A subframe robot gripper

Abstract

The present invention discloses a robot gripper, comprising a gripper body, a first gripper unit and a second gripper unit, wherein the first gripper unit and the second gripper unit are connected to the gripper body and are respectively located on both sides of the gripper body; the piston rod of the positioning cylinder is connected with the circular positioning pin and the diamond positioning pin to form a circular and diamond positioning mechanism of the gripper; the rotary clamping cylinder is connected with the pressure head to form a clamping mechanism of the sub-frame gripper, and the upper support column and the lower support column are fixed on the gripper body; the cylinder control solenoid valve controls the movement of the positioning cylinder and the rotary clamping cylinder; the sub-frame robot gripper disclosed in the present invention is a brand-new design mechanism designed according to the characteristics of the sub-frame product and the requirements of the processing technology, and has the advantages of compact structure, low price, strong stability, etc., and is an indispensable component on the sub-frame processing automatic production line.

Description

Technical Field

[0001] The present invention belongs to the technical field of subframe processing, and in particular relates to a subframe processing automatic production line, which is used for grabbing a robot gripper for loading and unloading the subframe in a processing center and a logistics system. Background Art

[0002] Subframes are increasingly used in automobiles, serving not only as intermediate connections but also as cushioning and shock absorption, enhancing vehicle comfort. On subframe production lines, robotic grippers are an essential tool for loading and unloading subframes.

[0003] Currently, the processing of subframes often requires multiple steps to complete, and a robotic gripper is needed to grab the subframe and take it to the corresponding workstation for processing. The robotic grippers currently used at each workstation are all independently designed, occupy a large area, and are expensive, and cannot meet the needs of modern production. Summary of the Invention

[0004] In order to solve the above problems, an object of the present invention is to provide a robot gripper that is suitable for automated machining of a sub-frame.

[0005] The complete technical solution of the present invention includes:

[0006] A sub-frame robot gripper, comprising a gripper body, a first gripper unit, and a second gripper unit, wherein the first gripper unit and the second gripper unit are connected to the gripper body and are respectively located on both sides of the gripper body;

[0007] The first gripper unit structure is as follows: a first positioning cylinder seat is connected to the gripper body, the cylinder body of the positioning cylinder is fixed to the first positioning cylinder seat, and the piston rod of the positioning cylinder is connected to the first circular positioning pin to form the cylindrical positioning mechanism of the gripper. The piston rod of the positioning cylinder is connected to the first diamond-shaped positioning pin to form the diamond-shaped positioning mechanism of the gripper;

[0008] The first upper cylinder seat is connected to the gripper body, the cylinder body of the rotary clamping cylinder is fixed on the first upper cylinder seat, and the piston rod of the rotary clamping cylinder is connected to the first upper pressure head; the first lower cylinder seat is connected to the gripper body, the cylinder body of the rotary clamping cylinder is fixed on the first lower cylinder seat, and the piston rod of the rotary clamping cylinder is connected to the first lower pressure head to form a clamping mechanism of the first gripper unit;

[0009] The first upper support column and the first lower support column are fixed on the gripper body;

[0010] The first cylinder control solenoid valve is fixed on the gripper body, and is used to control the positioning cylinder and the rotary clamping cylinder on the first gripper unit;

[0011] The second gripper unit structure is as follows: the second positioning cylinder seat is connected to the gripper body, the cylinder body of the positioning cylinder is fixed to the second positioning cylinder seat, and the piston rod of the positioning cylinder is connected to the second circular positioning pin to form the cylindrical positioning mechanism of the gripper. The piston rod of the positioning cylinder is connected to the second diamond-shaped positioning pin to form the diamond-shaped positioning mechanism of the gripper;

[0012] The second upper cylinder seat is connected to the gripper body, the cylinder body of the rotary clamping cylinder is fixed on the second upper cylinder seat, and the piston rod of the rotary clamping cylinder is connected to the second upper pressure head; the second lower cylinder seat is connected to the gripper body, the cylinder body of the rotary clamping cylinder is fixed on the second lower cylinder seat, and the piston rod of the rotary clamping cylinder is connected to the second lower pressure head to form a clamping mechanism of the second gripper unit;

[0013] The second upper support column and the second lower support column are fixed on the gripper body;

[0014] The second cylinder control solenoid valve is fixed on the gripper body, and is used to control the actions of the second upper positioning cylinder and the rotary clamping cylinder.

[0015] The positioning cylinder is a piston rod with a guide and a stop cylinder to prevent rotation, so as to ensure the stability of the first circular positioning pin and the first diamond positioning pin when they move up and down, and at the same time ensure that the direction of the diamond remains unchanged when the first diamond positioning pin moves up and down.

[0016] The first upper support column and the first lower support column are used to ensure the parallelism between the sub-frame workpiece and the plane of the gripper body when the gripper grips the sub-frame workpiece.

[0017] The positioning cylinder is a piston rod with a guide and a stop cylinder to prevent rotation, so as to ensure the stability of the second circular positioning pin and the second diamond positioning pin when they move up and down, and at the same time ensure that the direction of the diamond remains unchanged when the second diamond positioning pin moves up and down.

[0018] The second upper support column and the second lower support column are used to ensure the parallelism between the sub-frame workpiece and the plane of the gripper body when the gripper grips the sub-frame workpiece.

[0019] During operation, the first cylinder controls the solenoid valve to control the piston rod of the positioning cylinder to extend, pushing the first circular positioning pin and the first diamond positioning pin to the upper position. The robot drives the gripper to insert the first circular positioning pin and the first diamond positioning pin into the circular holes corresponding to the sub-frame workpiece. The rotary clamping cylinder drives the first upper pressure head and the first lower pressure head to rotate and press, pressing the sub-frame workpiece onto the gripper body.

[0020] The second cylinder controls the solenoid valve to control the piston rod of the second positioning cylinder to extend, pushing the second circular positioning pin and the second diamond positioning pin to the upper position. The robot drives the gripper to insert the second circular positioning pin and the second diamond positioning pin into the corresponding circular holes of the sub-frame workpiece. The second upper rotary clamping cylinder drives the second upper pressure head and the second lower pressure head to rotate and press, pressing the sub-frame workpiece onto the gripper body.

[0021] The advantages of the present invention over the prior art are:

[0022] 1. The sub-frame robot gripper disclosed in the present invention has a first gripper unit and a second gripper unit connected to the gripper body and respectively located on both sides of the gripper body; the gripper body, positioning cylinder and rotary clamping cylinder are shared, which saves space, reduces costs, and well meets the sub-frame clamping requirements between different processes.

[0023] 2. The present invention adopts a circular and diamond dual positioning method. The circular positioning ensures the convenience of positioning, and the diamond positioning ensures the accuracy of positioning and the stability of the workpiece to prevent movement.

[0024] 3. The positioning cylinder uses a stopper cylinder with a piston rod that guides and prevents rotation. This ensures the stability of the circular positioning pin and the diamond positioning pin when they move up and down, and also ensures that the direction of the diamond positioning pin remains unchanged when it moves up and down.

[0025] 4. The design of the upper and lower support columns ensures the parallelism between the sub-frame workpiece and the plane of the gripper body when the gripper grabs the sub-frame workpiece, thereby improving accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a front view of the subframe product involved in the present invention;

[0027] Figure 2 for Figure 1 Right view of;

[0028] Figure 3 for Figure 1 Left view of;

[0029] Figure 4 This is a front view of a sub-frame robot gripper of the present invention;

[0030] Figure 5 for Figure 4 Right view;

[0031] Figure 6 This is a front view of the subframe robot gripper OP10 of the present invention;

[0032] Figure 7 for Figure 6 AA cross-sectional view;

[0033] Figure 8 for Figure 6 BB cross-sectional view;

[0034] Figure 9 This is a front view of the subframe robot gripper OP20 of the present invention;

[0035] Figure 10 for Figure 9 CC cross-sectional view;

[0036] Figure 11 for Figure 9 DD cross-sectional view.

[0037] In the figure: 101 - gripper body, 102 - OP10 positioning cylinder seat, 103 - positioning cylinder, 104 - OP10 round positioning pin, 105 - 0P10 diamond positioning pin, 106 - OP10 upper cylinder seat, 107 - rotary clamping cylinder, 108 - OP10 upper pressure head, 109 - OP10 lower cylinder seat, 110 - OP10 lower pressure head, 111 - OP10 upper support column, 112 - OP10 lower support column, 113 - OP10 cylinder control solenoid valve,

[0038] 201-OP20 positioning cylinder seat, 202-OP20 round positioning pin, 203-OP20 diamond positioning pin, 204-OP20 upper cylinder seat, 205-OP20 upper pressure head, 206-OP20 lower cylinder seat, 207-OP20 lower pressure head, 208-OP20 upper support column, 209-OP20 lower support column, 210-OP20 cylinder control solenoid valve. DETAILED DESCRIPTION

[0039] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0040] The present invention is a sub-frame robot gripper, which is fixed on the six axes of the robot and can grab the sub-frame workpiece through the movement of the robot and send it to the machining center for processing. Figure 1-3 As shown, the structure of the subframe robot gripper is as follows Figure 4-5 The figures show the front and right views of the subframe robot gripper, respectively. As shown in the figures, the subframe robot gripper of the present invention is composed of two parts: the OP10 gripper 1 and the OP20 gripper 2. The OP10 and OP20 grippers are two independent processes in the subframe processing, each requiring the subframe to be grasped and sent to the corresponding processing machine tool. In this embodiment, the first gripper unit described above corresponds to the OP10 gripper 1 of this embodiment, and the second gripper unit corresponds to the OP20 gripper 2 of this embodiment.

[0041] The present invention designs the aforementioned subframe robotic gripper. The OP10 gripper 1 is responsible for grabbing the subframe and delivering it to the OP10 machine tool, while the OP20 gripper 2 is responsible for grabbing the subframe and delivering it to the OP20 machine tool. The OP10 gripper 1 and OP20 gripper 2 are positioned opposite each other and share a gripper body 101, a positioning cylinder 103, and a rotary clamping cylinder 107.

[0042] Figure 6-8 The figures are respectively the main view, AA cross-sectional view and BB cross-sectional view of the OP10 gripper after removing the OP20 gripper and sub-frame product from the sub-frame robot gripper of the present invention. As shown in the figure: in the OP10 robot gripper of the present invention, the OP10 positioning cylinder seat 102 is connected to the gripper body 101, the cylinder body of the positioning cylinder 103 is fixed on the OP10 positioning cylinder seat 102, and the piston rod of the positioning cylinder 103 is connected to the OP10 circular positioning pin 104 to form the cylindrical positioning mechanism of the gripper. The piston rod of the positioning cylinder 103 is connected to the OP10 diamond positioning pin 105 to form the diamond positioning mechanism of the gripper. The positioning cylinder 103 is a stop cylinder with a piston rod that guides and prevents rotation. It not only ensures the stability of the OP10 circular positioning pin 104 and the OP10 diamond positioning pin 105 when they move up and down, but also ensures that the direction of the diamond remains unchanged when the OP10 diamond positioning pin 105 moves up and down.

[0043] The OP10 upper cylinder base 106 is connected to the gripper body 101. The cylinder body of the rotary clamping cylinder 107 is fixed to the OP10 upper cylinder base 106. The piston rod of the rotary clamping cylinder 107 is connected to the OP10 upper pressure head 108. The OP10 lower cylinder base 109 is connected to the gripper body 101. The cylinder body of the rotary clamping cylinder 107 is fixed to the OP10 lower cylinder base 109. The piston rod of the rotary clamping cylinder 107 is connected to the OP10 lower pressure head 110 to form the clamping mechanism of the subframe gripper.

[0044] The OP10 upper support column 111 and the OP10 lower support column 112 are fixed on the gripper body 101. The function of the OP10 upper support column 111 and the OP10 lower support column 112 is to ensure the parallelism between the sub-frame workpiece and the plane of the gripper body 101 when the gripper grabs the sub-frame workpiece.

[0045] The OP10 cylinder control solenoid valve 113 is fixed on the gripper body 101, and is used to control the actions of the positioning cylinder 103 and the rotary clamping cylinder 107 on the OP10 gripper.

[0046] During operation, the OP10 cylinder control solenoid valve 113 controls the piston rod of the positioning cylinder 103 to extend, pushing the OP10 circular positioning pin 104 and the OP10 diamond positioning pin 105 to the upper position. The robot drives the gripper to insert the OP10 circular positioning pin 104 and the OP10 diamond positioning pin 105 into the corresponding circular holes of the sub-frame workpiece. The rotary clamping cylinder 107 drives the OP10 upper pressure head 108 and the OP10 lower pressure head 110 to rotate and press, pressing the sub-frame workpiece onto the gripper body 101.

[0047] Figure 9-11 They are respectively the main view, CC sectional view and DD sectional view of a sub-frame robot gripper without the OP10 gripper and the OP20 gripper after the sub-frame product of the present invention.

[0048] As shown in the figure: In the OP20 robot gripper of the present invention, the OP20 positioning cylinder seat 201 is connected to the gripper body 101, the cylinder body of the positioning cylinder 103 is fixed on the OP20 positioning cylinder seat 201, and the piston rod of the positioning cylinder 103 is connected to the OP20 circular positioning pin 202 to form the cylindrical positioning mechanism of the gripper. The piston rod of the positioning cylinder 103 is connected to the OP20 diamond positioning pin 203 to form the diamond positioning mechanism of the gripper. The positioning cylinder 103 uses a stop cylinder with a piston rod that guides and prevents rotation. This ensures the stability of the OP20 circular positioning pin 202 and the OP20 diamond positioning pin 203 when they move up and down, and ensures that the direction of the diamond remains unchanged when the OP20 diamond positioning pin 203 moves up and down.

[0049] The OP20 upper cylinder base 204 is connected to the gripper body 101. The cylinder body of the rotary clamping cylinder 107 is fixed to the OP20 upper cylinder base 204. The piston rod of the rotary clamping cylinder 107 is connected to the OP20 upper pressure head 205. The OP20 lower cylinder base 206 is connected to the gripper body 101. The cylinder body of the rotary clamping cylinder 107 is fixed to the OP20 lower cylinder base 206. The piston rod of the rotary clamping cylinder 107 is connected to the OP20 lower pressure head 207 to form the clamping mechanism of the subframe gripper.

[0050] The OP20 upper support column 208 and the OP20 lower support column 209 are fixed on the gripper body 101. The function of the OP20 upper support column 208 and the OP20 lower support column 209 is to ensure the parallelism between the sub-frame workpiece and the plane of the gripper body 101 when the gripper grabs the sub-frame workpiece.

[0051] The OP20 cylinder control solenoid valve 210 is fixed on the gripper body 101, and is used to control the movement of the positioning cylinder 103 and the rotary clamping cylinder 107 on the OP20.

[0052] During operation, the OP20 cylinder control solenoid valve 210 controls the piston rod of the OP20 positioning cylinder 103 to extend, pushing the OP20 circular positioning pin 202 and the OP20 diamond positioning pin 203 to the upper position. The robot drives the gripper to insert the OP20 circular positioning pin 202 and the OP20 diamond positioning pin 203 into the corresponding circular holes of the sub-frame workpiece. The rotary clamping cylinder 107 on the OP20 drives the OP20 upper pressure head 205 and the OP20 lower pressure head 207 to rotate and press, pressing the sub-frame workpiece onto the gripper body 101.

[0053] The subframe robot gripper of the present invention is a brand-new design mechanism designed according to the characteristics of the subframe product and the requirements of the processing technology. It has the advantages of compact structure, low price and strong stability. It is an indispensable component on the automatic production line of subframe processing.

[0054] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent structural change made to the above embodiment based on the technical essence of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A sub-frame robot gripper, characterized in that: The sub-frame robot gripper includes a gripper body, a first gripper unit and a second gripper unit, wherein the first gripper unit and the second gripper unit are connected to the gripper body and are respectively located on both sides of the gripper body; The first gripper unit structure is as follows: a first positioning cylinder seat is connected to the gripper body, a cylinder body of the positioning cylinder is fixed to the first positioning cylinder seat, a piston rod of the positioning cylinder is connected to a first circular positioning pin to form a cylindrical positioning mechanism of the gripper; and a piston rod of the positioning cylinder is connected to a first diamond-shaped positioning pin to form a diamond-shaped positioning mechanism of the gripper; The first upper cylinder seat is connected to the gripper body, the cylinder body of the rotary clamping cylinder is fixed on the first upper cylinder seat, and the piston rod of the rotary clamping cylinder is connected to the first upper pressure head; the first lower cylinder seat is connected to the gripper body, the cylinder body of the rotary clamping cylinder is fixed on the first lower cylinder seat, and the piston rod of the rotary clamping cylinder is connected to the first lower pressure head to form a clamping mechanism of the first gripper unit; The first upper support column and the first lower support column are fixed on the gripper body; The first cylinder control solenoid valve is fixed on the gripper body, and is used to control the positioning cylinder and the rotary clamping cylinder on the first gripper unit; The second gripper unit structure is as follows: the second positioning cylinder seat is connected to the gripper body, the cylinder body of the positioning cylinder is fixed on the second positioning cylinder seat, the piston rod of the positioning cylinder is connected to the second circular positioning pin to form a cylindrical positioning mechanism of the gripper; the piston rod of the positioning cylinder is connected to the second diamond-shaped positioning pin to form a diamond-shaped positioning mechanism of the gripper; The second upper cylinder seat is connected to the gripper body, the cylinder body of the rotary clamping cylinder is fixed on the second upper cylinder seat, and the piston rod of the rotary clamping cylinder is connected to the second upper pressure head; the second lower cylinder seat is connected to the gripper body, the cylinder body of the rotary clamping cylinder is fixed on the second lower cylinder seat, and the piston rod of the rotary clamping cylinder is connected to the second lower pressure head to form a clamping mechanism of the second gripper unit; The second upper support column and the second lower support column are fixed on the gripper body; The second cylinder control solenoid valve is fixed on the gripper body, and is used to control the actions of the second upper positioning cylinder and the rotary clamping cylinder.

2. The subframe robot gripper according to claim 1, characterized in that: The positioning cylinder is a piston rod with a guide and a stop cylinder to prevent rotation, so as to ensure the stability of the first circular positioning pin and the first diamond positioning pin when they move up and down, and at the same time ensure that the direction of the diamond remains unchanged when the first diamond positioning pin moves up and down.

3. The subframe robot gripper according to claim 2, characterized in that: The first upper support column and the first lower support column are used to ensure the parallelism between the sub-frame workpiece and the plane of the gripper body when the gripper grips the sub-frame workpiece.

4. The sub-frame robot gripper according to claim 1, characterized in that: The positioning cylinder is a piston rod with a guide and a stop cylinder to prevent rotation, so as to ensure the stability of the second circular positioning pin and the second diamond positioning pin when they move up and down, and at the same time ensure that the direction of the diamond remains unchanged when the second diamond positioning pin moves up and down.

5. The sub-frame robot gripper according to claim 4, characterized in that: The second upper support column and the second lower support column are used to ensure the parallelism between the sub-frame workpiece and the plane of the gripper body when the gripper grips the sub-frame workpiece.

6. A method for using a sub-frame robot gripper according to any one of claims 1 to 5, characterized in that: During operation, the first cylinder controls the solenoid valve to control the piston rod of the positioning cylinder to extend, pushing the first circular positioning pin and the first diamond positioning pin to the upper position. The robot drives the gripper to insert the first circular positioning pin and the first diamond positioning pin into the circular holes corresponding to the sub-frame workpiece. The rotary clamping cylinder drives the first upper pressure head and the first lower pressure head to rotate and press, pressing the sub-frame workpiece onto the gripper body. The second cylinder controls the solenoid valve to control the piston rod of the second positioning cylinder to extend, pushing the second circular positioning pin and the second diamond positioning pin to the upper position. The robot drives the gripper to insert the second circular positioning pin and the second diamond positioning pin into the corresponding circular holes of the sub-frame workpiece. The second upper rotary clamping cylinder drives the second upper pressure head and the second lower pressure head to rotate and press, pressing the sub-frame workpiece onto the gripper body.

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