Integrated automatic pre-bending device for automotive welding robot grippers

Abstract

The present invention relates to an integrated automatic pre-installation bending device for a gripper of an automobile welding robot, wherein the fixed base assembly includes a mounting frame, a cylinder rotating shaft, a rotating shaft sleeve, an elastic retaining ring for a rotating shaft, a limiting connecting rod shaft, a fixed end wear-resistant end cover, a fixed end limiting block, a crank shaft male head, a crank shaft female head, a crank shaft spacer, a crank shaft rotating block, a crank wear-resistant slide plate, a side enclosure buckle pressure block, a switch mounting plate and a proximity switch. The pneumatic drive assembly includes an ear shaft type cylinder front mounting flange, a cylinder, a cylinder head, a cylinder head push shaft, a push shaft sleeve and an elastic retaining ring for a push shaft. The limiting connecting rod assembly includes a connecting rod, a movable end limiting block, a rotating end wear-resistant end cover, a connecting rod shaft sleeve and a switch induction plate. The execution crank assembly includes a crank, a crank connecting rod shaft, a crank shaft sleeve, an elastic retaining ring for a crank shaft, an adjustment gasket and a side enclosure buckle push head. The device is energy-efficient and highly efficient, with safe and reliable performance, and effectively ensures the consistency of pre-installed bending accuracy.

Description

Technical Field

[0001] The invention relates to automobile welding equipment, in particular to an integrated automatic pre-assembly bending device for an automobile welding robot gripper. Technical Background

[0002] At present, my country's economic level is constantly improving, and cars have become an indispensable means of transportation in people's daily lives. As a result, the competition in the automobile manufacturing industry is extremely fierce. Major automobile brand manufacturers are introducing various advanced equipment to meet the production needs of different degrees of automation and improve their product quality. As one of the important components of the car, the manufacturing quality of the body in white directly affects the performance of the car. In the process of manufacturing the body in white, it is necessary to go through two processes, stamping and welding. The technology in these processes needs to be precisely controlled. If any problems occur, it will affect the overall quality of the car. The body in white refers to the body before welding but before painting. As the trunk of the car, it plays an important role in supporting the entire car. When manufacturing the car body, due to the complexity of the relevant technical process operation, precise and professional operations must be carried out, and the relevant technical processes must be carefully handled to ensure the quality of the car body in white. Therefore, it will be an inevitable trend for automobile manufacturers to adopt robot intelligent production to replace manual production.

[0003] Robot grippers are a kind of supporting equipment commonly used in robot welding production lines. Their functions include transportation, repair welding, gluing, assembly and other production processes. In the side panel assembly production line of the body in white, the buckle pre-installation and bending process in the synthesis process of the inner and outer panels of the side panel is an indispensable process. The traditional buckle pre-installation and bending process of the inner and outer panels of the side panel is completed manually using tools such as hammers. Its disadvantages are high labor intensity, slow production cycle, and the lack of accuracy consistency.

[0004] Therefore, in the automobile welding robot production line, the enrichment of the robot gripper functions and the modularization of each unit inside the gripper have always been issues that need to be continuously solved and improved during the development of the automobile welding robot production line. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the above-mentioned traditional manual work and provide an integrated automatic pre-assembly bending device for automobile welding robot grippers with simple structure, convenient application, safe and reliable performance.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an integrated automatic pre-assembly bending device for automobile welding robot gripper, characterized in that the device is connected to form a unit module by four parts: a fixed base assembly, a pneumatic drive assembly, a limit connecting rod assembly and an actuator crank assembly;

[0007] The fixed base assembly includes: a mounting frame, a cylinder shaft, a shaft sleeve, an elastic retaining ring for the shaft, a limit connecting rod shaft, a fixed end wear-resistant end cover, a fixed end limit block, a crank shaft male head, a crank shaft female head, a crank shaft spacer, a crank shaft rotating block, a crank wear-resistant slide plate, a side buckle pressure block, a switch mounting plate and a proximity switch;

[0008] The mounting frame provides an installation foundation for the entire unit module; the cylinder shaft is installed on the mounting frame by bolts, which is used to provide a rotation fulcrum for the pneumatic drive assembly; the shaft sleeve is placed on the cylinder shaft and fixed by an elastic retaining ring through the shaft shaft; the limit connecting rod shaft crosses the mounting frame and is fixed by a cotter pin to provide rotation support for the limit connecting rod assembly; the fixed end limit block is installed on the mounting frame to limit the cylinder stroke; the crank shaft male head, crank shaft female head, crank shaft spacer, and crank shaft rotating block are inserted and combined together and installed on the mounting frame by bolts to provide constraints for the linear motion of the crank assembly; the crank wear-resistant slide plate is installed on the mounting frame by bolts and is in direct contact with the crank assembly; the side panel buckle pressure block is installed on the mounting frame by bolts and is in direct contact with the side panel workpiece; the switch mounting plate is installed on the mounting frame by bolts, and two through holes are reserved on the plate to install the proximity switch. The proximity switch comes with two nuts, which are clamped on the switch mounting plate through the nuts to detect the cylinder state and provide a monitoring signal for the action state of the device;

[0009] The pneumatic drive assembly comprises: a front mounting flange of a trunnion-type cylinder, a cylinder, a cylinder head, a cylinder head push shaft, a push shaft sleeve and an elastic retaining ring for the push shaft;

[0010] The cylinder is mounted on the front mounting flange of the trunnion-type cylinder by bolts, and the front mounting flange of the trunnion-type cylinder is fixed to the mounting frame by the cylinder rotating shaft and rotates around the cylinder rotating shaft as the axis; the cylinder head and the cylinder are connected together by threads, and after the cylinder head push shaft penetrates the push shaft sleeve, it is fixed to the cylinder head by an elastic retaining ring through the push shaft, and the cylinder and the limit connecting rod assembly are connected together as a connecting assembly;

[0011] The limit connecting rod assembly includes: a connecting rod, a limit block at the moving end, a wear-resistant end cover at the rotating end, a connecting rod shaft sleeve and a switch sensing plate;

[0012] The connecting rod is fixed in the device through a limit connecting rod shaft installed on the fixed base assembly, one end of which is connected to the pneumatic drive assembly through the cylinder head push shaft, and the other end is connected to the actuator crank assembly through the crank connecting rod shaft; the movable end limit block is installed on the connecting rod through bolts to limit the cylinder stroke; the connecting rod shaft sleeve is embedded in the hole that matches the limit connecting rod shaft; the switch sensing plate is installed on the connecting rod through bolts to provide a sensing signal for the proximity switch;

[0013] The actuator crank assembly comprises: a crank, a crank connecting rod shaft, a crank shaft sleeve, an elastic retaining ring for the crank shaft, an adjustment gasket and a side buckle push head;

[0014] The crank cooperates with the crankshaft rotating block in the fixed base assembly and is fixed to the mounting frame through the crankshaft. Due to the constraint of the crankshaft, the crank makes a linear motion along the radial direction of its own oblong hole; the crank connecting rod shaft is used as a connecting part. After passing through the crankshaft sleeve, it is fixed to the crank through the crankshaft with an elastic retaining ring, and the limit connecting rod assembly and the actuator crank assembly are connected together to drive the actuator crank assembly to move; the side buckle push head is used as the last action executing part of the whole device and is fixed to the crank in a bolted manner;

[0015] The fixed base assembly serves as the bearing foundation of the entire device and is installed on the octagonal tube connector of the robot gripper through the flange mounting surface; the pneumatic drive assembly serves as the only power source inside the unit module and is installed on the fixed base assembly, and plays a connecting role between the fixed base assembly and the limit connecting rod assembly, and also drives the limit connecting rod assembly to rotate around the limit connecting rod axis; the limit connecting rod assembly is installed on the fixed base assembly, and is connected to the pneumatic drive assembly and the actuator crank assembly by a rotating shaft. Driven by the pneumatic drive assembly, the limit connecting rod assembly performs circular motion around the limit connecting rod axis of the fixed base assembly; the actuator crank assembly is installed on the fixed base assembly through the crank shaft, and is connected to the limit connecting rod assembly through the limit connecting rod shaft. Driven by the limit connecting rod assembly, the actuator crank assembly performs reciprocating motion in the vertical direction on the crank wear-resistant slide, thereby driving the side panel buckle push head to perform telescopic motion, so as to realize the automatic pre-installation and bending function of the entire unit module.

[0016] The driving cylinder used in the device has a telescopic stroke of 55mm, an actual stroke of 50mm, and a reserved 5mm stroke as an adjustment stroke inside the device; when the cylinder is in a fully retracted state, the device is in an open state; driven by the cylinder, the limit link assembly rotates around the limit link shaft until the movable end limit block contacts the fixed end limit block of the fixed base assembly; under the traction of the limit link assembly, the execution crank assembly is constrained by the crank shaft, causing the side panel buckle push head to perform a small L-shaped bending action.

[0017] The fixed end wear-resistant end cover is mounted on the mounting frame by bolts and is in direct contact with the limit connecting rod assembly; the rotating end wear-resistant end cover is mounted on the connecting rod; both provide a wear-resistant environment for the movement of the limit connecting rod assembly.

[0018] The crankshaft is mounted on the crank-connecting rod shaft by means of an elastic retaining ring, so as to cooperate and fix the crank-connecting rod shaft.

[0019] The adjusting gasket is arranged between the crank and the side panel buckle push head to adjust the gap between the side panel buckle push head and the side panel buckle pressing block after closing.

[0020] The beneficial effect of the present invention is that the present invention provides a robot gripper function with a novel structure and a very significant application effect. When the side panel assembly transfer gripper grabs the side panel inner and outer panels to be assembled, the pre-installed bending unit module in the open state is located at the unbent buckle of the side panel outer panel. When the robot issues a bending permission instruction, the pneumatic drive assembly drives the limit connecting rod assembly to close the execution crank assembly, and the side panel buckle pusher in the execution crank assembly bends the buckle of the side panel outer panel, thereby achieving the pre-assembly process of the side panel inner and outer panels. Since the present invention integrates the buckle bending unit module on the robot gripper, it avoids the many disadvantages of traditional manual operations mentioned above. The present invention can be widely used in automotive welding automated robot production lines. The device is powered by a cylinder, and the execution crank assembly performs a circular motion along the crank shaft of the fixed base assembly under the drive of the cylinder, thereby realizing the bending effect of the device on the side panel buckle. Due to its integration, the device can be completely disassembled and assembled on the robot gripper, which greatly reduces the complexity of the gripper and facilitates disassembly, assembly, replacement and maintenance. Since manual operation is no longer required, it also reduces labor costs, improves production rhythm and ensures product quality.

[0021] In summary, the present invention has a reasonable design, compact structure, safe and reliable performance, and effectively solves production problems such as high labor intensity and low work efficiency caused by manual operations within a certain range. That is, it improves the problems caused by manual operations to the greatest extent on the basis of ensuring production rhythm and product quality, thereby effectively reducing production costs, and the application effect is very significant. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 2 It is a schematic cross-sectional view of the overall structure of the present invention;

[0024] Figure 3 yes Figure 2 Schematic diagram of the cross-sectional structure along the AA direction;

[0025] Figure 4 yes Figure 2 Schematic diagram of the cross-sectional structure along the BB direction;

[0026] Figure 5 Schematic diagram of the motion trajectory of the device of the present invention;

[0027] In the figure:

[0028] 1 Fixed base assembly: 1-1 mounting frame, 1-2 cylinder shaft, 1-3 shaft sleeve, 1-4 shaft elastic retaining ring, 1-5 limit connecting rod shaft, 1-6 fixed end wear-resistant end cover, 1-7 fixed end limit block, 1-8 crank shaft male head, 1-9 crank shaft female head, 1-10 crank shaft spacer, 1-11 crank shaft rotating block, 1-12 crank wear-resistant slide plate, 1-13 side buckle pressure block, 1-14 switch mounting plate, 1-15 proximity switch;

[0029] 2 Pneumatic drive components: 2-1 front mounting flange of trunnion-type cylinder, 2-2 cylinder, 2-3 cylinder head, 2-4 cylinder head push shaft, 2-5 push shaft sleeve, 2-6 elastic retaining ring for push shaft;

[0030] 3 Limit connecting rod assembly: 3-1 connecting rod, 3-2 moving end limit block, 3-3 rotating end wear-resistant end cover, 3-4 connecting rod shaft sleeve, 3-5 switch sensor plate;

[0031] 4. Execute the crank assembly: 4-1 crank, 4-2 crank connecting rod shaft, 4-3 crank shaft sleeve, 4-4 crank shaft elastic retaining ring, 4-5 adjusting gasket, 4-6 side buckle push head. DETAILED DESCRIPTION

[0032] The following is a detailed description of the specific implementation methods, structures and features provided by the present invention in conjunction with the accompanying drawings or preferred examples:

[0033] like Figure 1-Figure 5 As shown, an integrated automatic pre-assembly bending device for an automobile welding robot gripper is connected to form a unit module by four parts: a fixed base assembly 1, a pneumatic drive assembly 2, a limit connecting rod assembly 3 and an actuator crank assembly 4.

[0034] The fixed base assembly, as the bearing foundation of the entire unit module, is installed on the octagonal tube connector of the robot gripper through the flange mounting surface. Its function is to provide a stable, fixed, and independent mounting foundation for the entire unit module, and also modularize the overall mechanism to facilitate the installation and disassembly of the entire mechanism; the pneumatic drive assembly, as the only power source inside the unit module, is installed on the fixed base assembly, and plays a connecting role between the fixed base assembly and the limit link assembly, and also drives the limit link assembly to move around the limit link shaft; the limit link assembly It is installed on the fixed base assembly and connected to the pneumatic drive assembly and the actuator crank assembly by a rotating shaft. Under the drive of the pneumatic drive assembly, the limit connecting rod assembly makes a circular motion around the limit connecting rod shaft of the fixed base assembly; the actuator crank assembly is installed on the fixed base assembly through the crank shaft and is connected to the limit connecting rod assembly through the limit connecting rod shaft. Under the drive of the limit connecting rod assembly, the actuator crank assembly makes a reciprocating motion in the vertical direction on the crank wear-resistant slide plate, thereby driving the side panel buckle push head to make a telescopic motion, so as to realize the automatic pre-installation and bending function of the entire unit module.

[0035] The four parts that make up the unit module are:

[0036] 1 Fixed base assembly: 1-1 mounting frame, 1-2 cylinder shaft, 1-3 shaft sleeve, 1-4 shaft retaining ring, 1-5 limit connecting rod shaft, 1-6 fixed end wear-resistant end cover, 1-7 fixed end limit block, 1-8 crank shaft male head, 1-9 crank shaft female head, 1-10 crank shaft spacer, 1-11 crank shaft rotating block, 1-12 crank wear-resistant slide plate, 1-13 side buckle pressure block, 1-14 switch mounting plate and 1-15 proximity switch.

[0037] 2 Pneumatic drive components: 2-1 front mounting flange of trunnion-type cylinder, 2-2 cylinder, 2-3 cylinder head, 2-4 cylinder head push shaft, 2-5 push shaft sleeve and 2-6 push shaft circlip.

[0038] 3 Limit connecting rod assembly: 3-1 connecting rod, 3-2 moving end limit block, 3-3 rotating end wear-resistant end cover, 3-4 connecting rod shaft sleeve and 3-5 switch sensor plate.

[0039] 4. Execute crank assembly: 4-1 crank, 4-2 crank connecting rod shaft, 4-3 crank shaft sleeve, 4-4 crank shaft elastic retaining ring, 4-5 adjusting gasket and 4-6 side buckle push head.

[0040] The mounting frame 1-1 is installed on the mounting surface of the robot gripper connector, and is used to carry the entire pre-installed bending unit module and provide an installation foundation for all parts in the module; the cylinder shaft 1-2 is installed on the mounting frame 1-1 by bolts, and is used to provide a rotation fulcrum for the pneumatic drive assembly; the shaft sleeve 1-3 cooperates with the cylinder shaft 1-2 and is fixed by an elastic retaining ring 1-4 on the shaft; the limit connecting rod shaft 1-5 crosses the mounting frame and is fixed by a cotter pin, and is used to provide rotation support for the limit connecting rod assembly; the fixed end wear-resistant end cover 1-6 is installed on the mounting frame by bolts, and is in direct contact with the limit connecting rod assembly; the fixed end limit block 1-7 is installed on the mounting frame, and is used to limit the movement of the cylinder The crankshaft male head 1-8 and the crankshaft female head 1-9 are installed on the mounting frame by bolts to provide constraints for the linear motion of the crank assembly; the crankshaft spacer 1-10 is between the crankshaft swivel block 1-11 and the crankshaft male head 1-8, ensuring the smooth rotation of the crankshaft swivel block 1-11 on the crankshaft male head 1-8; the crank wear-resistant slide plate 1-12 is installed on the mounting frame by bolts and is in direct contact with the crank assembly; the side panel buckle pressure block 1-13 is installed on the mounting frame by bolts and is in direct contact with the side panel buckle; the switch mounting plate 1-14 and the proximity switch 1-15 are directly installed on the mounting frame 1-1 to provide signals for the action status of the entire unit module.

[0041] The cylinder 2-2 is installed on the ear-axis cylinder front mounting flange 2-1 by bolts, and is the only power source of the entire unit module; the ear-axis cylinder front mounting flange 2-1 is fixed to the mounting frame 1-1 through the cylinder rotating shaft 1-2, and rotates around it with the cylinder rotating shaft 1-2 as the axis; the cylinder head 2-3 and the cylinder head push shaft 2-4 are used as connecting components to connect the cylinder 2-2 and the limit connecting rod assembly together; the push shaft sleeve 2-5 cooperates with the cylinder head push shaft 2-4, and is fixed together by the push shaft with an elastic retaining ring 2-6.

[0042] The connecting rod 3-1 is fixed to the mounting frame 1-1 through a limiting connecting rod shaft 1-5 installed on the fixed base assembly, and is connected to the cylinder head push shaft 2-4 of the pneumatic drive assembly and the crank connecting rod shaft 4-2 of the actuator crank assembly, playing a connecting role; the connecting rod shaft sleeve 3-4 is fitted between the connecting rod 3-1 and the limiting connecting rod shaft 1-5 to ensure smooth rotation of the connecting rod 3-1; that is, the connecting rod shaft sleeve 3-4 is embedded in the hole that cooperates with the limiting connecting rod shaft to ensure smooth rotation of the limiting connecting rod assembly in the device. The wear-resistant end cover 3-3 at the rotating end is installed on the connecting rod 3-1 by bolts, and is in direct contact with the fixed end wear-resistant end cover 1-6 of the fixed base assembly to generate relative movement; on the one hand, it plays the role of fixing the sleeve so that the sleeve will not be displaced during the operation of the device, and on the other hand, it is in direct contact with the fixed end wear-resistant end cover installed on the fixed base assembly so that the wear caused by the movement friction is limited to this part, ensuring the service life of the mechanism and the low cost of maintenance. The limit block 3-2 at the moving end is installed on the connecting rod 3-1 by bolts to limit the cylinder stroke and ensure the bending accuracy. The switch sensing plate 3-5 is installed on the connecting rod 3-1 to provide a sensing signal for the proximity switch 1-15.

[0043] The crank 4-1 cooperates with the crank shaft block 1-11 in the fixed base assembly and is fixed to the mounting frame 1-1 through the crank shaft male head 1-8. Due to the constraint of the crank shaft male head 1-8, the crank 4-1 can make a linear motion along the radial direction of its own oblong hole; the crank-connecting rod shaft 4-2 serves as a connecting part to connect the limit connecting rod assembly and the execution crank assembly together to drive the execution crank assembly to move; the crank shaft sleeve 4-3 cooperates with the crank-connecting rod shaft 4-2 and is fixed together through the crank shaft with an elastic retaining ring 4-4; the side panel buckle push head 4-6 serves as the last action execution part of the entire unit module, and completes the pre-installed bending function of the side panel buckle by adjusting the adjustment gasket 4-5.

[0044] The telescopic stroke of the driving cylinder used in the device is 55mm, the actual stroke is 50mm, and a 5mm stroke is reserved as the adjustment stroke inside the device; when the cylinder 2-2 is in the fully retracted state, the device is in the open state; under the drive of the cylinder 2-2, the limit connecting rod assembly 3 rotates around the limit connecting rod shaft until the movable end limit block 3-2 contacts the fixed end limit block 1-7 of the fixed base assembly 1; under the traction of the limit connecting rod assembly 3, the crank assembly 4 is constrained by the crank shaft, so that the side buckle push head 4-6 makes a small L-shaped bending action.

[0045] The working principle of the present invention is as follows: the fixed base assembly is installed on the mounting surface of the robot gripper connector as the bearing foundation of the entire unit module; the pneumatic drive assembly is installed on the fixed base assembly to provide power for the unit module to realize the pre-installed bending function of the module. The limit connecting rod assembly moves in a circle around the limit connecting rod axis under the drive of the pneumatic drive assembly; the execution crank assembly cooperates with the crank shaft rotating block and is constrained by the crank shaft. Under the drive of the pneumatic drive assembly, it moves in a straight line along the radial direction of its own oblong hole. When the cylinder extends, the limit connecting rod assembly pulls up the execution crank assembly under the drive of the cylinder to put the unit module in an open state; when the cylinder retracts, the limit connecting rod assembly presses down the execution crank assembly under the drive of the cylinder to put the unit module in a closed state to realize the pre-installed bending function of the side buckle of the unit module.

[0046] The configuration and specific function characteristics of each component of the present invention are as follows:

[0047] 1Fixed base assembly:

[0048] 1-1 Mounting frame: connected to the robot gripper connector, used to carry the entire unit module and provide an installation basis for all components in the module;

[0049] 1-2 Cylinder shaft: installed in the shaft processing hole of the mounting frame, used to provide a rotation fulcrum for the pneumatic drive assembly;

[0050] 1-3 Shaft sleeve: a commercially available part, installed in conjunction with the cylinder shaft to ensure smooth movement of the pneumatic drive assembly on the cylinder shaft;

[0051] 1-4 Elastic retaining ring for rotating shaft: installed on the cylinder rotating shaft to fix the rotating shaft sleeve;

[0052] 1-5 Limit connecting rod shaft: fixed in the limiting connecting rod shaft mounting hole of the mounting frame, plays a bearing role for the limiting connecting rod assembly, and enables it to rotate around its own axis under the drive of the pneumatic drive assembly;

[0053] 1-6 Fixed end wear-resistant end cover: installed on the inner processing surface in the middle of the mounting frame to provide a wear-resistant environment for the movement of the limit connecting rod assembly;

[0054] 1-7 Fixed end limit block: installed on the inclined processing surface of the mounting frame, used to limit the cylinder stroke and ensure bending accuracy;

[0055] 1-8 Crank shaft male head: installed in the crank shaft machining hole at the bottom of the mounting frame to provide motion constraints for the crank assembly;

[0056] 1-9 Crankshaft female head: Installed in the crankshaft processing hole at the bottom of the mounting frame, used in conjunction with the crankshaft male head;

[0057] 1-10 Crankshaft spacer: Sleeved on the crankshaft male head, used to adjust the crankshaft rotor clearance;

[0058] 1-11 Crank shaft rotating block: assembled with the crank shaft male head and crank to ensure smooth movement of the crank;

[0059] 1-12 Crank wear-resistant plate: installed on the inner processing surface of the lower part of the mounting frame to provide a wear-resistant environment for the movement of the crank;

[0060] 1-13 Side panel buckle pressing block: installed on the outer processing surface of the lower part of the mounting frame, in direct contact with the side panel assembly, and cooperate with the side panel buckle pusher to complete the pre-installation bending action;

[0061] 1-14 Switch mounting plate: installed on the outside of the mounting frame, used to install the proximity switch;

[0062] 1-15 Proximity switch: Installed on the switch mounting plate, used to detect the operating status of the unit module.

[0063] 2 Pneumatic drive components:

[0064] 2-1 Trunnion-type cylinder front mounting flange: Installed in conjunction with the cylinder shaft, used to install and fix the cylinder;

[0065] 2-2 Cylinder: Commercially available parts, providing power for the entire unit module;

[0066] 2-3 Cylinder head: installed on the cylinder rod, serving as the actuator of the cylinder;

[0067] 2-4 Cylinder head push shaft: assembled with the cylinder head and connected to the limit connecting rod assembly;

[0068] 2-5 Push shaft sleeve: a commercially available part, which cooperates with the push shaft of the cylinder head to ensure smooth movement of the connection between the limit connecting rod assembly and the pneumatic drive assembly;

[0069] 2-6 Elastic retaining ring for push shaft: installed on the cylinder head push shaft to fix the cylinder head push shaft.

[0070] 3 Limiting connecting rod assembly:

[0071] 3-1 Connecting rod: fixed on the mounting frame through the limiting connecting rod shaft, and driven by the cylinder to make circular motion around the limiting connecting rod shaft, thereby driving the actuator crank assembly to move;

[0072] 3-2 Moving end limit block: installed on the processing surface of the connecting rod, used to limit the cylinder stroke and ensure the bending accuracy;

[0073] 3-3 Wear-resistant end cap at the rotating end: installed on the machined surfaces on both sides of the connecting rod to provide a wear-resistant environment for the movement of the limit connecting rod assembly;

[0074] 3-4 Connecting rod shaft sleeve: a commercially available part, assembled with the limit connecting rod shaft to ensure smooth movement between the limit connecting rod shaft and the connecting rod;

[0075] 3-5 Switch sensor plate: installed on the connecting rod, located on the side of the moving end limit block installation surface, providing a sensing source for the proximity switch sensing signal.

[0076] 4. Actuator Crank Assembly:

[0077] 4-1 Crank: It is fixed in the unit module through the crank shaft male head and installed in conjunction with the crank shaft rotating block. Under the connection of the crank connecting rod shaft, it moves linearly along the radial direction of its own oblong hole as the connecting rod rotates, so as to drive the side panel buckle pusher to complete the bending action;

[0078] 4-2 Crank-connecting rod shaft: installed at the junction of the crank and the connecting rod, plays a connecting role;

[0079] 4-3 Crankshaft sleeve: assembled with the crank-connecting rod shaft to ensure that the crank and connecting rod can move smoothly when there is relative movement;

[0080] 4-4 Crankshaft elastic retaining ring: installed on the crankshaft to fix the crankshaft;

[0081] 4-5 Adjustment gasket: located between the crank and the side panel buckle push head, it adjusts the gap between the side panel buckle push head and the side panel buckle pressure block after closing, so as to complete the pre-installation bending function of the side panel buckle.

[0082] 4-6 Side panel buckle pusher: installed on the crank, as the last action execution part of the entire unit module, to complete the pre-installation and bending function of the side panel buckle.

[0083] Figure 5 The motion trajectory of the device of the present invention is shown, in which A represents the extension direction of the cylinder, B represents the rotation direction of the limit connecting rod assembly under the action of the cylinder, and C represents the motion trajectory direction of the side panel buckle push head performing the bending action.

[0084] The integrated automatic pre-installation and bending unit module constructed by the present invention can be installed as a whole on a robot gripper. During the process of transporting the side panel assembly, the process of pre-installation and bending of the side panel assembly buckles is completed, thereby replacing the manual bending process, greatly reducing the labor cost, improving the production rhythm, and effectively ensuring the consistency of the pre-installation and bending accuracy.

[0085] The detailed description of the integrated automatic pre-assembly bending device for the automotive welding robot gripper with reference to the above example is illustrative rather than restrictive; therefore, changes and modifications without departing from the overall concept of the present invention should fall within the scope of protection of the present invention.

Claims

1. An integrated automatic pre-assembly bending device for automobile welding robot grippers, characterized in that The device is composed of a fixed base assembly, a pneumatic drive assembly, a limit connecting rod assembly and an execution crank assembly, which are connected to form a unit module; The fixed base assembly includes: a mounting frame, a cylinder shaft, a shaft sleeve, an elastic retaining ring for the shaft, a limit connecting rod shaft, a fixed end wear-resistant end cover, a fixed end limit block, a crank shaft male head, a crank shaft female head, a crank shaft spacer, a crank shaft rotating block, a crank wear-resistant slide plate, a side buckle pressure block, a switch mounting plate and a proximity switch; The mounting frame provides an installation foundation for the entire unit module; the cylinder shaft is installed on the mounting frame by bolts, which is used to provide a rotation fulcrum for the pneumatic drive assembly; the shaft sleeve is placed on the cylinder shaft and fixed by an elastic retaining ring through the shaft shaft; the limit connecting rod shaft crosses the mounting frame and is fixed by a cotter pin to provide rotation support for the limit connecting rod assembly; the fixed end limit block is installed on the mounting frame to limit the cylinder stroke; the crank shaft male head, crank shaft female head, crank shaft spacer, and crank shaft rotating block are inserted and combined together and installed on the mounting frame by bolts to provide constraints for the linear motion of the crank assembly; the crank wear-resistant slide plate is installed on the mounting frame by bolts and is in direct contact with the crank assembly; the side panel buckle pressure block is installed on the mounting frame by bolts and is in direct contact with the side panel workpiece; the switch mounting plate is installed on the mounting frame by bolts, and two through holes are reserved on the plate to install the proximity switch. The proximity switch comes with two nuts, which are clamped on the switch mounting plate through the nuts to detect the cylinder state and provide a monitoring signal for the action state of the device; The pneumatic drive assembly comprises: a front mounting flange of a trunnion-type cylinder, a cylinder, a cylinder head, a cylinder head push shaft, a push shaft sleeve and an elastic retaining ring for the push shaft; The cylinder is mounted on the front mounting flange of the trunnion-type cylinder by bolts; the front mounting flange of the trunnion-type cylinder is fixed to the mounting frame by the cylinder rotating shaft, and rotates around the cylinder rotating shaft with the cylinder rotating shaft as the axis; the cylinder head and the cylinder are connected together by threads, and after the cylinder head push shaft penetrates the push shaft sleeve, it is fixed to the cylinder head by an elastic retaining ring through the push shaft, and the cylinder and the limit connecting rod assembly are connected together as a connecting assembly; The limit connecting rod assembly includes: a connecting rod, a limit block at the moving end, a wear-resistant end cover at the rotating end, a connecting rod shaft sleeve and a switch sensing plate; The connecting rod is fixed in the device through a limit connecting rod shaft installed on the fixed base assembly, one end of which is connected to the pneumatic drive assembly through the cylinder head push shaft, and the other end is connected to the actuator crank assembly through the crank connecting rod shaft; the movable end limit block is installed on the connecting rod through bolts to limit the cylinder stroke; the connecting rod shaft sleeve is embedded in the hole that matches the limit connecting rod shaft; the switch sensing plate is installed on the connecting rod through bolts to provide a sensing signal for the proximity switch; The actuator crank assembly comprises: a crank, a crank connecting rod shaft, a crank shaft sleeve, an elastic retaining ring for the crank shaft, an adjustment gasket and a side buckle push head; The crank cooperates with the crankshaft rotating block in the fixed base assembly and is fixed to the mounting frame through the crankshaft. Due to the constraint of the crankshaft, the crank makes a linear motion along the radial direction of its own oblong hole; the crank connecting rod shaft is used as a connecting part. After passing through the crankshaft sleeve, it is fixed to the crank through the crankshaft with an elastic retaining ring, and the limit connecting rod assembly and the actuator crank assembly are connected together to drive the actuator crank assembly to move; the side buckle push head is used as the last action executing part of the whole device and is fixed to the crank in a bolted manner; The fixed base assembly serves as the bearing foundation of the entire device and is installed on the octagonal tube connector of the robot gripper through the flange mounting surface; the pneumatic drive assembly serves as the only power source inside the unit module and is installed on the fixed base assembly, and plays a connecting role between the fixed base assembly and the limit connecting rod assembly, and also drives the limit connecting rod assembly to rotate around the limit connecting rod axis; the limit connecting rod assembly is installed on the fixed base assembly, and is connected to the pneumatic drive assembly and the actuator crank assembly by a rotating shaft, and the limit connecting rod assembly is driven by the pneumatic drive assembly to make a circular motion around the limit connecting rod axis of the fixed base assembly; the actuator crank assembly is installed on the fixed base assembly through the crank shaft, and is connected to the limit connecting rod assembly through the limit connecting rod shaft, and the actuator crank assembly is driven by the limit connecting rod assembly to make a reciprocating motion in the vertical direction on the crank wear-resistant slide, thereby driving the side buckle push head to make a telescopic motion, so as to realize the automatic pre-installation and bending function of the entire unit module; The driving cylinder used in the device has a telescopic stroke of 55mm, an actual stroke of 50mm, and a reserved 5mm stroke as an adjustment stroke inside the device; when the cylinder is in a fully retracted state, the device is in an open state; driven by the cylinder, the limit link assembly rotates around the limit link shaft until the limit block at the mobile end contacts the limit block at the fixed end of the fixed base assembly; under the traction of the limit link assembly, the crank assembly is constrained by the crank shaft, causing the side panel buckle push head to perform a small L-shaped bending action.

2. The integrated automatic pre-assembly bending device for automobile welding robot gripper according to claim 1 is characterized in that The fixed end wear-resistant end cover is mounted on the mounting frame by bolts and is in direct contact with the limit connecting rod assembly; meanwhile, the rotating end wear-resistant end cover is mounted on the connecting rod.

3. The integrated automatic pre-assembly bending device for automobile welding robot gripper according to claim 1 is characterized in that The crankshaft is mounted on the crank-connecting rod shaft by means of an elastic retaining ring.

4. The integrated automatic pre-assembly bending device for automobile welding robot gripper according to claim 1 is characterized in that The adjusting gasket is arranged between the crank and the side panel buckle pusher.

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