Grabbing mechanism, rotating wheel group, robot and automatic assembly welding method of rotating wheel

Abstract

The application relates to the technical field of automatic assembly welding, and particularly discloses a grabbing mechanism, a rotating wheel group robot and an automatic assembly welding method for rotating wheels, the grabbing mechanism comprises a supporting seat, a magnetic attraction unit and a plurality of inner supporting pieces, the plurality of inner supporting pieces are arranged at the supporting seat in a circumferential direction of the supporting seat, the inner supporting pieces have two states of sliding relative to the supporting seat and being fixed relative to the supporting seat in a radial direction of the supporting seat, the inner supporting pieces comprise outer side supporting plates and inner side supporting plates which are arranged in the radial direction of the supporting seat in a spaced manner; the magnetic attraction unit comprises a driving assembly and a magnetic attraction assembly, the driving assembly is arranged on the supporting seat, the magnetic attraction assembly is connected with the driving assembly, the driving assembly drives the magnetic attraction assembly to have the two states of being fixed relative to the supporting seat and sliding relative to the supporting seat along an axis of the supporting seat, and the magnetic attraction assembly can generate an electromagnetic force. The grabbing mechanism can grab annular parts and also can grab plate-shaped parts, so that the grabbing efficiency and reliability are improved, the operation cost is reduced, and the claw changing procedure is simplified.

Description

Technical Field

[0001] This invention relates to the field of automated welding assembly technology, and more particularly to a gripping mechanism, a rotating wheel assembly robot, and an automated welding method for rotating wheels. Background Technology

[0002] The guide wheel is mainly composed of a guide wheel hub, upper and lower web plates, and a guide wheel rim, assembled through welding. With the development of automated welding technology, guide wheels have gradually achieved automated assembly welding, saving a significant amount of manpower.

[0003] Because automated welding of guide wheels involves numerous materials and tooling, existing guide wheel welding robots employ a dual-claw end effector with a quick-change device for gripper replacement, further automating the handling of guide wheel components, tooling, and assembly. While this structure significantly improves the efficiency of automated guide wheel welding, the robot gripper still suffers from low grasping efficiency, poor reliability, high operating costs, and cumbersome gripper changing procedures.

[0004] Therefore, there is an urgent need for a gripping mechanism, a rotating wheel assembly robot, and an automated welding method for the rotating wheels to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a gripping mechanism, a rotating wheel assembly, a robot, and an automated welding method for the rotating wheels, so as to solve the problems of low gripping efficiency, poor reliability, high operating costs, and cumbersome gripper replacement procedures in related technologies.

[0006] On one hand, the present invention provides a gripping mechanism, the gripping mechanism comprising:

[0007] Support base;

[0008] Multiple inner support members are circumferentially spaced on the support base. Each inner support member has two states: sliding relative to the support base and fixed relative to the support base. Each inner support member includes an outer support plate and an inner support plate spaced radially on the support base.

[0009] A magnetic attraction unit includes a driving component and a magnetic attraction component. The driving component is disposed on the support base, and the magnetic attraction component is connected to the driving component. The driving component drives the magnetic attraction component to have two states along the axis of the support base: fixed relative to the support base and sliding relative to the support base. The magnetic attraction component is capable of generating electromagnetic force.

[0010] As a preferred technical solution for the gripping mechanism, the driving component includes a movable ring and a driving member. The movable ring is slidably engaged with the support base along the axis of the support base, and the driving member drives the movable ring to slide relative to the support base.

[0011] Multiple magnetic suction components are provided and are spaced apart along the circumference of the movable ring.

[0012] As a preferred technical solution for the gripping mechanism, the movable ring is provided with a plurality of sliding holes along the circumference of the support base, and the axis of the sliding holes is parallel to the axis of the support base.

[0013] The magnetic attraction assembly includes a first sliding shaft, a floating joint, and an electromagnet. The first sliding shaft includes a sliding column and a first limiting part fixed to one end of the sliding column. The sliding column passes through the sliding hole and slides in cooperation with the movable ring. The first limiting part restricts the sliding column from disengaging from the sliding hole in the direction of gravity. The other end of the sliding column is fixedly connected to one end of the floating joint, and the electromagnet is fixedly connected to the other end of the floating joint.

[0014] As a preferred technical solution for the gripping mechanism, the driving component further includes a first elastic element, which is disposed between the floating joint and the movable ring and abuts against the floating joint and the movable ring respectively.

[0015] As a preferred technical solution for the gripping mechanism, the driving assembly further includes a fixed ring, multiple guide posts, and multiple second limiting parts. The fixed ring is fixedly connected to the support base. One end of each guide post is fixedly connected to one of the fixed ring and the movable ring. The guide post is inserted into the other of the fixed ring and the movable ring. The multiple second limiting parts are fixedly connected to the other ends of the multiple guide posts one by one. The second limiting parts prevent the fixed ring or the movable ring sleeved on the guide post from disengaging from the other end of the guide post. The axis of the guide post is parallel to the axis of the support base.

[0016] As a preferred technical solution for the gripping mechanism, both the fixed ring and the movable ring are located between the inner support plate and the outer support plate, and the inner support member can slide relative to the fixed ring and the movable ring along the radial direction of the support base.

[0017] On the other hand, the present invention provides a rotating wheel assembly robot, including a robotic arm and a gripping mechanism as described in any of the above embodiments, wherein the actuating end of the robotic arm is fixedly connected to the side of the support base away from the inner support member.

[0018] As a preferred technical solution for the rotating wheel assembly robot, the assembly tooling also includes:

[0019] Base;

[0020] Multiple jaws are arranged on the base circumferentially, and the jaws have two states of relative sliding and relative fixing along the radial direction of the base. The multiple jaws are used to hold the rim of the rotating wheel.

[0021] A floating positioning plate assembly includes a floating plate and a second elastic element. The floating plate is disposed on the base, and the elastic element is disposed between the floating plate and the base. The floating plate is used to support the lower web plate of the rotating wheel.

[0022] A hub positioning seat is fixed to the base and coaxially arranged with the base, and the hub of the rotating wheel is configured to be sleeved on the hub positioning seat.

[0023] As a preferred technical solution for the rotating wheel assembly of the robot, the floating positioning plate assembly further includes a second sliding shaft, which is fixedly mounted on one of the base or the floating plate. The second sliding shaft is slidably engaged with the other of the base or the floating plate, and the axis of the second sliding shaft is parallel to the axis of the base.

[0024] As a preferred technical solution for the rotating wheel assembly of the robot, it also includes a positioning claw and a tensioning assembly. The positioning claw is located on the side of the upper web of the rotating wheel away from the lower web. The positioning claw can abut against the upper web and the wheel hub respectively. The tensioning assembly drives the positioning claw to move towards the lower web.

[0025] As a preferred technical solution for the rotating wheel assembly of the robot, the positioning claw includes a pin and multiple pressure claws. The multiple pressure claws are arranged circumferentially along the pin. The pin is used to insert into the wheel hub. The multiple pressure claws abut against the side of the upper web of the rotating wheel away from the lower web. The tensioning assembly is disposed on the base. The telescopic end of the tensioning assembly extends into the wheel hub and is detachably connected to the pin.

[0026] Furthermore, this invention provides an automated welding method for rotating wheels, which utilizes the rotating wheel assembly in any of the above-mentioned solutions to power a robot. The steps include:

[0027] S1: The robotic arm places the lower abdominal plate grasped by the gripping mechanism onto the floating plate;

[0028] S2: The robotic arm places the wheel rim gripped by the gripping mechanism onto the base, and multiple claws move radially along the base, with the multiple claws abutting against the outer peripheral wall of the wheel rim;

[0029] S3: The robotic arm places the wheel hub grasped by the gripping mechanism onto the wheel hub positioning seat, and the lower web plate abuts against the first lower abutting ring and the second lower abutting ring respectively;

[0030] S4: Weld the lower web plate to the weld joints of the first lower abutment ring and the second lower abutment ring respectively;

[0031] S5: The robotic arm places the upper web plate grasped by the gripping mechanism onto the first and second upper abutment rings of the wheel rim and the wheel hub;

[0032] S6: The robotic arm inserts the positioning claw grasped by the gripping mechanism into the wheel hub, and the positioning claw presses the upper web plate against the first upper abutment ring and the second upper abutment ring;

[0033] S7: Weld the upper web plate to the weld joints of the first upper abutment ring and the second upper abutment ring respectively.

[0034] The beneficial effects of this invention are as follows:

[0035] This invention provides a gripping mechanism, a rotating wheel assembly, a robot, and an automated welding method for the rotating wheels. The gripping mechanism includes a support base, a magnetic suction unit, and multiple inner support members. These inner support members are circumferentially spaced around the support base and have two states: sliding relative to the support base and fixed relative to the support base. Each inner support member includes an outer support plate and an inner support plate spaced radially along the support base. The magnetic suction unit includes a drive assembly and a magnetic suction assembly. The drive assembly is disposed on the support base, and the magnetic suction assembly is connected to the drive assembly. The drive assembly drives the magnetic suction assembly to have two states: fixed relative to the support base and sliding relative to the support base. The magnetic suction assembly can generate electromagnetic force. The actuator of the robotic arm is fixedly connected to the side of the support base away from the inner support members. When this rotating wheel welding robot is working, the robotic arm drives the gripping mechanism to grasp parts. When encountering a ring-shaped part, the drive assembly first moves the magnetic suction assembly closer to the support base, causing the support to protrude from the magnetic suction assembly along the direction of gravity. Then, according to the inner diameter of the ring-shaped part, the radial positions of multiple inner support members along the support base are adjusted. When the inner diameter of the ring-shaped part is smaller than the maximum outer diameter of the ring formed by the multiple inner support plates, the multiple inner support plates are inserted into the inner ring of the ring-shaped part. Then, the inner support members are driven, causing the multiple inner support plates to press firmly against the inner wall of the ring-shaped part, thereby allowing the welding to proceed. The robotic arm handles ring-shaped parts. When the inner diameter of the ring-shaped part is larger than the maximum outer diameter of the ring formed by multiple inner support plates but smaller than the maximum outer diameter of the ring formed by multiple outer support plates, the outer support plates are inserted into the inner ring of the ring-shaped part. Then, the inner support member is driven, causing the outer support plates to press against the inner wall of the ring-shaped part, and the robotic arm then handles the ring-shaped part. When encountering plate-shaped parts, the drive assembly moves the magnetic suction assembly, causing the magnetic suction assembly to protrude from the inner support member along the direction of gravity. The magnetic suction assembly then fixes itself to the plate-shaped part through magnetic attraction. Therefore, this gripping mechanism can grip both ring-shaped and plate-shaped parts, thereby improving gripping efficiency and reliability, reducing operating costs, and simplifying the gripper changing procedure. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the gripping mechanism in an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the internal support member in an embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the magnetic suction component in an embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram of the rotating wheel in an embodiment of the present invention;

[0040] Figure 5This is a schematic diagram of the gripping and positioning claw of the gripping mechanism in an embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of the gripping mechanism gripping the wheel hub in an embodiment of the present invention;

[0042] Figure 7 This is a schematic diagram of the gripping mechanism gripping the wheel rim in an embodiment of the present invention;

[0043] Figure 8 This is a schematic diagram of the gripping mechanism gripping the upper web plate in an embodiment of the present invention;

[0044] Figure 9 This is a schematic diagram of the rotating wheel welding robot in an embodiment of the present invention;

[0045] Figure 10 This is a schematic diagram of the assembly tooling in an embodiment of the present invention;

[0046] Figure 11 This is a flowchart of the automated welding method for rotating wheels in an embodiment of the present invention.

[0047] In the picture:

[0048] 100. Gripping mechanism; 101. Robotic arm; 102. Assembly fixture;

[0049] 200. Rotating wheel; 201. Wheel rim; 2011. First upper abutment ring; 2012. First lower abutment ring; 202. Wheel hub; 2021. Second upper abutment ring; 2022. Second lower abutment ring; 203. Upper web plate; 204. Lower web plate;

[0050] 1. Support base; 11. Slide groove;

[0051] 2. Inner support component; 21. Outer support plate; 22. Inner support plate; 23. Slide rail;

[0052] 3. Magnetic suction unit; 31. Drive assembly; 311. Movable ring; 312. Drive component; 313. Fixed ring; 314. Guide post; 315. Second limiting part;

[0053] 32. Magnetic suction assembly; 321. First sliding shaft; 3211. Sliding column; 3212. First limiting part; 322. Floating joint; 323. Electromagnet; 324. First elastic element;

[0054] 4. Base; 5. Claw; 6. Floating positioning plate assembly; 61. Floating plate; 62. Second elastic element; 63. Second sliding shaft; 7. Hub positioning seat; 8. Positioning claw. Detailed Implementation

[0055] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0056] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Furthermore, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0057] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0058] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0059] like Figures 1-3As shown, this embodiment provides a gripping mechanism 100, which includes a support base 1, a magnetic suction unit 3, and multiple inner support members 2. The multiple inner support members 2 are circumferentially spaced on the support base 1. Each inner support member 2 has two states: sliding relative to the support base 1 and fixed relative to the support base 1, along the radial direction of the support base 1. Each inner support member 2 includes an outer support plate 21 and an inner support plate 22 spaced radially along the support base 1. The magnetic suction unit 3 includes a drive assembly 31 and a magnetic suction assembly 32. The drive assembly 31 is disposed on the support base 1, and the magnetic suction assembly 32 is connected to the drive assembly 31. The drive assembly 31 drives the magnetic suction assembly 32 to have two states: fixed relative to the support base 1 and sliding relative to the support base 1, along the axis of the support base 1. The magnetic suction assembly 32 can generate electromagnetic force. The execution end of the robotic arm 101 is fixedly connected to the side of the support base 1 away from the inner support members 2. When the rotating wheel welding robot is working, the robotic arm 101 drives the gripping mechanism 100 to grip parts. When encountering a ring-shaped part, the drive assembly 31 first drives the magnetic suction assembly 32 to move closer to the support base 1, so that the support protrudes from the magnetic suction assembly 32 along the direction of gravity. Then, according to the inner diameter of the ring-shaped part, the radial positions of multiple inner support members 2 along the support base 1 are adjusted. When the inner diameter of the ring-shaped part is smaller than the maximum outer diameter of the ring formed by the multiple inner support plates 22, the multiple inner support plates 22 are inserted into the inner ring of the ring-shaped part. Then, the inner support members 2 are driven, and the multiple inner support plates 22 are pressed against the inner wall of the ring-shaped part, thereby... The robotic arm 101 handles ring-shaped parts. When the inner diameter of the ring-shaped part is larger than the maximum outer diameter of the ring formed by multiple inner support plates 22, but smaller than the maximum outer diameter of the ring formed by multiple outer support plates 21, the multiple outer support plates 21 are inserted into the inner ring of the ring-shaped part. Then, the inner support member 2 is driven, causing the multiple outer support plates 21 to press against the inner wall of the ring-shaped part, thereby allowing the robotic arm 101 to handle the ring-shaped part. When encountering plate-shaped parts, the drive assembly 31 drives the magnetic suction assembly 32 to move, causing the magnetic suction assembly 32 to protrude from the inner support member 2 along the direction of gravity. Subsequently, the magnetic suction assembly 32 can be fixed to the plate-shaped part by magnetic attraction. Therefore, this gripping mechanism 100 can grip both ring-shaped and plate-shaped parts, thereby improving gripping efficiency and reliability, reducing operating costs, and simplifying the gripper changing procedure.

[0060] Optionally, the inner support member 2 includes a slide rail 23, an outer support plate 21, and an inner support plate 22. The outer support plate 21 and the inner support plate 22 are respectively fixed to both ends of the slide rail 23. The support base 1 is provided with a slide groove 11 along its radial direction. The slide rail 23 is disposed in the slide groove 11 and slides within the slide groove 11. Specifically, the slide groove 11 has limit grooves on its two side walls perpendicular to the horizontal plane. The limit grooves extend along the sliding direction of the slide rail 23. The slide rail 23 is provided with a limit rail opposite to the limit groove. The limit rail is inserted into the limit groove, thereby preventing the slide rail 23 from coming out of the slide groove 11 along the direction of gravity.

[0061] Optionally, the driving assembly 31 includes a movable ring 311 and a driving member 312. The movable ring 311 is slidably engaged with the support base 1 along the axis of the support base 1, and the driving member 312 drives the movable ring 311 to slide relative to the support base 1. Multiple magnetic suction assemblies 32 are provided and spaced apart circumferentially from the movable ring 311. In this embodiment, when it is necessary to move an annular component, the driving assembly 31 drives the movable ring 311 to slide closer to the support base 1 along the axis of the support base 1. At this time, the inner support member 2 protrudes from the magnetic suction assembly 32 along the direction of gravity, thus preventing the magnetic suction assembly 32 from interfering with the inner support member 2 extending into the annular component in the vertical direction. When it is necessary to move a plate-shaped component, the driving assembly 31 drives the movable ring 311 to slide away from the support base 1 along the axis of the support base 1. At this time, the magnetic suction assembly 32 protrudes from the inner support member 2 along the direction of gravity, thus preventing the inner support member 2 from interfering with the magnetic suction assembly 32 magnetically attracting the plate-shaped component in the vertical direction.

[0062] Specifically, multiple magnetic assemblies 32 are all disposed on the movable ring 311, thereby enabling the multiple magnetic assemblies 32 to move synchronously along the axial direction of the support base 1.

[0063] Optionally, the movable ring 311 is provided with a plurality of sliding holes along the circumference of the support base 1, and the axis of the sliding holes is parallel to the axis of the support base 1; the magnetic attraction assembly 32 includes a first sliding shaft 321, a floating joint 322 and an electromagnet 323. The first sliding shaft 321 includes a sliding column 3211 and a limiting part fixed to one end of the sliding column 3211. The sliding column 3211 passes through the sliding hole and slides with the movable ring 311. The limiting part restricts the sliding column 3211 from coming out of the sliding hole in the direction of gravity. The other end of the sliding column 3211 is fixedly connected to one end of the floating joint 322, and the electromagnet 323 is fixedly connected to the other end of the floating joint 322. In this embodiment, since the plate structure may have a stepped structure or an arc structure, the first sliding shaft 321 and the movable ring 311 need to slide together. In addition, a floating joint 322 is provided between the first sliding shaft 321 and the electromagnet 323 to allow the electromagnet 323 to swing relative to the first sliding shaft 321, so as to ensure that the electromagnet 323 and the plate component can be better attracted together.

[0064] Specifically, electromagnet 323 is a demagnetizing electromagnet 323, which loses its magnetism when the power to electromagnet 323 is turned off.

[0065] The diameter of the first limiting part 3212 is larger than the diameter of the sliding hole. Therefore, the first limiting part 3212 can restrict the sliding post 3211 from coming out of the sliding hole.

[0066] Optionally, the drive assembly 31 further includes a first elastic element 324, which is disposed between the floating joint 322 and the movable ring 311 and abuts against both. In this embodiment, the first elastic element 324 is sleeved on the sliding column 3211. The first elastic element 324 can keep the electromagnet 323 pressed against the plate-shaped component at all times, and also plays a buffering role. Specifically, the first elastic element 324 can be elastic rubber or a coil spring.

[0067] Optionally, the drive assembly 31 further includes a fixed ring 313, a plurality of guide posts 314, and a plurality of second limiting parts 315. The fixed ring 313 is fixedly connected to the support base 1. One end of the guide post 314 is fixedly connected to one of the fixed ring 313 and the movable ring 311. The guide post 314 is inserted into the other of the fixed ring 313 and the movable ring 311. The plurality of second limiting parts 315 are fixedly connected to the other end of the plurality of guide posts 314 respectively. The second limiting parts 315 restrict the fixed ring 313 or the movable ring 311 sleeved on the guide post 314 from disengaging from the other end of the guide post 314. The axis of the guide post 314 is parallel to the axis of the support base 1. In this embodiment, the function of the guide post 314 is to allow the movable ring 311 to slide stably relative to the fixed ring 313 along the axis of the support base 1. Specifically, the fixed ring 313 is provided with a guide hole, one end of the guide post 314 is fixedly connected to the movable ring 311, the guide post 314 is inserted into the fixed ring 313, and the second limiting member is located on the side of the fixed ring 313 away from the movable ring 311 and is fixedly connected to the guide post 314. The diameter of the second limiting member is larger than the diameter of the guide hole, thereby restricting the guide post 314 from coming out of the guide hole.

[0068] Preferably, the second limiting part 315 is a nut, and the other end of the guide post 314 is provided with a thread. The second limiting part 315 is screwed to the other end of the guide post 314, thereby adjusting the position of the second limiting part 315 relative to the guide post 314 along the axial direction of the guide post 314, thereby adjusting the maximum distance of relative movement between the fixed ring 313 and the movable ring 311.

[0069] Optionally, both the fixed ring 313 and the movable ring 311 are located between the inner support plate 22 and the outer support plate 21, and the inner support member 2 can slide relative to the fixed ring 313 and the movable ring 311 along the radial direction of the support base 1. In this embodiment, the distance between the inner support plate 22 and the outer support plate 21 is a preset value a, and the maximum radial dimension of the relative position of the fixed ring 313 or the movable ring 311 with the inner support member 2 is a preset value b, where the preset value a is greater than the preset value b. The preset value a being greater than the preset value b allows the support member to slide radially relative to the fixed ring 313 or the movable ring 311 along the radial direction of the support base 1, thereby adjusting the diameters of the circles containing the multiple first support plates and the circles containing the multiple second support plates.

[0070] Specifically, multiple support members slide synchronously relative to the support base 1 along the radial direction of the support base 1.

[0071] Specifically, such as Figure 4 As shown, the rotating wheel 200 includes a rim 201, a hub 202, an upper web 203, and a lower web 204. The inner sidewall of the rim 201 is provided with a first upper abutment ring 2011 and a first lower abutment ring 2012. The outer periphery of the hub 202 is provided with a second upper abutment ring 2021 and a second lower abutment ring 2022. The hub 202 is inserted into the rim 201. The upper web 203 abuts against the first upper abutment ring 2011 and the second upper abutment ring 2021, respectively. The lower web 204 abuts against the first lower abutment ring 2012 and the second lower abutment ring 2022, respectively. The upper web 203 is connected to the rim 201 and the hub 202 by welding, and the lower web 204 is connected to the rim 201 and the hub 202 by welding.

[0072] like Figures 5-10 As shown, this embodiment also provides a rotating wheel welding robot, including a robotic arm 101 and the gripping mechanism 100 described above. The execution end of the robotic arm 101 is fixedly connected to the side of the support base 1 away from the inner support member 2. In this embodiment, the robotic arm 101 can drive the gripping mechanism 100 to move, thereby transporting the wheel rim 201, wheel hub 202, upper web plate 203, and lower web plate 204 gripped by the gripping mechanism 100.

[0073] Specifically, when transporting the wheel rim 201, the robotic arm 101 drives the gripping mechanism 100 to move, thereby extending the outer support plate 21 of the inner support member 2 into the wheel rim 201. Subsequently, the gripping mechanism 100 drives the inner support member 2 to move away from each other, thereby making the outer support plate 21 abut against the wheel rim 201, and the gripping mechanism 100 can then move the wheel rim 201.

[0074] When moving the wheel hub 202, the robotic arm 101 drives the gripping mechanism 100 to move, thereby extending the inner support plate 22 of the inner support member 2 into the wheel hub 202. Subsequently, the gripping mechanism 100 drives the inner support member 2 to move away from each other, thereby making the inner support plate 22 abut against the wheel hub 202, and the gripping mechanism 100 can then move the wheel hub 202.

[0075] When moving the upper web 203 or the lower web 204, the drive component 31 in the gripping mechanism 100 first drives the electromagnetic unit to move along the axis of the support base 1, thereby causing the electromagnetic unit to protrude from the inner support member 2 in the direction of gravity. The robotic arm 101 drives the gripping mechanism 100 to move, thereby causing the electromagnet 323 of the electromagnetic unit to abut against the upper web 203 or the lower web 204. When the power supply of the electromagnet 323 is turned on, the electromagnet 323 magnetically attracts the upper web 203 or the lower web 204, and then the gripping mechanism 100 can drive the upper web 203 or the lower web 204 to move.

[0076] Optionally, the rotating wheel welding robot also includes an assembly fixture 102, which includes a base 4, multiple jaws 5, a floating positioning plate assembly 6, and a hub positioning seat 7. The multiple jaws 5 are arranged on the base 4 circumferentially, and the jaws 5 have two states: relative sliding and relative fixing, along the radial direction of the base 4. The multiple jaws 5 are used to hold the rim 201 of the rotating wheel 200. The floating positioning plate assembly 6 includes a floating plate 61 and a second elastic member 62. The floating plate 61 is arranged on the base 4, and the elastic member is arranged between the floating plate 61 and the base 4. The floating plate 61 is used to support the lower web plate 204 of the rotating wheel 200. The hub positioning seat 7 is fixed to the base 4 and arranged coaxially with the base 4. The hub 202 of the rotating wheel 200 is configured to be fitted onto the hub positioning seat 7.

[0077] like Figure 11 As shown, the welding steps for the rotating wheel 200 using the automated welding method specifically include:

[0078] In the first step, the robotic arm 101 places the lower abdominal plate 204 grasped by the gripping mechanism 100 onto the floating plate 61.

[0079] In the second step, when the robotic arm 101 places the wheel rim 201 gripped by the gripping mechanism 100 onto the base 4, multiple claws 5 move radially along the base 4 and abut against the outer peripheral wall of the wheel rim 201, thereby fixing the wheel rim 201 in place. In this step, the wheel rim 201 and the lower web plate 204 are coaxially aligned.

[0080] In the third step, the robotic arm 101 places the wheel hub 202 grasped by the gripping mechanism 100 onto the wheel hub positioning seat 7, and the lower web plate 204 abuts against the first lower abutting ring 2012 and the second lower abutting ring 2022 respectively; at this time, the lower web plate 204, the wheel hub 202 and the wheel rim 201 are arranged on the same axis.

[0081] The fourth step involves welding the lower web plate 204 to the abutment points of the first lower abutment ring 2012 and the second lower abutment ring 2022. This step fixes the lower web plate 204 and the wheel hub 202 relative to each other, and also fixes the lower web plate 204 and the wheel rim 201 relative to each other.

[0082] In the fifth step, the robotic arm 101 places the upper web plate 203 grasped by the gripping mechanism 100 onto the first upper abutment ring 2011 and the second upper abutment ring 2021 of the wheel rim 201 and the wheel hub 202.

[0083] In the sixth step, the robotic arm 101 inserts the positioning claw 8, which is gripped by the gripping mechanism 100, into the wheel hub 202. The positioning claw 8 presses the upper web plate 203 onto the first upper abutment ring 2011 and the second upper abutment ring 2021. At this time, the upper web plate 203, the wheel hub 202, and the wheel rim 201 are arranged coaxially.

[0084] Step 7: Weld the upper web plate 203 to the weld joints of the first upper abutment ring 2011 and the second upper abutment ring 2021. In this step, the upper web plate 203 and the wheel hub 202 are relatively fixed, and the upper web plate 203 and the wheel rim 201 are relatively fixed. This completes the assembly and welding of the rotating wheel.

[0085] Optionally, a second elastic element 62 is provided between the floating plate 61 and the base 4. The function of the second elastic element 62 is to drive the lower web plate 204 on the floating plate 61, so that the lower web plate 204 is always pressed against the first lower abutment ring 2012 and the second lower abutment ring 2022 respectively. Specifically, the second elastic element 62 can be elastic rubber or a coil spring.

[0086] Optionally, the floating positioning plate assembly 6 further includes a second sliding shaft 63, which is fixedly mounted on one of the base 4 or the floating plate 61, and slidably engaged with the other of the base 4 or the floating plate 61. The axis of the second sliding shaft 63 is parallel to the axis of the base 4. In this embodiment, the second sliding shaft 63 allows the floating plate 61 to always move relative to the base 4 along the axis of the second sliding shaft 63. Specifically, one end of the second sliding shaft 63 is fixedly connected to the floating plate 61, and the other end of the second sliding shaft 63 is inserted into the base 4 and slidably engaged with the base 4.

[0087] Optionally, the assembly tooling 102 further includes a positioning claw 8 and a tensioning assembly. The positioning claw 8 is located on the side of the upper web 203 of the rotating wheel 200 away from the lower web 204. The positioning claw 8 can abut against the upper web 203 and the hub 202 respectively. The tensioning assembly drives the positioning claw 8 to move towards the lower web 204. In this embodiment, when step three is completed but step four is not completed, the positioning claw 8 abuts against the hub 202. At this time, the tensioning assembly pulls the positioning claw 8. Under the action of the positioning claw 8, the second lower positioning ring of the hub 202 abuts against the lower web 204. At the same time, the lower web 204 abuts against the first lower positioning ring of the rim 201, which facilitates the execution of step four.

[0088] When step five is completed but step six is ​​not, the positioning claw 8 is brought into contact with the wheel hub 202 and the upper web plate 203 respectively. At this time, the tensioning assembly pulls the positioning claw 8. Under the action of the positioning claw 8, the second upper positioning ring of the wheel hub 202 is pressed against the upper web plate 203. At the same time, the upper web plate 203 is pressed against the first upper positioning ring of the wheel rim 201, which facilitates the execution of step six.

[0089] Optionally, the positioning claw 8 includes a pin and multiple pressure claws. The multiple pressure claws are spaced apart circumferentially along the pin. The pin is used to insert into the hub 202. The multiple pressure claws abut against the side of the upper web 203 of the rotating wheel 200 away from the lower web 204. The tensioning assembly is disposed on the base 4. The telescopic end of the tensioning assembly extends into the hub 202 and is detachably connected to the pin. In this embodiment, since the telescopic end of the tensioning assembly is provided with a gripper, and the end of the pin opposite to the tensioning assembly is provided with a clamping part, the gripper has two states: clamping the clamping part and releasing the clamping part.

[0090] In addition, the upper web plate 203 and the wheel hub 202 are provided with a radial gap, and the abutment of the claw and the upper web plate 203 is provided with a chamfer. The abutment part abuts against the inner ring of the upper web plate 203, and the pin is inserted into the wheel hub 202. Thus, the relative position of the wheel hub 202 and the upper web plate 203 can be adjusted to keep them concentric.

[0091] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. Gripping mechanism, characterized in that The application relates to a magnetic attraction device, which comprises the following parts: a support base (1); a plurality of inner supporting parts (2) which are arranged on the support base (1) in a circumferential direction and have two states of sliding and fixing relative to the support base (1) along the radial direction of the support base (1), wherein the inner supporting parts (2) comprise outer supporting plates (21) and inner supporting plates (22) which are arranged in a radial direction and are spaced apart; a magnetic attraction unit (3) which comprises a driving assembly (31) and a magnetic attraction assembly (32), wherein the driving assembly (31) is arranged on the support base (1), the magnetic attraction assembly (32) is connected with the driving assembly (31), the driving assembly (31) drives the magnetic attraction assembly (32) to have two states of fixing and sliding relative to the support base (1) along the axis of the support base (1), and the magnetic attraction assembly (32) can generate electromagnetic force; the driving assembly (31) comprises a movable ring (311) and a driving part (312), the movable ring (311) is in sliding fit with the support base (1) along the axis of the support base (1), and the driving part (312) drives the movable ring (311) to slide relative to the support base (1); the magnetic attraction assembly (32) is arranged in a plurality of and is spaced apart in a circumferential direction of the movable ring (311); the movable ring (311) is provided with a plurality of sliding holes in a circumferential direction of the support base (1), and the axis of the sliding hole is parallel to the axis of the support base (1); the magnetic attraction assembly (32) comprises a first sliding shaft (321), a floating joint (322) and an electromagnet (323), the first sliding shaft (321) comprises a sliding column (3211) and a first limiting part (3212) which is fixed to one end of the sliding column (3211), the sliding column (3211) penetrates through the sliding hole and is in sliding fit with the movable ring (311), the first limiting part (3212) limits the sliding column (3211) from being separated from the sliding hole along the direction of gravity, the other end of the sliding column (3211) is fixedly connected with one end of the floating joint (322), and the electromagnet (323) is fixedly connected with the other end of the floating joint (322); the driving assembly (31) further comprises a first elastic part (324), and the first elastic part (324) is arranged between the floating joint (322) and the movable ring (311) and abuts against the floating joint (322) and the movable ring (311) respectively. The drive assembly (31) further includes a fixed ring (313), a plurality of guide posts (314) and a plurality of second limiting parts (315). The fixed ring (313) is fixedly connected to the support base (1). One end of the guide post (314) is fixedly connected to one of the fixed ring (313) and the movable ring (311). The guide post (314) is inserted into the other of the fixed ring (313) and the movable ring (311). The plurality of second limiting parts (315) are fixedly connected to the other end of the plurality of guide posts (314) respectively. The second limiting parts (315) restrict the fixed ring (313) or the movable ring (311) sleeved on the guide post (314) from disengaging from the other end of the guide post (314). The axis of the guide post (314) is parallel to the axis of the support base (1). The fixed ring (313) and the movable ring (311) are both located between the inner support plate (22) and the outer support plate (21), and the inner support member (2) can slide relative to the fixed ring (313) and the movable ring (311) along the radial direction of the support base (1).

2. A robot with a rotating wheel set, comprising a robot arm (101) and a gripping mechanism (100) according to claim 1, characterized in that The actuator of the robotic arm (101) is fixedly connected to the side of the support base (1) away from the inner support member (2).

3. The robot of claim 2, wherein, It also includes a pairing tooling (102), which includes: Base (4); Multiple claws (5) are arranged on the base (4) circumferentially. The claws (5) have two states of relative sliding and relative fixing along the radial direction of the base (4). The multiple claws (5) are used to hold the rim (201) of the rotating wheel (200). The floating positioning plate assembly (6) includes a floating plate (61) and a second elastic member (62). The floating plate (61) is disposed on the base (4), and the elastic member is disposed between the floating plate (61) and the base (4). The floating plate (61) is used to support the lower web plate (204) of the rotating wheel (200). A hub positioning seat (7) is fixed to the base (4) and coaxially arranged with the base (4). The hub (202) of the rotating wheel (200) is configured to be fitted onto the hub positioning seat (7).

4. The robot of claim 3, wherein, The floating positioning plate assembly (6) further includes a second sliding shaft (63), which is fixed to one of the base (4) or the floating plate (61). The second sliding shaft (63) is slidably engaged with the other of the base (4) or the floating plate (61), and the axis of the second sliding shaft (63) is parallel to the axis of the base (4).

5. The robot of claim 3, wherein, It also includes a positioning claw (8) and a tensioning assembly. The positioning claw (8) is located on the side of the upper web (203) of the rotating wheel (200) away from the lower web (204). The positioning claw (8) can abut against the upper web (203) and the hub (202) respectively. The tensioning assembly drives the positioning claw (8) to move towards the lower web (204).

6. The robot of claim 5, wherein, The positioning claw (8) includes a pin and multiple pressure claws. The multiple pressure claws are spaced apart circumferentially along the pin. The pin is used to insert into the hub (202). The multiple pressure claws abut against the side of the upper web plate (203) of the rotating wheel (200) away from the lower web plate (204). The tensioning assembly is disposed on the base (4). The telescopic end of the tensioning assembly extends into the hub (202) and is detachably connected to the pin.

7. A method of automated assembly welding of a rotating wheel, characterized in that The robot is powered by the rotating wheel assembly as described in any one of claims 3-6, and the steps include: S1: The robotic arm (101) places the lower abdominal plate (204) grasped by the gripping mechanism (100) onto the floating plate (61); S2: The robotic arm (101) places the wheel rim (201) gripped by the gripping mechanism (100) on the base (4), and multiple claws (5) move radially along the base (4), with the multiple claws (5) abutting against the outer peripheral wall of the wheel rim (201). S3: The robotic arm (101) places the wheel hub (202) gripped by the gripping mechanism (100) on the wheel hub positioning seat (7), and the lower web plate (204) abuts against the first lower abutting ring (2012) and the second lower abutting ring (2022) respectively; S4: Weld the lower web plate (204) to the weld joints of the first lower abutment ring (2012) and the second lower abutment ring (2022) respectively; S5: The robotic arm (101) places the upper web plate (203) grasped by the gripping mechanism (100) onto the first upper abutment ring (2011) and the second upper abutment ring (2021) of the wheel rim (201) and the wheel hub (202); S6: The robotic arm (101) inserts the positioning claw (8) gripped by the gripping mechanism (100) into the hub (202), and the positioning claw (8) presses the upper web plate (203) onto the first upper abutment ring (2011) and the second upper abutment ring (2021); S7: Weld the upper web plate (203) to the weld joints of the first upper abutment ring (2011) and the second upper abutment ring (2021) respectively.

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