figure, the machine first moves vertically downward to grab the stamping part, then moves vertically upward for a distance, then grabs the stamping part and moves horizontally to bring the stamping part to the next station, then grabs the stamping part and moves vertically downward to drop the stamping part onto the positioning pin, and then the machine moves upward, and then moves horizontally back to the loading station to complete a cycle.

[0005] However, this type of handling equipment is inefficient because the gripper for handling a stamping part needs to go through three processes: rising, translating, and descending, and each process requires the motor to start accelerating, run at a constant speed, and decelerate and stop. The three processes are discontinuous, and the gripper also goes through three processes when returning, and each process requires the motor to start accelerating, run at a constant speed, and decelerate and stop. This may not meet the high-beat and high-efficiency requirements of automated production lines.

[0006] From the above, it can be seen that the existing stamping parts handling has the following problems: 1. The handling process of the precision positioning handling equipment is composed of three discontinuous processes, and there are three motor operation cycles, which takes a long time and affects the working efficiency of the automated production line. 2. Three linear motions in different directions are driven by motors to convert rotational motion into linear motion, which requires motion conversion devices, such as gear racks, sprocket chains, nuts and screws, etc. In addition, one motor is required for translation, and one motor is required for ascent and descent, which will increase the cost of the production line. 3. One operation requires three processes, and a locking device needs to be added to ensure the precise position of the gripper, which again increases the cost of the equipment. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention provides a fast handling device for picking up and placing automobile stamping parts, which has a simple structure, requires only one motor to move the position of the stamping parts, has low cost, high handling efficiency, greatly saves handling time, and improves the equipment's rhythm.

[0008] The technical solution of the present invention to solve the above technical problems is as follows: a fast handling device for picking up and placing automobile stamping parts, comprising a rocker mechanism, a gripper mechanism arranged on the rocker mechanism, a direction control mechanism for controlling the running direction of the gripper mechanism, and a gripper placement mechanism for limiting the gripper mechanism to make vertical movement;

[0009] The rocker mechanism comprises a rocker unit and a driving motor arranged in parallel, wherein the rocker units are connected by a connecting arm, and the rocker unit comprises a base, a left rocker and a right rocker arranged on the base, wherein the left rocker and the right rocker are connected by a connecting rod, and the left and right rockers can swing left and right on the base under the action of the driving motor;

[0010] The gripper mechanism comprises a gripper frame, a gripper arranged on the gripper frame, and a gripper cylinder for driving the gripper to pick up and place a workpiece, the front and rear sides of the gripper frame are respectively provided with gripper brackets, the gripper brackets are slidably mounted on the connecting rod through left and right roller brackets, and left and right limit pins are arranged on the connecting rod on the outer sides of the left and right roller brackets;

[0011] The direction control mechanism comprises a double-acting cylinder mounted on the connecting rod and between the left and right roller brackets, a left spring arranged on the left side of the piston rod of the double-acting cylinder, and a right spring arranged on the right side of the piston rod of the double-acting cylinder;

[0012] The gripper placement mechanism includes an outer positioning block and an inner positioning block arranged on both sides of the loading position and the picking position, the inner and outer positioning blocks are respectively provided with inner and outer positioning surfaces, and the outer positioning surface is provided with a limit block for positioning the left and right sides of the gripper frame.

[0013] The beneficial effects of the present invention are: using a motor to drive the rocker mechanism to realize the movement of the stamping parts between the loading position and the picking position, while ensuring the position accuracy, and using a motor to run once to complete the handling of the stamping parts, there is only one motor start acceleration, uniform speed operation, deceleration and stop; greatly saving the handling time and improving the beat of the equipment; when the equipment gripper is returning, it is the reverse action of the handling, and only one motor is needed to run once, and the return journey is also very time-saving, which will leave more time for the workers to load the parts; the rocker mechanism moves in a curve under the action of the motor, and the design of the cylinder spring device satisfies the vertical movement of the gripper when it falls, ensuring the positioning effect of the gripper. In short, the present invention has a simple structure and is easy to operate. It not only has high handling efficiency, saves time and effort, has high handling position accuracy, and has high stamping part picking and placing position accuracy, but also has a simple principle, and only needs one motor drive to complete the handling of stamping parts, saving costs.

[0014] Based on the above technical solution, the present invention can also be improved as follows.

[0015] Furthermore, it also includes a positioning mechanism, which includes a positioning pin and a pin hole matching the positioning pin, the positioning pin is arranged on the inner and outer positioning surfaces, and positioning plates are respectively provided on the left and right sides of the gripper frame, and the pin hole is arranged on the positioning plate.

[0016] The beneficial effect of adopting the above further scheme is that the rocker mechanism moves in a curve under the action of the motor, and the design of the cylinder spring satisfies that the gripper can ensure that the positioning pin is vertically inserted into the positioning pin hole when the gripper falls vertically, which better ensures the positioning effect of the gripper, and realizes the movement of the stamping part while ensuring the accuracy of the stamping part's handling position. The side of the gripper frame hits the limit block, the rocker continues to move, the spring is compressed, the gripper mechanism moves vertically downward, and as the gripper mechanism moves vertically downward, the gripper frame moves vertically downward, and the pin hole on the side positioning plate of the gripper frame cooperates with the positioning pin on the positioning block to accurately fall into position. After the gripper frame is accurately positioned, the double-acting cylinder can be deflated, and the piston rod of the double-acting cylinder returns to the middle position under the action of the springs on both sides, waiting for the next action.

[0017] Furthermore, the drive motor is connected to the left rocker or the right rocker through a connecting rod transmission mechanism, and the connecting rod transmission mechanism includes an input rod, a force transmission rod and a rocker arm, one end of the input rod is connected to the output shaft of the drive motor, and the other end is hinged to one end of the force transmission rod, the other end of the force transmission rod is hinged to one end of the rocker arm, and the other end of the rocker arm is connected to a rocker arm shaft, and the rocker arm shaft is rotatably mounted on the base, and the left rocker or the right rocker is connected to the rocker arm shaft.

[0018] The beneficial effect of adopting the above further scheme is that a connecting rod transmission mechanism is added between the motor and the rocker mechanism, which can reduce the requirement for the maximum output torque of the motor on the one hand, and on the other hand, the impact force of the rocker mechanism action does not directly act on the output shaft of the motor, reducing damage to the motor and making the transmission smoother. In addition, it is convenient for the installation of the drive motor. The drive motor can be installed on the workbench through the mounting plate to avoid affecting the left and right reciprocating swing of the rocker arm.

[0019] Furthermore, the left and right roller brackets are both provided with upper rollers and lower rollers that can roll along the top and bottom of the connecting rod.

[0020] The beneficial effect of adopting the above further scheme is that the gripper mechanism is installed on the connecting rod through the roller bracket, and the design of the upper and lower rollers changes the hard friction between the roller bracket and the connecting rod into rolling friction, thereby reducing the friction between the roller bracket and the connecting rod, making it more convenient for the gripper mechanism to swing and grasp the workpiece.

[0021] Furthermore, the gripper is installed on the gripper frame through a gripper mounting plate, and the gripper includes an upper jaw and a lower jaw, the upper jaw is installed on the gripper mounting plate, the gripper cylinder is installed on the gripper mounting plate, the middle part of the lower jaw is hinged on the gripper mounting plate, and the piston rod of the gripper cylinder is hinged to the outer end of the lower jaw.

[0022] The beneficial effect of adopting the above further scheme is that when the gripper mechanism moves vertically downward, the gripper cylinder contracts and the lower jaw moves downward and outward to prevent the lower jaw from touching the workpiece. When the upper jaw of the gripper mechanism reaches above the workpiece, the gripper cylinder extends and the lower jaw moves inward and upward to the bottom of the workpiece, cooperating with the upper jaw to complete the clamping of the workpiece.

[0023] Furthermore, the grippers are provided with 2-8 pieces and are symmetrically arranged on the left and right sides of the gripper frame.

[0024] The beneficial effect of adopting the above further solution is that the gripping of the workpiece is more stable, ensuring high accuracy of the workpiece placement position.

[0025] Furthermore, there are two inner and outer positioning blocks respectively.

[0026] The beneficial effect of adopting the above further solution is that there are two inner positioning blocks, and the outer positioning blocks are placed on the outside of the inner positioning blocks accordingly, so that the four positioning blocks position the gripper frame more stably and reliably.

[0027] Furthermore, the double-acting cylinder is installed below the connecting rod through a cylinder mounting bracket.

[0028] The beneficial effect of adopting the above further solution is that the double-acting cylinder is installed between the left and right roller brackets through the cylinder mounting plate, which is easy to install, debug and maintain.

[0029] Furthermore, the driving motor is mounted on a motor mounting seat, and the motor mounting seat is arranged on the outside of the base.

[0030] The beneficial effect of adopting the above further solution is that the drive motor does not need to be installed on the base, which avoids the drive motor affecting the left and right swinging action of the rocker, and facilitates the installation and maintenance of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the process structure of transporting stamping parts by existing handling equipment;

[0032] Figure 2 It is a structural schematic diagram of the present invention;

[0033] Figure 3 It is a structural schematic diagram of the gripper mechanism of the present invention;

[0034] Figure 4 It is a structural schematic diagram of the gripper placement mechanism of the present invention;

[0035] Figure 5 It is a structural schematic diagram of the rocker mechanism of the present invention;

[0036] Figure 6 It is a structural schematic diagram of the rocker mechanism of the present invention in the middle position state;

[0037] Figure 7 It is a structural schematic diagram of the rocker mechanism of the present invention in a rightward swinging state;

[0038] Figure 8 It is a structural schematic diagram of the rocker mechanism of the present invention in a leftward swinging state;

[0039] Fig. 9 It is a schematic diagram of the front view structure of the direction control mechanism and the gripper mechanism of the present invention;

[0040] Fig.10 It is a schematic diagram of the top view of the direction control mechanism and the gripper mechanism of the present invention;

[0041] Fig.11 It is a schematic diagram of the structure of the present invention in which the starting position is in the middle position;

[0042] Fig.12 It is a structural schematic diagram of the present invention in a state of swinging to the right;

[0043] Fig.13 It is a structural schematic diagram of the state in which the positioning plate swings rightward and hits the limiting block of the present invention;

[0044] Fig.14 It is a structural schematic diagram of the rightward swinging positioning pin and the pin hole in the present invention;

[0045] Fig.15 It is a schematic diagram of the structure of the present invention in a state of swinging to the left after returning to the neutral position;

[0046] Fig.16 It is a structural schematic diagram of the present invention in which the leftward swinging positioning plate collides with the limit block;

[0047] Fig.17 It is a structural schematic diagram of the leftward swinging positioning pin and the pin hole in the present invention.

[0048] In the figure, 1, base; 2, left rocker; 3, right rocker; 4, connecting rod; 5, connecting arm; 6, driving motor; 7, gripper frame; 8, gripper cylinder; 9, gripper bracket; 10, left roller bracket; 11, right roller bracket; 12, left limit pin; 13, right limit pin; 14, double-acting cylinder; 141, piston rod; 15, left spring; 16, right spring; 17, external positioning block; 18 , inner positioning block; 19, limit block; 20, positioning pin; 21, pin hole; 22, positioning plate; 23, input rod; 24, force transmission rod; 25, rocker arm; 26, upper roller; 27, lower roller; 28, gripper mounting plate; 29, upper clamp; 30, lower clamp; 31, cylinder mounting bracket; 32, motor mounting seat; 33, workbench; 34, loading position; 35, unloading position; 36, stamping parts. DETAILED DESCRIPTION

[0049] The principles and features of the present invention are described below in conjunction with examples. The examples are only used to explain the present invention and are not used to limit the scope of the present invention.

[0050] like Figure 2-Figure 17 As shown, a quick handling device for picking up and placing automobile stamping parts comprises a rocker mechanism, a gripper mechanism arranged on the rocker mechanism, a direction control mechanism for controlling the running direction of the gripper mechanism, and a gripper placement mechanism for limiting the gripper mechanism to make vertical movement;

[0051] The rocker mechanism comprises a rocker unit and a driving motor arranged in parallel, wherein the rocker units are connected by a connecting arm 5, and the rocker unit comprises a base 1, a left rocker 2 and a right rocker 3 arranged on the base 1, wherein the left rocker 2 and the right rocker 3 are connected by a connecting rod 4, and the left and right rockers can swing left and right on the base under the action of a driving motor 6; the base is mounted on a workbench;

[0052] The gripper mechanism includes a gripper frame 7, a gripper arranged on the gripper frame 7, and a gripper cylinder 8 for driving the gripper to pick up and place a workpiece. The front and rear sides of the gripper frame are respectively provided with gripper brackets 9, and the gripper brackets are slidably mounted on the connecting rod through left and right roller brackets. A left limit pin 12 and a right limit pin 13 are provided on the connecting rod outside the left roller bracket 10 and the right roller bracket 11.

[0053] The direction control mechanism comprises a double-acting cylinder 14 mounted on the connecting rod and between the left and right roller brackets, a left spring 15 arranged on the left side of the piston rod 141 of the double-acting cylinder, and a right spring 16 arranged on the right side of the piston rod of the double-acting cylinder;

[0054] The gripper placement mechanism includes an outer positioning block 17 and an inner positioning block 18 arranged on both sides of the loading position and the unloading position, and the inner and outer positioning blocks are respectively provided with inner and outer positioning surfaces, and the outer positioning surface is provided with a limit block 19 for positioning the left and right sides of the gripper frame. The inner and outer positioning blocks are installed on the workbench.

[0055] It also includes a positioning mechanism, which includes a positioning pin 20 and a pin hole 21 matched with the positioning pin. The positioning pin is arranged on the inner and outer positioning surfaces. Positioning plates 22 are respectively arranged on the left and right sides of the gripper frame, and the pin hole is arranged on the positioning plate. The rocker mechanism moves in a curve under the action of the motor. The design of the cylinder spring satisfies that the gripper can ensure that the positioning pin is vertically inserted into the positioning pin hole when the gripper falls vertically, so as to better ensure the positioning effect of the gripper, realize the movement of the stamping part and ensure the accuracy of the stamping part transportation position. The side of the gripper frame hits the limit block, the rocker continues to move, the spring is compressed, the gripper mechanism moves vertically downward, and as the gripper mechanism moves vertically downward, the gripper frame moves vertically downward, and the pin hole on the positioning plate on the side of the gripper frame cooperates with the positioning pin on the positioning block to accurately fall into position. After the gripper frame is accurately positioned, the double-acting cylinder can be deflated at this time, and the piston rod of the double-acting cylinder returns to the middle position under the action of the springs on both sides, waiting for the next action.

[0056] The driving motor is connected to the left rocker or the right rocker through a connecting rod transmission mechanism, and the connecting rod transmission mechanism includes an input rod 23, a force transmission rod 24 and a rocker arm 25, one end of the input rod is connected to the output shaft of the driving motor, and the other end is hinged to one end of the force transmission rod, the other end of the force transmission rod is hinged to one end of the rocker arm, and the other end of the rocker arm is connected to the rocker shaft, and the rocker shaft is rotatably mounted on the base, and the left rocker or the right rocker is connected to the rocker shaft. Adding a connecting rod transmission mechanism between the motor and the rocker mechanism can reduce the requirements for the maximum output torque of the motor on the one hand, and on the other hand, the impact force of the rocker mechanism action does not directly act on the output shaft of the motor, reducing damage to the motor and making the transmission more stable. In addition, it is convenient to install the driving motor. The driving motor can be installed on the workbench through a mounting plate to avoid affecting the left and right reciprocating swing of the rocker arm. In addition to the left rocker or the right rocker connected to the rocker shaft, the other left and right rockers are connected to the base through a pin shaft.

[0057] The left and right roller brackets are both provided with an upper roller 26 and a lower roller 27 that can roll along the top and bottom of the connecting rod. The gripper mechanism is installed on the connecting rod through the roller bracket, and the design of the upper and lower rollers changes the hard friction between the roller bracket and the connecting rod into rolling friction, thereby reducing the friction between the roller bracket and the connecting rod, and the gripper mechanism swings to grasp the workpiece more conveniently.

[0058] The gripper is mounted on the gripper frame through a gripper mounting plate 28. The gripper includes an upper jaw 29 and a lower jaw 30. The upper jaw is mounted on the gripper mounting plate. The gripper cylinder is mounted on the gripper mounting plate. The middle of the lower jaw is hinged on the gripper mounting plate. The piston rod of the gripper cylinder is hinged to the outer end of the lower jaw. When the gripper mechanism moves vertically downward, the gripper cylinder contracts, and the lower jaw moves downward and outward to prevent the lower jaw from touching the workpiece. When the upper jaw of the gripper mechanism reaches above the workpiece, the gripper cylinder extends, and the lower jaw moves inward and upward to the bottom of the workpiece, cooperating with the upper jaw to complete the clamping of the workpiece.

[0059] The grippers are provided with 2-8 pieces, such as Figure 1 The grippers shown are provided with four and are symmetrically arranged on the left and right sides of the gripper frame, so that the workpiece can be grasped more stably and the workpiece placement position can be ensured to be high in accuracy.

[0060] The inner and outer positioning blocks are respectively provided with two. There are two inner positioning blocks, and the outer positioning blocks are correspondingly placed on the outer sides of the inner positioning blocks. The four positioning blocks position the gripper frame more stably and reliably.

[0061] The double-acting cylinder is installed below the connecting rod through the cylinder mounting frame 31. The double-acting cylinder is installed on the workbench through the cylinder mounting frame. The double-acting cylinder is installed between the left and right roller brackets through the cylinder mounting plate, which is easy to install, debug and maintain.

[0062] The drive motor is mounted on a motor mounting seat 32, and the motor mounting seat is arranged outside the base. The drive motor is mounted on the workbench 33 through the motor mounting seat. The drive motor does not need to be mounted on the base, so as to avoid the drive motor affecting the left and right swinging action of the rocker, and at the same time facilitate the installation and maintenance of the motor.

[0063] A safety fence is also provided between the loading position and the unloading position outside the base.

[0064] Specific handling process: Assume that the gripper is exactly in the middle position between the manual loading position 34 and the robot picking position 35. Fig.11 As shown, the manual loading position is on the right side of the gripper, the robot picking position is on the left side of the gripper, and there is a stamping workpiece 36 on the right side of the placing table. The drive motor is activated, and the left and right rockers move to the right direction synchronously. During the rightward movement, the piston rod of the double-acting cylinder moves to the right, and the right spring moves to the right, as shown in FIG. Fig.12 As shown in the figure, the roller bracket is pushed to the right, and the upper and lower rollers push the gripper to the right limit pin; the gripper frame hits the limit block on the positioning block, and the gripper cannot continue to move to the right. The rocker continues to move to the right, and the right spring is compressed by the right roller bracket, and the left spring is stretched. Fig.13 As shown in the figure, this ensures that the gripper moves vertically downward. The gripper descends until it falls on the positioning surface of the positioning block, as shown in the figure. Fig.14 As shown, the pin hole on the gripper frame is aligned with the positioning pin on the positioning block. After precise positioning, the cylinder can be deflated, and the piston rod returns to the middle position under the action of the springs on both sides. At this position, the gripper cylinder is activated, the upper and lower jaws cooperate, the gripper grabs the workpiece, and after clamping the workpiece, the drive motor rotates in the opposite direction, and the rocker begins to move to the left. The worker can use this time to place the next workpiece on the rack. After passing the middle position, a signal is detected and given to the double-acting cylinder, the piston rod of the double-acting cylinder moves to the left, and the left spring moves to the left, as shown in the figure. Fig.15 As shown in the figure, the roller bracket is pushed to the left, and the roller bracket carrying the gripper mechanism is pushed to the left limit pin; then the gripper moves downward and leftward along with the rocker, as shown in the figure. Fig.16 As shown, the positioning plate of the gripper frame will first hit the limit block of the left outer positioning block. At this time, the left roller bracket will compress the left spring, and the left spring will be compressed by the left roller bracket. The right spring will be stretched, and the gripper will only move vertically downward. The rocker continues to move to the left, and then the gripper falls into place, as shown in the figure. Fig.17As shown, the pin hole on the gripper frame is inserted and matched with the positioning pins on the inner and outer positioning blocks. At this time, the double-acting cylinder can be deflated, and the piston rod of the double-acting cylinder returns to the middle position under the action of the left and right springs on both sides; after it is in place, the gripper opens and drops the workpiece onto the rack, where the workpiece waits for the robot to grab it. The motor reverses again, rotates the rocker to the upper right, and moves to the placement station to grab the workpiece that the worker has just placed. This cycle is repeated to complete the automated production line, continuously provide stamping parts, and complete the production by welding.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A quick handling device for picking up and placing automobile stamping parts, characterized in that: It includes a rocker mechanism, a gripper mechanism arranged on the rocker mechanism, a direction control mechanism for controlling the running direction of the gripper mechanism, and a gripper placement mechanism for limiting the gripper mechanism to make vertical movement; The rocker mechanism comprises a rocker unit and a driving motor arranged in parallel, wherein the rocker units are connected by a connecting arm, and the rocker unit comprises a base, a left rocker and a right rocker arranged on the base, wherein the left rocker and the right rocker are connected by a connecting rod, and the left and right rockers can swing left and right on the base under the action of the driving motor; The gripper mechanism comprises a gripper frame, a gripper arranged on the gripper frame, and a gripper cylinder for driving the gripper to pick up and place a workpiece, the front and rear sides of the gripper frame are respectively provided with gripper brackets, the gripper brackets are slidably mounted on the connecting rod through left and right roller brackets, and left and right limit pins are arranged on the connecting rod on the outer sides of the left and right roller brackets; The direction control mechanism comprises a double-acting cylinder mounted on the connecting rod and between the left and right roller brackets, a left spring arranged on the left side of the piston rod of the double-acting cylinder, and a right spring arranged on the right side of the piston rod of the double-acting cylinder; The gripper placement mechanism includes an outer positioning block and an inner positioning block arranged on both sides of the loading position and the picking position, the inner and outer positioning blocks are respectively provided with inner and outer positioning surfaces, and the outer positioning surface is provided with a limit block for positioning the left and right sides of the gripper frame.

2. The automobile stamping parts picking and placing fast handling device according to claim 1 is characterized in that: It also includes a positioning mechanism, which includes a positioning pin and a pin hole that matches the positioning pin. The positioning pin is arranged on the inner and outer positioning surfaces. Positioning plates are respectively arranged on the left and right sides of the gripper frame. The pin hole is arranged on the positioning plate.

3. The automobile stamping parts picking and placing fast handling device according to claim 1 or 2, characterized in that: The driving motor is connected to the left rocker or the right rocker through a connecting rod transmission mechanism, and the connecting rod transmission mechanism includes an input rod, a force transmission rod and a rocker arm, one end of the input rod is connected to the output shaft of the driving motor, and the other end is hinged to one end of the force transmission rod, the other end of the force transmission rod is hinged to one end of the rocker arm, and the other end of the rocker arm is connected to a rocker arm shaft, and the rocker arm shaft is rotatably mounted on the base, and the left rocker or the right rocker is connected to the rocker arm shaft.

4. The automobile stamping parts picking and placing fast handling device according to claim 1 is characterized in that: The left and right roller brackets are both provided with upper rollers and lower rollers which can roll along the top and bottom of the connecting rod.

5. The automobile stamping parts picking and placing fast handling device according to claim 1 is characterized in that: The gripper is installed on the gripper frame through a gripper mounting plate. The gripper includes an upper jaw and a lower jaw. The upper jaw is installed on the gripper mounting plate. The gripper cylinder is installed on the gripper mounting plate. The middle part of the lower jaw is hinged on the gripper mounting plate. The piston rod of the gripper cylinder is hinged to the outer end of the lower jaw.

6. The automobile stamping parts pick-up and placement fast handling device according to claim 1 or 5, characterized in that: The grippers are provided with 2-8 pieces and are symmetrically arranged on the left and right sides of the gripper frame.

7. The automobile stamping parts pick-up and placement fast handling device according to claim 1 is characterized in that: The inner and outer positioning blocks are provided with two each.

8. The automobile stamping parts picking and placing fast handling device according to claim 1 is characterized in that: The double-acting cylinder is installed below the connecting rod through a cylinder mounting frame.

9. The automobile stamping parts pick-up and placement fast handling device according to claim 3, characterized in that: The driving motor is mounted on a motor mounting seat, and the motor mounting seat is arranged outside the base.

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