An automatic feeding device of an automobile front wall plate welding system

Abstract

The application discloses an automatic feeding device of an automobile front wall plate welding system, which comprises a multi-surface gripper frame; first clamping mechanisms, second clamping mechanisms and third clamping mechanisms and first positioning clamping mechanisms, second positioning clamping mechanisms, third positioning clamping mechanisms, fourth positioning clamping mechanisms, fifth positioning clamping mechanisms and sixth positioning clamping mechanisms are respectively arranged on the multi-surface gripper frame. The first clamping mechanisms, the second clamping mechanisms and the third clamping mechanisms and the first positioning clamping mechanisms, the second positioning clamping mechanisms, the third positioning clamping mechanisms, the fourth positioning clamping mechanisms, the fifth positioning clamping mechanisms and the sixth positioning clamping mechanisms are arranged on the buffer chute to grasp and place a total assembly sheet metal part of a vehicle body multiple times, so that the carrying and assembling work of the total assembly sheet metal part of the vehicle body is completed; manual operation is reduced; the grasping and assembling work of multiple special grippers is completed; work efficiency is greatly improved; production cost is reduced; and the application is favorable for enterprise development.

Description

Technical Field

[0001] This invention relates to the field of automotive welding equipment technology, and in particular to an automatic feeding device for an automotive front panel welding system. Background Technology

[0002] Modern automobile manufacturing has achieved a high degree of automation. In the welding workshop, various irregular sheet metal parts that have been stamped are welded together to complete the production of the car body. During the welding process, the sheet metal parts need to be placed in specific fixtures, then welded by robots, and then picked up by robots and moved to the next fixture. This process involves a series of welding and handling steps to complete the entire welding process. In the two steps of fixture clamping and robot picking, the sheet metal parts need to be stably fixed in the fixtures or grippers. When the sheet metal parts are placed manually in the fixtures, and when the robots pick up the sheet metal parts, the picking and placing of the sheet metal parts by the robots requires precise clamping and placement. Although robots are used to pick up sheet metal parts for loading, in essence, the sheet metal parts still need to be manually moved from the chute to the placement table. This results in low work efficiency, increased labor costs, and is not conducive to the development of enterprises. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic feeding device for a welding system of automotive front panel, which is used in the automotive welding equipment industry for automatic chute feeding. One gripper realizes the automatic loading and unloading of multiple sheet metal parts and achieves the requirements of automatic glue application. The gripper grabs multiple times from the buffer chute and places them to complete the handling and assembly of a complete sheet metal part of the vehicle body assembly. This reduces manual labor while completing the gripping and loading work of multiple dedicated grippers.

[0004] This invention is achieved through the following technical solution:

[0005] An automatic feeding device for an automotive front panel welding system includes a multi-faceted gripper frame connected to a robotic arm. The multi-faceted gripper frame comprises a first vertical gripper support, a second vertical gripper support, a first horizontal gripper support, a second horizontal gripper support, and a third horizontal gripper support. The first vertical gripper support and the second vertical gripper support are symmetrically arranged. A first clamping mechanism for gripping a first workpiece is installed on both the first and second vertical gripper supports. The first horizontal gripper support and the third horizontal gripper support are symmetrically arranged. A second clamping mechanism for gripping a second workpiece is installed at the front end of both the first and third horizontal gripper supports. The rear of the first horizontal gripper support... The first end of the multi-faceted gripper frame is equipped with a first positioning and clamping mechanism for gripping a third workpiece via a first telescopic mechanism; the front end of the second horizontal gripper bracket is equipped with a second positioning and clamping mechanism for gripping a fourth workpiece via a second telescopic mechanism; one end of the multi-faceted gripper frame is equipped with a third positioning and clamping mechanism for gripping a fifth workpiece via a third telescopic mechanism; the other end of the multi-faceted gripper frame is equipped with a fourth positioning and clamping mechanism for gripping a sixth workpiece via a fourth telescopic mechanism; the bottom of the multi-faceted gripper frame is equipped with a fifth positioning and clamping mechanism for gripping a seventh workpiece via a fifth telescopic mechanism; the bottom of the multi-faceted gripper frame is also equipped with a third clamping mechanism for gripping an eighth workpiece; and the front end of the second horizontal gripper bracket is also equipped with a sixth positioning and clamping mechanism for positioning a second workpiece.

[0006] As a further improvement to the technical solution of the present invention, the first clamping mechanism includes a first clamping cylinder, a first driving arm, a first gripper, and a first mounting plate; the first clamping cylinder and the first gripper are both mounted on the first vertical gripper bracket or the second vertical gripper bracket via the first mounting plate; the piston rod of the first clamping cylinder is connected to the first gripper via the first driving arm.

[0007] As a further improvement to the technical solution of the present invention, the second clamping mechanism includes a second clamping cylinder, a second driving arm, a second gripper, and a second mounting plate; the second clamping cylinder and the second gripper are both mounted on the first horizontal gripper bracket or the third horizontal gripper bracket via the second mounting plate; the piston rod of the second clamping cylinder is connected to the second gripper via the second driving arm.

[0008] As a further improvement to the technical solution of the present invention, the third clamping mechanism includes a third clamping cylinder, a third driving arm, a third gripper, and a third mounting plate; the third clamping cylinder is mounted on the multi-faceted gripper frame via the third mounting plate; the piston rod of the third clamping cylinder is connected to the third gripper via the third driving arm.

[0009] As a further improvement to the technical solution of the present invention, the first positioning and clamping mechanism includes a first pin cylinder and a first positioning mounting plate; the first pin cylinder is mounted on the first telescopic mechanism via the first positioning mounting plate; the first pin cylinder includes a first pin disposed at the head; the first pin is used to accurately position the third workpiece, and then clamps the third workpiece via a hook pin on the first pin; the second positioning and clamping mechanism includes a second pin cylinder and a second positioning mounting plate; the second pin cylinder is mounted on the second telescopic mechanism via the second positioning mounting plate; the second pin cylinder includes a second pin disposed at the head; the second pin is used to accurately position the fourth workpiece, and then clamps the fourth workpiece via a hook pin on the second pin.

[0010] As a further improvement to the technical solution of the present invention, the third positioning and clamping mechanism includes a third pin cylinder and a third positioning mounting plate; the third pin cylinder is mounted on the third telescopic mechanism via the third positioning mounting plate; the third pin cylinder includes a third pin disposed at the head; the third pin is used to accurately position the fifth workpiece, and then clamps the fifth workpiece via a hook pin on the third pin; the fourth positioning and clamping mechanism includes a fourth pin cylinder and a fourth positioning mounting plate; the fourth pin cylinder is mounted on the fourth telescopic mechanism via the fourth positioning mounting plate; the fourth pin cylinder includes a fourth pin disposed at the head; the fourth pin is used to accurately position the sixth workpiece, and then clamps the sixth workpiece via a hook pin on the fourth pin.

[0011] As a further improvement to the technical solution of the present invention, the fifth positioning and clamping mechanism includes a fifth pin cylinder and a fifth positioning mounting plate; the fifth pin cylinder is mounted on the fifth telescopic mechanism via the fifth positioning mounting plate; the fifth pin cylinder includes a fifth pin disposed at the head; the fifth pin is used to accurately position the seventh workpiece, and then clamps the seventh workpiece via a hook pin on the fifth pin; the sixth positioning and clamping mechanism includes a sixth pin cylinder and a sixth positioning mounting plate; the sixth pin cylinder is mounted on the second horizontal gripper bracket via the sixth positioning mounting plate; the sixth pin cylinder includes a sixth pin disposed at the head; the sixth pin is used to accurately position the second workpiece, and then clamps the second workpiece via a hook pin on the sixth pin.

[0012] As a further improvement to the technical solution of the present invention, the first telescopic mechanism includes a first telescopic cylinder, a first telescopic connecting plate, and a first telescopic mounting plate; the first telescopic cylinder is mounted on the first horizontal gripper bracket via the first telescopic mounting plate; the piston rod of the first telescopic cylinder is connected to the first positioning and clamping mechanism via the first telescopic connecting plate; the second telescopic mechanism includes a second telescopic cylinder, a second telescopic connecting plate, and a second telescopic mounting plate; the second telescopic cylinder is mounted on the second horizontal gripper bracket via the second telescopic mounting plate; the piston rod of the second telescopic cylinder is connected to the second positioning and clamping mechanism via the second telescopic connecting plate.

[0013] As a further improvement to the technical solution of the present invention, the third telescopic mechanism includes a third telescopic cylinder, a third telescopic connecting plate, and a third telescopic mounting plate; the third telescopic cylinder is mounted on the multi-faceted gripper frame via the third telescopic mounting plate; the piston rod of the third telescopic cylinder is connected to the third positioning and clamping mechanism via the third telescopic connecting plate; the fourth telescopic mechanism includes a fourth telescopic cylinder, a fourth telescopic connecting plate, and a fourth telescopic mounting plate; the fourth telescopic cylinder is mounted on the multi-faceted gripper frame via the fourth telescopic mounting plate; the piston rod of the fourth telescopic cylinder is connected to the fourth positioning and clamping mechanism via the fourth telescopic connecting plate; the fifth telescopic mechanism includes a fifth telescopic cylinder, a fifth telescopic connecting plate, and a fifth telescopic mounting plate; the fifth telescopic cylinder is mounted on the multi-faceted gripper frame via the fifth telescopic mounting plate; the piston rod of the fifth telescopic cylinder is connected to the fifth positioning and clamping mechanism via the fifth telescopic connecting plate.

[0014] As a further improvement to the technical solution of the present invention, the multi-faceted gripper frame is connected to the robot arm through a gripper connecting flange; multiple electrical control cabinets are installed on the multi-faceted gripper frame.

[0015] In summary, the present invention has the following beneficial effects:

[0016] 1. This invention, by setting up a first clamping mechanism, a second clamping mechanism, a third clamping mechanism, a first positioning clamping mechanism, a second positioning clamping mechanism, a third positioning clamping mechanism, a fourth positioning clamping mechanism, a fifth positioning clamping mechanism, and a sixth positioning clamping mechanism, repeatedly grips and places the parts on the buffer slide, thus completing the handling and assembly of a complete sheet metal part of the vehicle body. This reduces manual operation while completing the gripping and assembly work of multiple dedicated grippers, greatly improving work efficiency, reducing production costs, and benefiting enterprise development.

[0017] 2. Through the gripping structure of the automatic feeding device of the present invention, a single gripper can complete the step-by-step gripping, assembly and handling of 8 sheet metal parts, greatly reducing the design and manufacturing costs of dedicated grippers.

[0018] 3. The gripper of the present invention uses a pneumatic component called a pin cylinder, which is precisely positioned by the pin part at the head and clamped by the hook pin on the top, thereby achieving the function of precisely positioning and firmly clamping the sheet metal part. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural schematic diagram of an automatic feeding device for an automotive front panel welding system according to an embodiment of the present invention;

[0020] Figure 2 yes Figure 1 Enlarged schematic diagram of part A;

[0021] Figure 3 yes Figure 1 Enlarged schematic diagram of part B;

[0022] Figure 4 yes Figure 1 Enlarged schematic diagram of part C;

[0023] Figure 5 This is a schematic diagram of the assembly of the first telescopic mechanism and the first positioning and clamping mechanism according to an embodiment of the present invention;

[0024] Figure 6 These are assembly diagrams of the second telescopic mechanism and the second positioning and clamping mechanism, and structural diagrams of the sixth positioning and clamping mechanism, according to embodiments of the present invention.

[0025] Figure 7 This is a schematic diagram of the assembly of the third telescopic mechanism and the third positioning and clamping mechanism in an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the assembly of the fourth telescopic mechanism and the fourth positioning and clamping mechanism in an embodiment of the present invention;

[0027] Figure 9 This is a schematic diagram of the assembly of the fifth telescopic mechanism and the sixth positioning and clamping mechanism in an embodiment of the present invention.

[0028] In the attached diagram: 1-Multi-faceted gripper frame; 2-First clamping mechanism; 3-Second clamping mechanism; 4-Third clamping mechanism; 5-First telescopic mechanism; 6-Second telescopic mechanism; 7-Third telescopic mechanism; 8-Fourth telescopic mechanism; 9-Fifth telescopic mechanism; 10-Discharge rotating shaft; 11-First vertical gripper bracket; 12-Second vertical gripper bracket; 13-First horizontal gripper bracket; 14-Second horizontal gripper bracket; 15-Third horizontal gripper bracket; 21-First clamping cylinder; 22-First driving arm; 23-First gripper; 24 - First mounting plate; 31- Second clamping cylinder; 32- Second driving arm; 33- Second gripper; 34- Second mounting plate; 41- Third clamping cylinder; 42- Third driving arm; 43- Third gripper; 44- Third mounting plate; 51- First telescopic cylinder; 52- First telescopic connecting plate; 53- First telescopic mounting plate; 61- Second telescopic cylinder; 62- Second telescopic connecting plate; 63- Second telescopic mounting plate; 71- Third telescopic cylinder; 72- Third telescopic connecting plate; 73- Third telescopic mounting plate; 81- Fourth telescopic cylinder Cylinder; 82-Fourth telescopic connecting plate; 83-Fourth telescopic mounting plate; 91-Fifth telescopic cylinder; 92-Fifth telescopic connecting plate; 93-Fifth telescopic mounting plate; 100-First workpiece; 101-Second workpiece; 102-Third workpiece; 103-Fourth workpiece; 104-Fifth workpiece; 105-Sixth workpiece; 106-Seventh workpiece; 107-Eighth workpiece; 201-First positioning and clamping mechanism; 202-Second positioning and clamping mechanism; 203-Third positioning and clamping mechanism; 204-Fourth positioning and clamping mechanism; 205- Fifth positioning and clamping mechanism; 206-Sixth positioning and clamping mechanism; 300-Handle connecting flange; 400-Electrical control cabinet; 2011-First pin cylinder; 2012-First positioning mounting plate; 2021-Second pin cylinder; 2022-Second positioning mounting plate; 2031-Third pin cylinder; 2032-Third positioning mounting plate; 2041-Fourth pin cylinder; 2042-Fourth positioning mounting plate; 2051-Fifth pin cylinder; 2052-Fifth positioning mounting plate; 2061-Sixth pin cylinder; 2062-Sixth positioning mounting plate. Detailed Implementation

[0029] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention, but are not intended to limit the present invention.

[0030] It should be noted that all directional indicators (such as up, down, left, right, front, back, upper end, lower end, top, bottom, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0031] In this invention, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0032] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination should be considered non-existent and not within the scope of protection claimed by this invention.

[0033] The following is in conjunction with the appendix Figure 1 -Appendix Figure 9 The present invention will be described in further detail below.

[0034] like Figures 1 to 9As shown, an automatic feeding device for a welding system of an automobile front panel includes a multi-faceted gripper frame 1, which is connected to a robotic arm. The multi-faceted gripper frame 1 includes a first vertical gripper support 11, a second vertical gripper support 12, a first horizontal gripper support 13, a second horizontal gripper support 14, and a third horizontal gripper support 15. The first vertical gripper support 11 and the second vertical gripper support 12 are symmetrically arranged. A first clamping mechanism 2 for gripping a first workpiece 100 is installed on both the first vertical gripper support 11 and the second vertical gripper support 12. The first horizontal gripper support 13 and the third horizontal gripper support 15 are symmetrically arranged. A second clamping mechanism 3 for gripping a second workpiece 101 is installed at the front end of both the first horizontal gripper support 13 and the front end of the third horizontal gripper support 15. The rear end of the first horizontal gripper support 13 is connected via a first extension... The retracting mechanism 5 is equipped with a first positioning and clamping mechanism 201 for gripping the third workpiece 102; the front end of the second horizontal gripper bracket 14 is equipped with a second positioning and clamping mechanism 202 for gripping the fourth workpiece 103 via a second telescopic mechanism 6; one end of the multi-faceted gripper frame 1 is equipped with a third positioning and clamping mechanism 203 for gripping the fifth workpiece 104 via a third telescopic mechanism 7; the other end of the multi-faceted gripper frame 1 is equipped with a fourth positioning and clamping mechanism 204 for gripping the sixth workpiece 105 via a fourth telescopic mechanism 8; the bottom of the multi-faceted gripper frame 1 is equipped with a fifth positioning and clamping mechanism 205 for gripping the seventh workpiece 106 via a fifth telescopic mechanism 9; the bottom of the multi-faceted gripper frame 1 is also equipped with a third clamping mechanism 4 for gripping the eighth workpiece 107; the front end of the second horizontal gripper bracket 14 is also equipped with a sixth positioning and clamping mechanism 206 for positioning the second workpiece 101. This invention utilizes a first clamping mechanism 2, a second clamping mechanism 3, and a third clamping mechanism 4, along with a first positioning clamping mechanism 201, a second positioning clamping mechanism 202, a third positioning clamping mechanism 203, a fourth positioning clamping mechanism 204, a fifth positioning clamping mechanism 205, and a sixth positioning clamping mechanism 206 to repeatedly grip and place a sheet metal assembly of a vehicle body on a buffer slide. This reduces manual operation while simultaneously enabling multiple specialized grippers to grip and install the parts, significantly improving work efficiency, reducing production costs, and benefiting enterprise development.

[0035] Specifically, in this embodiment, the first clamping mechanism 2 includes a first clamping cylinder 21, a first driving arm 22, a first gripper 23, and a first mounting plate 24; the first clamping cylinder 21 and the first gripper 23 are both mounted on the first vertical gripper bracket 11 or the second vertical gripper bracket 12 via the first mounting plate 24; the piston rod of the first clamping cylinder 21 is connected to the first gripper 23 via the first driving arm 22. It should be noted that when the automatic feeding device needs to grab the first workpiece 100, the first clamping cylinder 21 works to transmit power through the first driving arm 22, causing the first gripper 23 to clamp the first workpiece 100, thereby completing the grabbing work. While other clamping mechanisms grab other workpieces, the gripper of the present invention grabs 8 sets of sheet metal parts from two chute and one stack respectively through 5 grabbing actions. Then the sheet metal parts are transported to the glue application area and glued in the air. After the sheet metal parts are glued, the automatic feeding device places the sheet metal parts on a special riveting fixture for riveting.

[0036] Specifically, in this embodiment, the second clamping mechanism 3 includes a second clamping cylinder 31, a second driving arm 32, a second gripper 33, and a second mounting plate 34. Both the second clamping cylinder 31 and the second gripper 33 are mounted on the first horizontal gripper bracket 13 or the third horizontal gripper bracket 15 via the second mounting plate 34. The piston rod of the second clamping cylinder 31 is connected to the second gripper 33 via the second driving arm 32. It should be noted that when the automatic feeding device needs to grip the second workpiece 101, the second clamping cylinder 31 transmits power through the second driving arm 32 to cause the second gripper 33 to clamp the second workpiece 101, thus completing the gripping operation. While other clamping mechanisms grip other workpieces, the gripper of this invention grips eight sets of sheet metal parts from two chutes and one stack through five gripping actions. The sheet metal parts are then transported to the gluing area and gluing is performed in the air. After the sheet metal parts are glued, the automatic feeding device places them onto a special riveting fixture for riveting.

[0037] Specifically, in this embodiment, the third clamping mechanism 4 includes a third clamping cylinder 41, a third driving arm 42, a third gripper 43, and a third mounting plate 44. The third clamping cylinder 41 is mounted on the multi-faceted gripper frame 1 via the third mounting plate 44. The piston rod of the third clamping cylinder 41 is connected to the third gripper 43 via the third driving arm 42. It should be noted that when the automatic feeding device needs to grip the eighth workpiece 107, the third clamping cylinder 41 transmits power through the third driving arm 42 to cause the third gripper 43 to clamp the eighth workpiece 107, thereby completing the gripping operation. If other clamping mechanisms have already gripped other workpieces, the automatic feeding device of this invention transfers all gripped workpieces to the adhesive application area, and applies adhesive to the sheet metal parts according to the adhesive application diagram. The gripper of this invention grabs eight sets of sheet metal parts from two chutes and a stack in five grabbing actions. The sheet metal parts are then transported to the gluing area and gluing is performed in the air. After the sheet metal parts are glued, the automatic feeding device places the sheet metal parts on a special riveting fixture for riveting.

[0038] Specifically, in this embodiment, the first positioning and clamping mechanism 201 includes a first pin cylinder 2011 and a first positioning mounting plate 2012; the first pin cylinder 2011 is mounted on the first telescopic mechanism 5 via the first positioning mounting plate 2012; the first pin cylinder 2011 includes a first pin disposed at its head; the first pin is used to accurately position the third workpiece 102, and then clamps the third workpiece 102 via a hook on the first pin; thus achieving the function of accurately positioning and firmly clamping the sheet metal part. The second positioning and clamping mechanism 202 includes a second pin cylinder 2021 and a second positioning mounting plate 2022; the second pin cylinder 2021 is mounted on the second telescopic mechanism 6 via the second positioning mounting plate 2022; the second pin cylinder 2021 includes a second pin disposed at its head; the second pin is used to accurately position the fourth workpiece 103, and then clamps the fourth workpiece 103 via a hook on the second pin, thus achieving the function of accurately positioning and firmly clamping the sheet metal part.

[0039] Specifically, in this embodiment, the third positioning and clamping mechanism 203 includes a third pin cylinder 2031 and a third positioning mounting plate 2032; the third pin cylinder 2031 is mounted on the third telescopic mechanism 7 via the third positioning mounting plate 2032; the third pin cylinder 2031 includes a third pin disposed at its head; the third pin is used to precisely position the fifth workpiece 104, and then clamps the fifth workpiece 104 via a hook pin on the third pin, thereby achieving precise and stable positioning of the sheet metal part. The fourth positioning and clamping mechanism 204 includes a fourth pin cylinder 2041 and a fourth positioning mounting plate 2042. The fourth pin cylinder 2041 is mounted on the fourth telescopic mechanism 8 via the fourth positioning mounting plate 2042. The fourth pin cylinder 2041 includes a fourth pin located at its head. The fourth pin is used to precisely position the sixth workpiece 105, and then clamps the sixth workpiece 105 using a hook on the fourth pin, thereby achieving the function of precise positioning and stable clamping of the sheet metal part.

[0040] Specifically, in this embodiment, the fifth positioning and clamping mechanism 205 includes a fifth pin cylinder 2051 and a fifth positioning mounting plate 2052; the fifth pin cylinder 2051 is mounted on the fifth telescopic mechanism 9 via the fifth positioning mounting plate 2052; the fifth pin cylinder 2051 includes a fifth pin disposed at its head; the fifth pin is used to precisely position the seventh workpiece 106, and then clamps the seventh workpiece 106 via a hook pin on the fifth pin, thereby achieving precise positioning and stable clamping of the sheet metal part. The sixth positioning and clamping mechanism 206 includes a sixth pin cylinder 2061 and a sixth positioning mounting plate 2062. The sixth pin cylinder 2061 is mounted on the second horizontal gripper bracket 14 via the sixth positioning mounting plate 2062. The sixth pin cylinder 2061 includes a sixth pin located at its head. The sixth pin is used to accurately position the second workpiece 101, and then clamps the second workpiece 101 using a hook on the sixth pin, thereby achieving the function of accurately positioning and firmly clamping the sheet metal part.

[0041] Specifically, in this embodiment, the first telescopic mechanism 5 includes a first telescopic cylinder 51, a first telescopic connecting plate 52, and a first telescopic mounting plate 53; the first telescopic cylinder 51 is mounted on the first horizontal gripper bracket 13 via the first telescopic mounting plate 53; the piston rod of the first telescopic cylinder 51 is connected to the first positioning and clamping mechanism 201 via the first telescopic connecting plate 52; the second telescopic mechanism 6 includes a second telescopic cylinder 61, a second telescopic connecting plate 62, and a second telescopic mounting plate 63; the second telescopic cylinder 61 is mounted on the second horizontal gripper bracket 14 via the second telescopic mounting plate 63; the piston rod of the second telescopic cylinder 61 is connected to the second positioning and clamping mechanism 202 via the second telescopic connecting plate 62.

[0042] Specifically, in this embodiment, the third telescopic mechanism 7 includes a third telescopic cylinder 71, a third telescopic connecting plate 72, and a third telescopic mounting plate 73; the third telescopic cylinder 71 is mounted on the multi-faceted gripper frame 1 via the third telescopic mounting plate 73; the piston rod of the third telescopic cylinder 71 is connected to the third positioning and clamping mechanism 203 via the third telescopic connecting plate 72; the fourth telescopic mechanism 8 includes a fourth telescopic cylinder 81, a fourth telescopic connecting plate 82, and a fourth telescopic mounting plate 83; the fourth telescopic cylinder 81 is connected to the third positioning and clamping mechanism 203 via the third telescopic connecting plate 72. The fourth telescopic mounting plate 83 is mounted on the multi-faceted gripper frame 1; the piston rod of the fourth telescopic cylinder 81 is connected to the fourth positioning and clamping mechanism 204 through the fourth telescopic connecting plate 82; the fifth telescopic mechanism 9 includes a fifth telescopic cylinder 91, a fifth telescopic connecting plate 92, and a fifth telescopic mounting plate 93; the fifth telescopic cylinder 91 is mounted on the multi-faceted gripper frame 1 through the fifth telescopic mounting plate 93; the piston rod of the fifth telescopic cylinder 91 is connected to the fifth positioning and clamping mechanism 205 through the fifth telescopic connecting plate 92. It should be noted that by setting the first telescopic mechanism 5, the second telescopic mechanism 6, the third telescopic mechanism 7, the fourth telescopic mechanism 8, and the fifth telescopic mechanism 9 to adjust the gripping positions of the first positioning and clamping mechanism 201, the second positioning and clamping mechanism 202, the third positioning and clamping mechanism 203, the fourth positioning and clamping mechanism 204, and the fifth positioning and clamping mechanism 205 respectively, the positioning and clamping accuracy of the sheet metal parts is effectively improved, further enhancing the accuracy of automatic feeding.

[0043] Specifically, in this embodiment, the multi-faceted gripper frame 1 is connected to the robotic arm via a gripper connecting flange 300; multiple electrical control cabinets 400 are installed on the multi-faceted gripper frame 1 to realize automated control of the clamping mechanism, the positioning clamping mechanism, and the telescopic mechanism.

[0044] In summary, compared with the prior art, the advantages of the present invention are:

[0045] 1. This invention, by setting up a first clamping mechanism 2, a second clamping mechanism 3, and a third clamping mechanism 4, as well as a first positioning clamping mechanism 201, a second positioning clamping mechanism 202, a third positioning clamping mechanism 203, a fourth positioning clamping mechanism 204, a fifth positioning clamping mechanism 205, and a sixth positioning clamping mechanism 206 to repeatedly grip and place a sheet metal part of a vehicle body assembly on the buffer slide, completes the handling and assembly work of a complete assembly. This reduces manual operation while completing the gripping and assembly work of multiple special grippers, greatly improving work efficiency, reducing production costs, and benefiting enterprise development.

[0046] 2. Through the gripping structure of the automatic feeding device of the present invention, a single gripper can complete the step-by-step gripping, assembly and handling of 8 sheet metal parts, greatly reducing the design and manufacturing costs of dedicated grippers.

[0047] 3. The gripper of the present invention uses a pneumatic component called a pin cylinder, which is precisely positioned by the pin part at the head and clamped by the hook pin on the top, thereby achieving the function of precisely positioning and firmly clamping the sheet metal part.

[0048] The technical solutions provided by the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the embodiments of the present invention. The descriptions of the embodiments above are only for helping to understand the principles of the embodiments of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the embodiments of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An automatic feeding device for an automotive front panel welding system, comprising a multi-faceted gripper frame connected to a robotic arm; characterized in that: The multi-faceted gripper frame includes a first vertical gripper support, a second vertical gripper support, a first horizontal gripper support, a second horizontal gripper support, and a third horizontal gripper support. The first vertical gripper support and the second vertical gripper support are symmetrically arranged. A first clamping mechanism for gripping a first workpiece is installed on both the first vertical gripper support and the second vertical gripper support. The first horizontal gripper support and the third horizontal gripper support are symmetrically arranged. A second clamping mechanism for gripping a second workpiece is installed at the front end of both the first horizontal gripper support and the front end of the third horizontal gripper support. A first telescopic mechanism for gripping a third workpiece is installed at the rear end of the first horizontal gripper support. A positioning and clamping mechanism is provided; a second positioning and clamping mechanism for gripping a fourth workpiece is installed at the front end of the second horizontal gripper bracket via a second telescopic mechanism; a third positioning and clamping mechanism for gripping a fifth workpiece is installed at one end of the multifaceted gripper frame via a third telescopic mechanism; a fourth positioning and clamping mechanism for gripping a sixth workpiece is installed at the other end of the multifaceted gripper frame via a fourth telescopic mechanism; a fifth positioning and clamping mechanism for gripping a seventh workpiece is installed at the bottom of the multifaceted gripper frame via a fifth telescopic mechanism; a third clamping mechanism for gripping an eighth workpiece is also installed at the bottom of the multifaceted gripper frame; and a sixth positioning and clamping mechanism for positioning a second workpiece is also installed at the front end of the second horizontal gripper bracket.

2. The automatic feeding device for an automotive front panel welding system according to claim 1, characterized in that: The first clamping mechanism includes a first clamping cylinder, a first driving arm, a first gripper, and a first mounting plate; the first clamping cylinder and the first gripper are both mounted on the first vertical gripper bracket or the second vertical gripper bracket via the first mounting plate; the piston rod of the first clamping cylinder is connected to the first gripper via the first driving arm.

3. The automatic feeding device for an automotive front panel welding system according to claim 1, characterized in that: The second clamping mechanism includes a second clamping cylinder, a second driving arm, a second gripper, and a second mounting plate; the second clamping cylinder and the second gripper are both mounted on the first horizontal gripper bracket or the third horizontal gripper bracket via the second mounting plate; the piston rod of the second clamping cylinder is connected to the second gripper via the second driving arm.

4. The automatic feeding device for an automotive front panel welding system according to claim 1, characterized in that: The third clamping mechanism includes a third clamping cylinder, a third driving arm, a third gripper, and a third mounting plate; the third clamping cylinder is mounted on the multi-faceted gripper frame via the third mounting plate; the piston rod of the third clamping cylinder is connected to the third gripper via the third driving arm.

5. The automatic feeding device for an automotive front panel welding system according to claim 1, characterized in that: The first positioning and clamping mechanism includes a first pin cylinder and a first positioning mounting plate; the first pin cylinder is mounted on the first telescopic mechanism via the first positioning mounting plate; the first pin cylinder includes a first pin disposed at its head; the first pin is used to accurately position the third workpiece, and then clamps the third workpiece via a hook pin on the first pin; the second positioning and clamping mechanism includes a second pin cylinder and a second positioning mounting plate; the second pin cylinder is mounted on the second telescopic mechanism via the second positioning mounting plate; the second pin cylinder includes a second pin disposed at its head; the second pin is used to accurately position the fourth workpiece, and then clamps the fourth workpiece via a hook pin on the second pin.

6. The automatic feeding device for an automotive front panel welding system according to claim 1, characterized in that: The third positioning and clamping mechanism includes a third pin cylinder and a third positioning mounting plate; the third pin cylinder is mounted on the third telescopic mechanism via the third positioning mounting plate; the third pin cylinder includes a third pin located at its head; the third pin is used to precisely position the fifth workpiece, and then clamps the fifth workpiece via a hook pin on the third pin; the fourth positioning and clamping mechanism includes a fourth pin cylinder and a fourth positioning mounting plate; the fourth pin cylinder is mounted on the fourth telescopic mechanism via the fourth positioning mounting plate; the fourth pin cylinder includes a fourth pin located at its head; the fourth pin is used to precisely position the sixth workpiece, and then clamps the sixth workpiece via a hook pin on the fourth pin.

7. The automatic feeding device for an automotive front panel welding system according to claim 1, characterized in that: The fifth positioning and clamping mechanism includes a fifth pin cylinder and a fifth positioning mounting plate; the fifth pin cylinder is mounted on the fifth telescopic mechanism via the fifth positioning mounting plate; the fifth pin cylinder includes a fifth pin located at its head; the fifth pin is used to precisely position the seventh workpiece, and then clamps the seventh workpiece via a hook pin on the fifth pin; the sixth positioning and clamping mechanism includes a sixth pin cylinder and a sixth positioning mounting plate; the sixth pin cylinder is mounted on the second horizontal gripper bracket via the sixth positioning mounting plate; the sixth pin cylinder includes a sixth pin located at its head; the sixth pin is used to precisely position the second workpiece, and then clamps the second workpiece via a hook pin on the sixth pin.

8. The automatic feeding device for an automotive front panel welding system according to claim 1, characterized in that: The first telescopic mechanism includes a first telescopic cylinder, a first telescopic connecting plate, and a first telescopic mounting plate; the first telescopic cylinder is mounted on the first horizontal gripper bracket via the first telescopic mounting plate; the piston rod of the first telescopic cylinder is connected to the first positioning and clamping mechanism via the first telescopic connecting plate; the second telescopic mechanism includes a second telescopic cylinder, a second telescopic connecting plate, and a second telescopic mounting plate; the second telescopic cylinder is mounted on the second horizontal gripper bracket via the second telescopic mounting plate; the piston rod of the second telescopic cylinder is connected to the second positioning and clamping mechanism via the second telescopic connecting plate.

9. An automatic feeding device for a welding system for an automotive front panel according to claim 1, characterized in that: The third telescopic mechanism includes a third telescopic cylinder, a third telescopic connecting plate, and a third telescopic mounting plate; the third telescopic cylinder is mounted on the multi-faceted gripper frame via the third telescopic mounting plate; the piston rod of the third telescopic cylinder is connected to the third positioning and clamping mechanism via the third telescopic connecting plate. The fourth telescopic mechanism includes a fourth telescopic cylinder, a fourth telescopic connecting plate, and a fourth telescopic mounting plate; the fourth telescopic cylinder is mounted on the multi-faceted gripper frame via the fourth telescopic mounting plate; the piston rod of the fourth telescopic cylinder is connected to the fourth positioning and clamping mechanism via the fourth telescopic connecting plate. The fifth telescopic mechanism includes a fifth telescopic cylinder, a fifth telescopic connecting plate, and a fifth telescopic mounting plate; the fifth telescopic cylinder is mounted on the multi-faceted gripper frame via the fifth telescopic mounting plate; the piston rod of the fifth telescopic cylinder is connected to the fifth positioning and clamping mechanism via the fifth telescopic connecting plate.

10. An automatic feeding device for a welding system for an automotive front panel according to claim 1, characterized in that: The multi-faceted gripper frame is connected to the robotic arm via a gripper connecting flange; multiple electrical control cabinets are installed on the multi-faceted gripper frame.

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