A gripper for an automotive welding robot

Abstract

The present invention relates to a gripper for an automotive welding robot. The gripper includes a first bracket, a loading platform connected to the first bracket, a plurality of limiting members detachably connected to the loading platform, and a movable welding part limiting mechanism connected to the loading platform; for this automotive welding robot gripper, a movable welding part limiting mechanism is provided on the gripper, which can be applicable to the limiting and clamping of workpieces to be welded with different shapes, sizes and materials, and the position of the movable welding part limiting mechanism can be adjusted based on the positioning basis of the gripper, facilitating the movement of the workpiece to be welded to a designated welding point on an automotive component, facilitating precise positioning and cooperation with the gripper. At the same time, the contact force and contact angle between the workpiece to be welded clamped by the movable welding part limiting mechanism and the automotive component can be adjusted according to welding requirements, applicable to the contact between the workpiece to be welded and an irregular surface on the automotive component as well as the welding process, and can be applicable to different welding process procedures.

Description

Technical Field

[0001] The present invention belongs to the field of welding auxiliary equipment, and particularly relates to a gripper for an automotive welding robot. Background Art

[0002] With the continuous advancement of China's industrial modernization, robots have been widely used in various fields, especially in the automotive industry. Along with the popularization and application of robots, the intelligent grippers supporting them have also developed rapidly and are gradually penetrating into all aspects of the automotive industry, changing the production mode of traditional automotive enterprises and leading the automotive industry into a brand-new intelligent production era. However, due to the large number of automotive components and the different sizes and shapes of each component, it is necessary to develop special robot intelligent grasping devices that match specific components to meet the automation and intelligence of the automotive production process.

[0003] During the automotive processing, such as different processes like welding and cutting, the types and shapes of grippers are various, and they need to be adaptively designed or adjusted according to semi-finished or finished parts with different structures, sizes, and materials. When the gripper holds the workpiece, it mostly uses structural components such as support parts and limit parts to restrict the degrees of freedom to perform fixed-point clamping on the parts to be processed. However, currently common grippers can mostly only hold one automotive part to be processed and cannot perform limit clamping on welding parts such as screws and nuts. It is necessary to use other additional clamping devices to place the welding parts on the automotive parts to be processed and combine with the welding robot for supporting welding. This will result in the matching precision error between multiple limit clamping mechanisms and requires continuous fine-tuning through manual auxiliary detection, which reduces the production efficiency. At the same time, when processing some special-shaped parts, the clamping device for the welding parts may not be able to extend to the specified welding position on the special-shaped parts, which is rather cumbersome. Summary of the Invention

[0004] The purpose of the present invention is to provide an automotive welding robot gripper with a simple structure and reasonable design to solve the above problems.

[0005] The present invention achieves the above purpose through the following technical solutions:

[0006] An automotive welding robot gripper includes a first bracket, a loading platform connected to the first bracket, a plurality of limit parts detachably connected to the loading platform, and a movable welding part limit mechanism connected to the loading platform. The limit parts are used to limit and fix the automotive parts on the loading platform;

[0007] The movable welding part limiting mechanism includes an annular moving component connected to the loading platform, an adjusting mechanism connected to the annular moving component, and a limiting component connected to the adjusting mechanism. The annular moving component is used to drive the adjusting mechanism and the limiting component to move around the loading platform;

[0008] The adjusting mechanism includes a transverse moving component, a longitudinal moving component connected to the transverse moving component, and an orientation adjusting component connected to the longitudinal moving component. The limiting component is connected to the orientation adjusting component. The transverse moving component is used to drive the longitudinal moving component, the orientation adjusting component, and the limiting component to move synchronously along the length direction of the transverse component. The longitudinal moving component is used to drive the orientation adjusting component and the limiting component to move synchronously along the length direction of the longitudinal component. The orientation adjusting component is used to adjust the angle between the central axis of the limiting component and the upper surface of the loading platform. The limiting component is used to limit and clamp the workpiece to be welded.

[0009] As a further optimized solution of the present invention, the annular moving component includes a power component connected to the loading platform, an annular slide rail and a plurality of limiting rings respectively connected to the lower end face and the side wall of the loading platform, an annular power supply pipe arranged outside the loading platform and cooperating with the limiting rings, a connecting plate slidably connected to the annular slide rail, and a support plate connected to one end of the connecting plate. The transverse moving component is detachably connected to the support plate, and the connecting plate is connected to the power component.

[0010] As a further optimized solution of the present invention, the power component includes a first motor connected to the loading platform, a power sprocket connected to the output shaft end of the first motor, a driven sprocket movably connected to the lower end of the loading platform, and a chain connected between the power sprocket and the driven sprocket. One end of the connecting plate is connected to the chain, and a limiting pulley is connected to the connecting plate. The connecting plate is slidably connected to the annular slide rail through the limiting pulley.

[0011] As a further optimized solution of the present invention, the annular power supply pipe is provided with an annular chute, and a first conductor and a second conductor are symmetrically connected to the inner wall of the annular power supply pipe. The support plate is provided with an adaptation groove, and an insulating slide bar cooperating with the annular chute is connected to the groove surface of the adaptation groove. One end of the insulating slide bar is connected with two symmetrically distributed conductive parts, and a plurality of conductive wires are arranged in the insulating slide bar. The plurality of conductive wires are respectively electrically connected to the two conductive parts. The two conductive parts are respectively in contact with the first conductor and the second conductor. The limiting ring is provided with a through groove for the insulating slide bar to pass through.

[0012] As a further optimized solution of the present invention, the transverse moving component includes a first stroke frame detachably connected to the support plate, a second motor connected to one end of the first stroke frame, and a first slider slidably connected to the first stroke frame;

[0013] The longitudinal movement component includes a second stroke frame detachably connected to the first slider, a third motor connected to one end of the second stroke frame, and a second slider slidably connected to the second stroke frame. The alignment component is connected to the second slider. The inner walls of the first stroke frame and the second stroke frame are both movably connected with lead screws, and the lead screws are respectively threadedly connected to the first slider and the second slider. The output shaft ends of the second motor and the third motor are respectively connected to the corresponding lead screws.

[0014] As a further optimized solution of the present invention, a pressure regulating component is provided between the output shaft end of the second motor and the corresponding lead screw, and between the third motor and the corresponding lead screw. The pressure regulating component is used to adjust the frictional torque between the lead screw and the first slider or the second slider.

[0015] As a further optimized solution of the present invention, the pressure regulating component includes a first damping ring fixedly connected to one end of the lead screw, a second damping ring, an arc-shaped limiting block connected to one end of the second damping ring, a pressure regulating spring connected to the arc-shaped limiting block, and a pressing ring connected to one end of the pressure regulating spring. The output shaft ends of the second motor and the third motor sequentially pass through the pressing ring, the pressure regulating spring, the arc-shaped limiting block and extend into the interior of the second damping ring. The first damping ring and the second damping ring are in contact. Electric push rods are connected to the inner walls of the first stroke frame and the second stroke frame, and a wedge block is connected to the output end of the electric push rod. The wedge block is in contact with the pressing ring. Clamping blocks matched with the arc-shaped limiting block are connected to the output shafts of the second motor and the third motor.

[0016] As a further optimized solution of the present invention, the alignment component includes a fourth motor connected to the second slider, a first L-shaped connecting frame connected to the output shaft end of the fourth motor, a fifth motor connected to the first L-shaped connecting frame, and a second L-shaped connecting frame connected to the output shaft end of the fifth motor. The central axes of the output shafts of the fourth motor and the fifth motor are vertically crossed. A support frame and a sixth motor are connected to the second L-shaped connecting frame. The limiting component is connected to the support frame.

[0017] As a further optimized solution of the present invention, the limiting component includes a ring frame connected to the support frame, a displacement groove provided on the ring frame, an annular threaded block provided in the ring frame, and a plurality of claw members slidably connected in the displacement groove. Arc-shaped threads matched with the annular threaded block are provided at the lower ends of the plurality of claw members. The output shaft of the sixth motor sequentially passes through the second L-shaped connecting frame, the support frame and is connected to the annular threaded block.

[0018] The beneficial effects of the present invention are as follows: A mobile welding part limiting mechanism is provided on the gripper of the present invention, which can be used for the limiting clamping of workpieces to be welded with different shapes, sizes and materials, and the position of the mobile welding part limiting mechanism can be adjusted based on the positioning basis of the gripper, facilitating the movement of the workpiece to be welded to the designated welding point on the automotive part, facilitating the precise positioning and cooperation with the gripper. At the same time, the contact force and contact angle between the workpiece to be welded clamped by the mobile welding part limiting mechanism and the automotive part can be adjusted according to the welding requirements, which is applicable to the contact between the workpiece to be welded and the irregular surface on the automotive part as well as the welding process, and can be applied to different welding process procedures. Brief Description of the Drawings

[0019] Figure 1 is the schematic diagram of the overall structure of the present invention;

[0020] Figure 2 is the matching view of the loading platform and the annular power supply pipe of the present invention;

[0021] Figure 3 is the matching view of the limiting ring and the annular power supply pipe of the present invention;

[0022] Figure 4 is the matching view of the adjusting mechanism and the limiting component of the present invention;

[0023] Figure 5 is the present invention Figure 4 enlarged view at A in;

[0024] Figure 6 is the schematic diagram of the voltage regulating component of the present invention.

[0025] In the figure: 100, the first bracket; 101, the loading platform; 102, the limiting member; 103, the first motor; 104, the driving sprocket; 105, the driven sprocket; 106, the chain; 200, the limiting ring; 201, the annular power supply pipe; 202, the annular sliding groove; 203, the annular sliding rail; 204, the connecting plate; 205, the limiting pulley; 206, the support plate; 2060, the fitting groove; 2061, the insulating sliding rod; 2062, the conductive member; 207, the first conductor; 208, the second conductor; 3, the adjusting mechanism; 300, the first stroke frame; 301, the second motor; 302, the first slider; 303, the second stroke frame; 304, the third motor; 305, the second slider; 306, the fourth motor; 307, the first L-shaped connecting frame; 308, the fifth motor; 309, the second L-shaped connecting frame; 310, the support frame; 311, the limiting component; 3110, the annular frame; 3111, the displacement groove; 3112, the annular threaded block; 3113, the claw member; 3114, the arc thread; 312, the sixth motor; 313, the lead screw; 314, the first damping ring; 315, the second damping ring; 316, the arc-shaped limiting block; 317, the pressure regulating spring; 318, the pressure applying ring; 319, the electric push rod; 320, the wedge block; 321, the clamping block. Detailed implementation manners

[0026] The following further describes the present application in detail with reference to the drawings. It is necessary to point out here that the following specific implementation manners are only used to further illustrate the present application and should not be construed as limiting the protection scope of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application according to the above application content.

[0027] Embodiment 1

[0028] As Figure 1 、 Figure 2 shown, an automotive welding robot gripper includes a first bracket 100, a loading platform 101 connected to the first bracket 100, a plurality of limiting members 102 detachably connected to the loading platform 101, and a mobile welding part limiting mechanism connected to the loading platform 101. The limiting members 102 are used to limit and fix automotive parts on the loading platform 101;

[0029] The mobile welding part limiting mechanism includes an annular moving component connected to the loading platform 101, an adjusting mechanism 3 connected to the annular moving component, and a limiting component 311 connected to the adjusting mechanism 3. The annular moving component is used to drive the adjusting mechanism 3 and the limiting component 311 to move around the loading platform 101;

[0030] The adjusting mechanism 3 includes a transverse movement assembly, a longitudinal movement assembly connected to the transverse movement assembly, and an orientation adjusting assembly connected to the longitudinal movement assembly. The limiting assembly 311 is connected to the orientation adjusting assembly. The transverse movement assembly is used to drive the longitudinal movement assembly, the orientation adjusting assembly, and the limiting assembly 311 to move synchronously along the length direction of the transverse assembly. The longitudinal movement assembly is used to drive the orientation adjusting assembly and the limiting assembly 311 to move synchronously along the length direction of the longitudinal assembly. The orientation adjusting assembly is used to adjust the angle between the central axis of the limiting assembly 311 and the upper surface of the loading platform 101. The limiting assembly 311 is used to limit and clamp the workpiece to be welded.

[0031] It should be noted that when welding automotive parts, the limiting member 102 can be set according to the specific structure and size of the parts. The limiting member 102 and the loading platform 101 are detachably connected. Bolt connections, screws and other connecting parts can be used for limiting connection. New positioning screw holes or perforations can also be opened on the loading platform 101. The distance between the limiting member 102 and the upper surface of the loading platform 101 can also be adjusted to adapt to different automotive parts.

[0032] When the positioning of automotive parts is completed and the welding process is carried out on them, the workpiece to be welded can be clamped by the limiting assembly 311 in the limiting mechanism of the mobile welding part. The transverse movement assembly, the longitudinal movement assembly, the orientation adjusting assembly and the limiting assembly 311 can be driven by the annular movement assembly to move around the loading platform 101 in a reciprocating, specified stroke or specified reverse stroke manner. During this process, the position of the orientation adjusting assembly and the limiting assembly 311 can be adjusted by the transverse movement assembly and the longitudinal assembly. At the same time, the angle between the workpiece to be welded clamped by the limiting assembly 311 and the upper surface of the loading platform 101 can be adjusted by the orientation adjusting assembly, so as to adjust the specific position and inclination angle of the workpiece to be welded to adapt to different welding positions, welding inclined surfaces or irregularities on the automotive parts, which is convenient for precise positioning and cooperation with the gripper. At the same time, the contact angle between the workpiece to be welded clamped by the limiting mechanism of the mobile welding part and the automotive parts can be adjusted according to the welding requirements, which is applicable to the contact between the workpiece to be welded and the irregular surface on the automotive parts and the welding process, and can be applied to different welding process.

[0033] Among them, such as Figure 1 、 Figure 2 and Figure 3As shown in the figure, the annular moving component includes a power component connected to the loading platform 101, an annular slide rail 203 and a number of limiting rings 200 respectively connected to the lower end face and the side wall of the loading platform 101, an annular power supply pipe 201 arranged outside the loading platform 101 and cooperating with the limiting ring 200, a connecting plate 204 slidably connected to the annular slide rail 203, and a support plate 206 connected to one end of the connecting plate 204. The transverse moving component is detachably connected to the support plate 206, and the connecting plate 204 is connected to the power component.

[0034] Among them, the power component includes a first motor 103 connected to the loading platform 101, a power sprocket 104 connected to the output shaft end of the first motor 103, a driven sprocket 105 movably connected to the lower end of the loading platform 101, and a chain 106 connected between the power sprocket 104 and the driven sprocket 105. One end of the connecting plate 204 is connected to the chain 106, and a limiting pulley 205 is connected to the connecting plate 204. The connecting plate 204 is slidably connected to the annular slide rail 203 through the limiting pulley 205.

[0035] Among them, an annular chute 202 is opened on the annular power supply pipe 201, and a first conductor 207 and a second conductor 208 are symmetrically connected to the inner wall of the annular power supply pipe 201. An adaptation groove 2060 is provided on the support plate 206, and an insulating slide bar 2061 cooperating with the annular chute 202 is connected to the groove surface of the adaptation groove 2060. One end of the insulating slide bar 2061 is connected with two symmetrically distributed conductive members 2062, and a number of conductive wires are arranged in the insulating slide bar 2061. The number of conductive wires are respectively electrically connected to the two conductive members 2062. The two conductive members 2062 are respectively in contact with the first conductor 207 and the second conductor 208. A through groove for the insulating slide bar 2061 to pass through is provided on the limiting ring 200.

[0036] It should be noted that as described above, when the annular moving component drives the transverse moving component, the longitudinal moving component, the orientation adjusting component and the limiting component 311 to move around the loading platform 101 in a reciprocating or specified stroke, the first motor 103 in the power component drives the power sprocket 104 to rotate. After the power sprocket 104 rotates, it drives the chain 106 to move. When the chain 106 moves, it drives the connecting plate 204 connected thereto to move in the same direction along the annular slide rail 203. When the connecting plate 204 moves, it drives the support plate 206 and the adjusting mechanism 3 connected thereto to move in the same direction and at the same distance, so that the support plate 206 and the adjusting mechanism 3 can move along the outer diameter of the loading platform 101 along a specified path or perform an annular reciprocating movement, which can be conveniently adjusted according to the welding requirements or the welding path, is applicable to different welding processes, and has a high matching accuracy without frequent positioning.

[0037] It should be noted that during the circular reciprocating movement, in order to keep all the electrical components in the adjusting mechanism 3 always powered on, the first conductor 207 and the second conductor 208 in the circular power supply pipe 201 are respectively connected to the live wire and the neutral wire of the external power supply, and are respectively in contact with the first conductor 207 and the second conductor 208 through the corresponding conductive parts 2062, and the current is transmitted to the corresponding electrical components through the corresponding conducting wires, so that power supply can be carried out during the cyclic reciprocating movement.

[0038] As Figure 4 shown, the transverse movement assembly includes a first stroke frame 300 detachably connected to the support plate 206, a second motor 301 connected to one end of the first stroke frame 300, and a first slider 302 slidably connected to the first stroke frame 300;

[0039] The longitudinal movement assembly includes a second stroke frame 303 detachably connected to the first slider 302, a third motor 304 connected to one end of the second stroke frame 303, and a second slider 305 slidably connected to the second stroke frame 303. The orientation adjustment assembly is connected to the second slider 305. Lead screws 313 are movably connected to the inner walls of the first stroke frame 300 and the second stroke frame 303 respectively. The lead screws 313 are respectively threadedly connected to the first slider 302 and the second slider 305. The output shaft ends of the second motor 301 and the third motor 304 are respectively connected to the corresponding lead screws 313.

[0040] It should be noted that as described above, during the movement around the loading platform 101, the longitudinal movement assembly, the orientation adjustment assembly and the limit assembly 311 can be controlled to move along the length direction of the transverse movement assembly. Specifically, the corresponding lead screw 313 is driven to rotate by the second motor 301. After the lead screw 313 rotates, the first slider 302 can be adjusted to move along the length direction of the first stroke frame 300. Similarly, the corresponding lead screw 313 can be driven to rotate by the third motor 304 to drive the second slider 305 to move in the reverse direction along the length of the second stroke frame 303, so as to adjust the distance between the orientation adjustment assembly and the limit assembly 311 and the upper surface of the loading platform 101, that is, the distance from the automotive parts, so that the orientation adjustment assembly and the limit assembly 311 can be moved to any position above the automotive parts, which is applicable to the welding process of automotive parts with different shapes and structures, and is also applicable to the limiting of different workpieces to be welded and different welding paths, with a wide range of applications.

[0041] As Figure 4 and Figure 6As shown, pressure regulating components are provided between the output shaft end of the second motor 301 and the corresponding lead screw 313, and between the third motor 304 and the corresponding lead screw 313. The pressure regulating components are used to adjust the frictional torque between the lead screw 313 and the first slider 302 or the second slider 305.

[0042] The pressure regulating component includes a first damping ring 314 fixedly connected to one end of the lead screw 313, a second damping ring 315, an arc-shaped limiting block 316 connected to one end of the second damping ring 315, a pressure regulating spring 317 connected to the arc-shaped limiting block 316, and a pressure applying ring 318 connected to one end of the pressure regulating spring 317. The output shaft ends of the second motor 301 and the third motor 304 sequentially pass through the pressure applying ring 318, the pressure regulating spring 317, the arc-shaped limiting block 316 and extend into the interior of the second damping ring 315. The first damping ring 314 is in contact with the second damping ring 315. Electric push rods 319 are connected to the inner walls of the first stroke frame 300 and the second stroke frame 303. The output ends of the electric push rods 319 are connected with wedge blocks 320. The wedge blocks 320 are in contact with the pressure applying ring 318. Clamping blocks 321 that cooperate with the arc-shaped limiting blocks 316 are connected to the output shafts of the second motor 301 and the third motor 304.

[0043] It should be noted that as described above, when moving the workpiece to be welded to the designated welding position, the contact force between the workpiece to be welded and the surface of the automotive part can be adjusted according to the welding process or welding requirements of the workpiece to be welded. For example, when performing pressure welding, the workpiece to be welded is moved to the designated welding point and contacts the automotive part. At this time, the workpiece to be welded receives the reaction force, that is, the resistance, exerted by the automotive part on the workpiece to be welded. The limiting component 311 and the corresponding first slider 302 and / or second slider 305 will also receive the corresponding resistance. When the first slider 302 and / or the second slider 305 receive the reverse acting force, the corresponding wedge block 320 is pushed by the corresponding electric push rod 319 to move in the reverse direction of the central axis of the corresponding motor output shaft. At this time, the wedge surface on the wedge block 320 will push the corresponding pressure applying ring 318 to move towards the lead screw 313. When the pressure applying ring 318 moves, it squeezes the pressure regulating spring 317 to shorten and generates a corresponding elastic force. This elastic force is applied to the arc-shaped limiting block 316 and the second damping ring 315, and is applied to the first damping ring 314 and the corresponding lead screw 313 through the second damping ring 315, which can increase the friction between the thread on the lead screw 313 and the internal thread in the corresponding slider. That is, when the output torque of the motor is the same, increasing the frictional torque between the lead screw 313 and the slider can make the thrust received by the slider from the lead screw 313 increase. Then, after the slider is subjected to an increased force, it is transmitted to the workpiece to be welded and the automotive part through the corresponding mechanism, so that the pressure between the workpiece to be welded and the automotive part increases, achieving the adjustment of the contact force between the workpiece to be welded and the automotive part, and can be used in different welding process;

[0044] It is convenient to perform precise positioning and cooperation with the gripper. At the same time, the contact force and contact angle between the workpiece to be welded clamped by the movable welding part limiting mechanism and the automotive part can be adjusted according to the welding requirements. It is applicable to the contact between the workpiece to be welded and the irregular surface on the automotive part and the welding process, and can be applicable to different welding process procedures.

[0045] Such as Figure 4 and Figure 5 As shown in the figure, the orientation adjustment component includes a fourth motor 306 connected to the second slider 305, a first L-shaped connecting frame 307 connected to the output shaft end of the fourth motor 306, a fifth motor 308 connected to the first L-shaped connecting frame 307, and a second L-shaped connecting frame 309 connected to the output shaft end of the fifth motor 308. The central axis of the output shaft of the fourth motor 306 and the central axis of the output shaft of the fifth motor 308 are vertically crossed. A support frame 310 and a sixth motor 312 are connected to the second L-shaped connecting frame 309, and a limiting component 311 is connected to the support frame 310.

[0046] It should be noted that as described above, when adjusting the inclination direction and angle between the limiting component 311 and the workpiece to be welded clamped by the limiting component 311 and the upper surface of the loading platform 101, the fourth motor 306 in the orientation adjustment component drives the first L-shaped connecting frame 307 to rotate by a specified angle around the central axis of the output shaft of the fourth motor 306. At the same time, the fifth motor 308 can also drive the second L-shaped connecting frame 309 and the support frame 310, the sixth motor 312 and the limiting component 311 connected thereto to rotate in the same direction and at the same angle following the second L-shaped connecting frame 309. Cooperating with the rotation of the first L-shaped connecting frame 307, the inclination direction and angle of the limiting component 311 and the upper surface of the loading platform 101 can be conveniently controlled and adjusted, which is applicable to the contact between the workpiece to be welded and the irregular surface on the automotive part and the welding process.

[0047] Such as Figure 5 As shown in the figure, the limiting component 311 includes an annular frame 3110 connected to the support frame 310, a displacement groove 3111 provided on the annular frame 3110, an annular threaded block 3112 provided inside the annular frame 3110, and a plurality of claw members 3113 slidably connected in the displacement groove 3111. Arc-shaped threads 3114 matching the annular threaded block 3112 are provided at the lower ends of the plurality of claw members 3113. The output shaft of the sixth motor 312 sequentially passes through the second L-shaped connecting frame 309, the support frame 310 and is connected to the annular threaded block 3112.

[0048] It should be noted that, as described above, when the position-limiting assembly 311 clamps the workpiece to be welded, the sixth motor 312 drives the annular threaded block 3112 in the ring frame 3110 to rotate. When the annular threaded block 3112 rotates, the arc-shaped thread 3114 on the claw member 3113 drives the claw member 3113 to move towards each other in the displacement groove 3111 until several claw members 3113 contact the workpiece to be welded and stably position and clamp the workpiece to be welded.

[0049] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0050] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "connected to", "fixed" and other terms should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0052] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

[0053] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention.

Claims

1. An automotive welding robot gripper, characterized in that: It includes a first bracket (100), a loading platform (101) connected to the first bracket (100), several limiting members (102) detachably connected to the loading platform (101), and a movable welding part limiting mechanism connected to the loading platform (101). The limiting members (102) are used to limit and fix automotive parts on the loading platform (101). The movable welding part limiting mechanism includes an annular moving component connected to the loading platform (101), an adjusting mechanism (3) connected to the annular moving component, and a limiting component (311) connected to the adjusting mechanism (3). The annular moving component is used to drive the adjusting mechanism (3) and the limiting component (311) to move around the loading platform (101). The adjusting mechanism (3) includes a transverse moving component, a longitudinal moving component connected to the transverse moving component, and an orientation adjusting component. The limiting component (311) is connected to the orientation adjusting component. The transverse moving component is used to drive the longitudinal moving component, the orientation adjusting component, and the limiting component (311) to move synchronously along the length direction of the transverse component. The longitudinal moving component is used to drive the orientation adjusting component and the limiting component (311) to move synchronously along the length direction of the longitudinal component. The orientation adjusting component is used to adjust the angle between the central axis of the limiting component (311) and the upper surface of the loading platform (101). The limiting component (311) is used to limit and clamp the workpiece to be welded. The annular moving component includes a power component connected to the loading platform (101), an annular slide rail (203) and several limiting rings (200) respectively connected to the lower end face and the side wall of the loading platform (101), an annular power supply pipe (201) arranged outside the loading platform (101) and cooperating with the limiting rings (200), a connecting plate (204) slidably connected to the annular slide rail (203), and a support plate (206) connected to one end of the connecting plate (204). The transverse moving component is detachably connected to the support plate (206), and the connecting plate (204) is connected to the power component. The power component includes a first motor (103) connected to the loading platform (101), a power sprocket (104) connected to the output shaft end of the first motor (103), a driven sprocket (105) movably connected to the lower end of the loading platform (101), and a chain (106) connected between the power sprocket (104) and the driven sprocket (105). One end of the connecting plate (204) is connected to the chain (106), and a limiting pulley (205) is connected to the connecting plate (204). The connecting plate (204) is slidably connected to the annular slide rail (203) through the limiting pulley (205).

2. The gripper of an automotive welding robot according to claim 1, characterized in that: An annular power supply pipe (201) is provided with an annular sliding groove (202), and a first conductor (207) and a second conductor (208) are symmetrically connected to the inner wall of the annular power supply pipe (201). An adaption groove (2060) is provided on the support plate (206), and an insulating sliding rod (2061) that cooperates with the annular sliding groove (202) is connected to the groove surface of the adaption groove (2060). One end of the insulating sliding rod (2061) is connected with two symmetrically distributed conductive members (2062), and a plurality of conductive wires are arranged in the insulating sliding rod (2061). The plurality of conductive wires are electrically connected to the two conductive members (2062) respectively. The two conductive members (2062) are respectively in contact with the first conductor (207) and the second conductor (208). The limiting ring (200) is provided with a through groove for the insulating sliding rod (2061) to pass through.

3. The gripper of an automotive welding robot according to claim 1, characterized in that: The lateral movement assembly includes a first stroke frame (300) detachably connected to the support plate (206), a second motor (301) connected to one end of the first stroke frame (300), and a first slider (302) slidably connected to the first stroke frame (300); The longitudinal movement assembly includes a second stroke frame (303) detachably connected to the first slider (302), a third motor (304) connected to one end of the second stroke frame (303), and a second slider (305) slidably connected to the second stroke frame (303). The orientation adjustment assembly is connected to the second slider (305). Lead screws (313) are movably connected to the inner walls of the first stroke frame (300) and the second stroke frame (303). The lead screws (313) are threadedly connected to the first slider (302) and the second slider (305) respectively. The output shaft ends of the second motor (301) and the third motor (304) are respectively connected to the corresponding lead screws (313).

4. The gripper of an automotive welding robot according to claim 3, characterized in that: A voltage regulating assembly is provided between the output shaft end of the second motor (301) and the corresponding lead screw (313), and between the third motor (304) and the corresponding lead screw (313). The voltage regulating assembly is used to adjust the frictional torque between the lead screw (313) and the first slider (302) or the second slider (305).

5. The gripper of an automotive welding robot according to claim 4, characterized in that: The voltage regulating component includes a first damping ring (314), a second damping ring (315) fixedly connected to one end of the lead screw (313), an arc-shaped limiting block (316) connected to one end of the second damping ring (315), a voltage regulating spring (317) connected to the arc-shaped limiting block (316), and a pressing ring (318) connected to one end of the voltage regulating spring (317). The output shaft ends of the second motor (301) and the third motor (304) sequentially pass through the pressing ring (318), the voltage regulating spring (317), the arc-shaped limiting block (316) and extend into the interior of the second damping ring (315). The first damping ring (314) is in contact with the second damping ring (315). Electric push rods (319) are connected to the inner walls of the first stroke frame (300) and the second stroke frame (303). The output ends of the electric push rods (319) are connected with wedge blocks (320). The wedge blocks (320) are in contact with the pressing ring (318). Clamping blocks (321) matched with the arc-shaped limiting block (316) are connected to the output shafts of the second motor (301) and the third motor (304).

6. The gripper of an automotive welding robot according to claim 3, characterized in that: The direction adjusting component includes a fourth motor (306) connected to the second slider (305), a first L-shaped connecting frame (307) connected to the output shaft end of the fourth motor (306), a fifth motor (308) connected to the first L-shaped connecting frame (307), and a second L-shaped connecting frame (309) connected to the output shaft end of the fifth motor (308). The central axes of the output shafts of the fourth motor (306) and the fifth motor (308) are vertically crossed. A support frame (310) and a sixth motor (312) are connected to the second L-shaped connecting frame (309). The limiting component (311) is connected to the support frame (310).

7. The gripping device of an automotive welding robot according to claim 6, characterized in that: The limiting component (311) includes a ring frame (3110) connected to the support frame (310), a displacement groove (3111) provided on the ring frame (3110), an annular threaded block (3112) provided in the ring frame (3110), and a plurality of claw members (3113) slidably connected in the displacement groove (3111). Arc-shaped threads (3114) matched with the annular threaded block (3112) are provided at the lower ends of the plurality of claw members (3113). The output shaft of the sixth motor (312) sequentially passes through the second L-shaped connecting frame (309), the support frame (310) and is connected to the annular threaded block (3112).

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