An adjustable clamping manipulator based on automobile parts processing

Abstract

The present invention relates to the field of clamping robots for automobile parts processing, and specifically to an adjustable clamping robot based on automobile parts processing, comprising a main mounting plate, a horizontal slide rail fixed to the top of the main mounting plate, connecting plates symmetrically connected to the horizontal slide rail via a horizontal slider, horizontal clamping mechanisms provided at opposite ends of the two connecting plates, and vertical clamping mechanisms provided at opposite ends of the two connecting plates. The present invention uses a robot component to further clamp and stabilize horizontally placed automobile frame accessories, and can also push both ends of the joints of the horizontally and vertically placed automobile frame accessories through a downward pressure structure in conjunction with an upward pressure structure, thereby stabilizing the joints of the horizontally and vertically placed automobile frame accessories, and thereby ensuring the welding quality of the joints of the horizontally and vertically placed automobile frame accessories.

Description

Technical Field

[0001] The invention relates to the field of clamping manipulators for automobile parts processing, in particular to an adjustable clamping manipulator based on automobile parts processing. Background Art

[0002] Auto parts refer to various parts used in automobile manufacturing and maintenance. These parts can be divided into many categories, which are differentiated according to their functions and locations. Among the many auto parts are Figure 9 The illustrated automobile frame assembly consists of a horizontally positioned central assembly and symmetrically positioned vertically positioned assemblies at either end. The horizontal and vertical assemblies are provided with upper raised plates on their fronts, and lower raised plates on their rears. In practice, the horizontal and vertical assemblies are primarily secured together through welding and riveting. However, due to their structural specificities, specialized fixtures are required to position and clamp them.

[0003] The actual clamp for clamping horizontally and vertically placed automobile frame accessories usually requires first placing the horizontally placed automobile frame accessories on the abutment plate in the clamp, and clamping the horizontally placed automobile frame accessories through the rotating clamping structure set at the front and rear positions, and then positioning and clamping the vertically placed automobile frame accessories through the vertical clamp set symmetrically.

[0004] Although the above-mentioned clamp for clamping horizontally and vertically placed automobile frame accessories can clamp them quickly, the joints between the horizontally and vertically placed automobile frame accessories are not tightly fitted during the clamping process, which leads to welding defects and leaks during welding of the joints between the horizontally and vertically placed automobile frame accessories, thereby affecting the dimensional accuracy and normal use of the automobile frame accessories after welding. In addition, during the welding of the joints between the horizontally and vertically placed automobile frame accessories, the above-mentioned device cannot perform targeted pressure on the joints between the horizontally and vertically placed automobile frame accessories, resulting in the welding stress generated during the welding process easily causing slight misalignment of the horizontally or vertically placed automobile frame accessories, thereby affecting the welding effect of the joints between the two. Summary of the Invention

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: an adjustable clamping manipulator based on automobile parts processing, comprising a main mounting plate, a horizontal slide rail fixed on the top of the main mounting plate, and connecting plates symmetrically connected to the horizontal slide rail by a horizontal slider, and horizontal clamping mechanisms are provided at the opposite ends of the two connecting plates, and vertical clamping mechanisms are provided at the opposite ends of the two connecting plates; a neutral block is fixed in the middle of the horizontal slide rail, and a bidirectional threaded rod for synchronously adjusting the left and right positions of the two connecting plates is provided on the neutral block, and a crank is fixed to the right end of the bidirectional threaded rod; the horizontal clamping mechanism comprises two manipulator mounting columns fixed on the top of the connecting plate, a bending plate is fixed on the top of the manipulator mounting column away from the neutral block, and a bending plate is fixed on the top of the manipulator mounting column close to the neutral block. A lower support plate is fixed on the top of the manipulator mounting column of the block, and a positioning manipulator and a front pushing component are respectively provided on the front and rear sides of the manipulator mounting column close to the mid-position block, and the horizontally placed automobile accessories are positioned front and back by the front pushing component and the automobile accessories are pressed down and clamped by the positioning manipulator; the vertical clamping mechanism includes a vertical column fixed on the top of the connecting plate, the vertical column is farther away from the mid-position block than the two vertical columns, and a gathering block is fixed on the top of the vertical column, and a limiting slide rail is fixed on the side of the gathering block close to the mid-position block, and the limiting slide rail is connected to the vertical plate through a limiting slider, and an inner spring is connected between the limiting slider and the limiting slide rail, and a front clamping component and a rear clamping component are respectively provided on the front and rear sides of the vertical plate close to the mid-position block, and a side pushing component is connected to the rear clamping component.

[0006] Furthermore, the positioning robot includes an L-shaped robot support column fixed on the front side of the robot mounting column, a rotating plate is hinged on the top of the vertical end of the robot support column, a robot power structure is connected between the rotating plate and the vertical end of the robot support column, and a downward pressure structure and an upward pressure structure are respectively provided on the front and rear of the rotating plate.

[0007] Furthermore, the downward pressing structure includes a fixed plate fixed on the top of the rotating plate, a rotating disk is rotatably installed on the top of the fixed plate, a rotating adjustment member is provided between the fixed plate and the rotating disk, a restraining sleeve is fixed on the front side of the rotating disk, an inner sliding rod is slidably connected in the restraining sleeve, a return spring is connected between the inner sliding rod and the restraining sleeve, the end of the inner sliding rod away from the neutral block is hinged to a manipulator pressure plate through a connecting rod, and a manipulator pushing member is provided on the rotating plate to push the inner sliding rod.

[0008] Furthermore, the manipulator pusher includes a sliding plate slidably connected to the rotating plate, an inner sliding rod is provided with a pushed slope at one end close to the mid-position block, and a pushing rod is fixed on the top of the sliding plate for cooperating with the pushed slope to push the inner sliding rod.

[0009] Furthermore, the upper pressure structure includes a hollow plate fixed at the bottom of the rotating plate, an embedded block is slidingly connected to the hollow plate in a limited position, a horizontal rod is slidingly connected to the position of the hollow plate away from the center block, a horizontal spring is connected between the horizontal rod and the hollow plate, a lower pressure plate is hinged at one end of the horizontal rod away from the center block, and a matching slope is arranged between the horizontal rod and the embedded block.

[0010] Furthermore, the forward pushing component includes an L-shaped rear extension column fixed to the rear side of the manipulator mounting column, a front pressure plate is hinged on the top of the vertical end of the L-shaped rear extension column, and rotating rods are symmetrically installed on the left and right sides of the front pressure plate. A front pushing plate is hinged between the two rotating rods, and a limiting rod is fixed on the rear side of the manipulator mounting column, and the limiting rod and the front pushing plate are slidably connected.

[0011] Furthermore, a synchronization structure is connected between the vertical plate and the forward pushing member, and the synchronization structure includes a lower extension plate fixed at the bottom of the vertical plate, a round rod is fixed to one end of the lower extension plate close to the median block, and a synchronization plate is fixed to one end of the forward pushing plate close to the lower extension plate.

[0012] Furthermore, the front clamping member includes a square rod fixed to the side of the vertical plate, a horizontal sleeve is sleeved on the square rod, a tension spring is connected between the horizontal sleeve and the vertical plate, and an L-shaped clamping rod is fixed to the rear side of the horizontal sleeve.

[0013] Furthermore, the rear clamping member also includes a square rod fixed to the side of the vertical plate, a square plate is fixed to one end of the square rod away from the vertical plate, a square sleeve is provided on the square rod, a compression spring is connected between the square sleeve and the square plate, a pressure block is fixed to the front side of the square sleeve, a rubber friction pad is provided on the side of the pressure block close to the vertical plate, upper extension rods are fixed to the top of the horizontal sleeve and the square sleeve, a U-shaped rod is connected between the two upper extension rods, and a locking structure is provided between the U-shaped rod and the vertical plate.

[0014] Furthermore, the side thrust component includes a mounting rod fixed on the front side of the upper extension rod on the square sliding sleeve, a vertical sliding sleeve is fixed to the front end of the bottom of the mounting rod, an inner slider is slidably connected to the vertical sliding sleeve, a vertical spring is connected between the inner slider and the bottom of the vertical sliding sleeve, a push rod is horizontally penetrated on the inner slider, a friction plate is fixed to the end of the push rod close to the vertical plate, a push block is fixed to the end of the push rod away from the vertical plate, and a push block that cooperates with the push block is fixed to the side of the front end of the mounting rod away from the vertical plate.

[0015] The beneficial effects of the present invention are: 1. The present invention adopts two bending plates with adjustable spacing to ensure the precise left and right positioning of the horizontally placed automobile frame accessories, thereby preliminarily ensuring that the joints of the horizontally and vertically placed automobile frame accessories can be tightly fitted, and at the same time, the vertically placed automobile frame accessories are pushed downward by the side pushing member, thereby once again ensuring that the joints of the vertically and horizontally placed automobile frame accessories are completely aligned, and through the pressing combination of the upper pressure structure and the lower pressure structure, it can further ensure that the joints of the horizontally and vertically placed automobile frame accessories are tightly fitted, thereby avoiding the situation where the welding process has missing welds or the riveting process is inaccurate due to the loose fitting of the joints of the horizontally and vertically placed automobile frame accessories.

[0016] 2. The present invention adopts a manipulator component to further clamp and stabilize the horizontally placed automobile frame accessories. At the same time, it can push the two ends of the connection between the horizontal and vertical automobile frame accessories through the downward pressure structure and the upward pressure structure, thereby stabilizing the connection between the horizontal and vertical automobile frame accessories respectively, thereby ensuring the welding quality of the connection between the horizontal and vertical automobile frame accessories, and avoiding the welding stress generated during welding or the external force generated during riveting, which may cause the connection between the horizontal and vertical automobile frame accessories to be misaligned.

[0017] 3. The present invention adopts a method of first pushing and stabilizing the rear side of the horizontally placed automobile frame accessories through the cooperation of the forward pushing member and the lower support plate, so that the front and rear positions of the horizontally placed automobile frame accessories can be accurately positioned. At the same time, the front and rear positions of the vertically placed automobile frame accessories are synchronously adjusted through the synchronization structure, thereby making the positioning of the horizontally and vertically placed automobile frame accessories more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and examples.

[0019] Figure 1 This is a schematic diagram of the working state of the present invention when clamping an automobile frame accessory from a first perspective.

[0020] Figure 2 It is a schematic diagram of the working state from a second viewing angle when the present invention is clamping an automobile frame accessory.

[0021] Figure 3 It is a structural schematic diagram of the connecting plate, horizontal clamping mechanism and vertical clamping mechanism in the present invention.

[0022] Figure 4 It is a structural schematic diagram of the vertical clamping mechanism in the present invention.

[0023] Figure 5 It is a partial cross-sectional view of the vertical clamping mechanism of the present invention.

[0024] Figure 6 It is a schematic structural diagram of the horizontal clamping mechanism in the present invention from a first perspective.

[0025] Figure 7 It is a second perspective structural schematic diagram of the horizontal clamping mechanism in the present invention.

[0026] Figure 8 It is a partial cross-sectional view of the horizontal clamping mechanism of the present invention.

[0027] Figure 9 It is a structural diagram of automobile frame accessories.

[0028] In the figure: 1. Main mounting plate; 11. Horizontal slide rail; 111. Center block; 2. Connecting plate; 21. Bidirectional threaded rod; 3. Horizontal clamping mechanism; 31. Manipulator mounting column; 311. Bending plate; 312. Lower support plate; 32. Positioning manipulator; 321. Manipulator support column; 322. Rotating plate; 323. Fixed plate; 324. Rotating disk; 325. Positioning sleeve; 326. Inner slide bar; 327. Manipulator pressure plate; 328. Push rod; 329. Positioning seat; 33. Forward push member; 331. L-shaped rear extension column; 332. Front pressure plate; 333. Rotating rod; 334. Forward push plate; 335. Limit rod; 336. Synchronous plate; 340. Coordination plate; 341. Locking hole; 34 2. Hollow plate; 343. Embedded block; 344. Horizontal rod; 345. Lower pressure plate; 4. Vertical clamping mechanism; 41. Vertical column; 411. Assembly block; 412. Limiting slide rail; 413. Vertical plate; 414. Lower extension plate; 415. Round rod; 42. Front clamping member; 421. Horizontal sleeve; 422. Tension spring; 423. L-shaped clamping rod; 43. Rear clamping member; 431. Square sleeve; 432. Compression spring; 433. Pressure block; 434. Upper extension rod; 435. U-shaped rod; 44. Side push member; 441. Mounting rod; 442. Vertical sleeve; 443. Inner slider; 444. Push rod; 445. Friction plate; 446. Push block; 447. Push block. DETAILED DESCRIPTION

[0029] The following embodiments of the present invention are described in detail. The embodiments described below are exemplary and are only used to explain the present invention, and are not to be construed as limiting the present invention. Where specific techniques or conditions are not specified in the embodiments, the techniques or conditions described in the literature in the art or in the product specifications shall be followed.

[0030] See Figure 1-Figure 2An adjustable clamping manipulator based on automobile parts processing includes a main mounting plate 1, a horizontal slide rail 11 is fixed on the top of the main mounting plate 1, and connecting plates 2 are symmetrically connected to the horizontal slide rail 11 through a horizontal slider. The opposite ends of the two connecting plates 2 are respectively provided with horizontal clamping mechanisms 3, and the opposite ends of the two connecting plates 2 are respectively provided with vertical clamping mechanisms 4.

[0031] The present invention positions the horizontally placed automobile frame accessories through the horizontal clamping mechanism 3, and simultaneously cooperates with the vertical clamping mechanism 4 to combine and align the vertically placed automobile frame accessories, so that the joints of the horizontally and vertically placed automobile frame accessories fit tightly, thereby facilitating welding of the joints of the horizontally and vertically placed automobile frame accessories after the clamping and positioning are completed.

[0032] Specifically, first, two vertically placed automobile frame accessories are placed in the vertical clamping mechanism 4 position in turn, and then the horizontally placed automobile frame accessories are placed on the horizontal clamping mechanism 3, and the horizontally placed automobile frame accessories are positioned and clamped by the horizontal clamping mechanism 3. After the horizontally placed automobile frame accessories are positioned, the vertical clamping mechanism 4 is controlled to position and clamp the vertically placed automobile frame accessories. After both are positioned and clamped, the joints of the horizontally and vertically placed automobile frame accessories are welded by the external welding device placed on the rear side. After welding is completed, the positioning and clamping functions of the horizontal clamping mechanism 3 and the vertical clamping mechanism 4 are released and the automobile frame accessories are removed.

[0033] See Figure 2 、 Figure 3 and Figure 6 A center block 111 is fixed in the middle of the horizontal slide rail 11, and a bidirectional threaded rod 21 is provided on the center block 111 for synchronously adjusting the left and right positions of the two connecting plates 2, and a crank is fixed to the right end of the bidirectional threaded rod 21; the horizontal clamping mechanism 3 includes two manipulator mounting columns 31 fixed on the top of the connecting plate 2, a bending plate 311 is fixed on the top of the manipulator mounting column 31 away from the center block 111, and a lower support plate 312 is fixed on the top of the manipulator mounting column 31 close to the center block 111, and a positioning manipulator 32 and a forward pushing member 33 are respectively provided on the front and rear sides of the manipulator mounting column 31 close to the center block 111.

[0034] The horizontally placed automobile frame accessories are positioned front and back by the forward pushing member 33 and pressed down and clamped by the positioning manipulator 32, so as to stably clamp the horizontally placed automobile frame accessories. At the same time, the horizontal distance between the two connecting plates 2 can be adjusted by the bidirectional threaded rod 21, so as to ensure that the two bending plates 311 can accurately support and position the bottom of the horizontally placed automobile frame accessories, so that the left and right positions of the horizontally placed automobile frame accessories are accurately positioned, thereby preliminarily ensuring that the joints of the horizontally and vertically placed automobile frame accessories can fit tightly.

[0035] Specifically, before placing the two vertically placed automobile frame accessories, first rotate the bidirectional threaded rod 21 by turning the crank, so as to adjust the left and right positions of the two connecting plates 2. After the left and right positions of the two connecting plates 2 are adjusted, the horizontally placed automobile frame accessories are placed between the two lower support plates 312 and the bending plates 311. After the horizontally placed automobile frame accessories are placed, first control the two front pushing members 33 on the rear side to position the front and rear positions of the horizontally placed automobile frame accessories and clamp them stably. Then, the two vertically placed automobile frame accessories are positioned and clamped by the vertical clamping mechanism 4. After the positioning and clamping of the two vertically placed automobile frame accessories are completed, control the positioning manipulator 32 to further position and clamp the horizontally placed automobile frame accessories, and at the same time stabilize the connection between the vertical and horizontally placed automobile frame accessories.

[0036] Continue reading Figure 2 、 Figure 3 and Figure 6 The vertical clamping mechanism 4 includes a vertical column 41 fixed on the top of the connecting plate 2. The vertical column 41 is farther away from the center block 111 than the two vertical columns 41. A gathering block 411 is fixed on the top of the vertical column 41. A limiting slide rail 412 is fixed on the side of the gathering block 411 close to the center block 111. The limiting slide rail 412 is connected to the vertical plate 413 through a limiting slider. An internal spring is connected between the limiting slider and the limiting slide rail 412. A front clamping member 42 and a rear clamping member 43 are respectively provided on the front and rear sides of the vertical plate 413 close to the center block 111. The rear clamping member 43 is connected to a side pushing member 44.

[0037] The front pushing member 33 includes an L-shaped rear extension column 331 fixed to the rear side of the manipulator mounting column 31, and the top of the vertical end of the L-shaped rear extension column 331 is hinged with a front pressure plate 332, and the front pressure plate 332 is symmetrically rotatably installed with rotating rods 333 on the left and right sides, and a front pushing plate 334 is hinged between the two rotating rods 333. A limiting rod 335 is fixed on the rear side of the manipulator mounting column 31, and the limiting rod 335 is slidingly connected to the front pushing plate 334; a synchronization structure is connected between the vertical plate 413 and the front pushing member 33, and the synchronization structure includes a lower extension plate 414 fixed to the bottom of the vertical plate 413, and a round rod 415 is fixed on one end of the lower extension plate 414 close to the mid-position block 111, and a synchronization plate 336 is fixed on one end of the front pushing plate 334 close to the lower extension plate 414; the front pressure plate 332 is also pushed and rotated by the manipulator power structure.

[0038] In this embodiment, if Figure 6 and Figure 7 As shown, the power structure of the manipulator adopts a manipulator cylinder with hinged ends during the actual clamping process. The extension and contraction of the manipulator cylinder drives the rotating plate 322 to rotate, thereby clamping the horizontally placed automobile frame parts.

[0039] The vertical clamping mechanism 4 is used to quickly position and clamp vertically placed automobile frame accessories, and can pre-limit the vertically placed automobile frame accessories, so as to cooperate with the horizontally placed automobile frame accessories that have been positioned to position and clamp the vertically placed automobile frame accessories, and in the process of positioning the horizontally placed automobile frame accessories in the front and rear positions through the forward pushing member 33, the vertical plate 413 can be positioned in the front and rear positions in cooperation with the synchronous structure to ensure that the joints of the vertical and horizontally placed automobile frame accessories are tightly fitted.

[0040] Specifically, first, the two vertically placed automobile frame accessories are sequentially passed from bottom to top through the area composed of the front clamping member 42, the rear clamping member 43, the side pushing member 44 and the vertical plate 413 at the left and right positions, and then the front pressure plate 332 is pushed to rotate by the manipulator power structure in the front pushing member 33, thereby driving the rotation rod 333 to rotate, and the front pushing plate 334 limited by the limiting rod 335 is driven forward by the rotating rod 333 to push the protrusion on the rear side of the horizontally placed automobile frame accessory until the protrusion on the rear side of the horizontally placed automobile frame accessory fits against the rear side of the lower support plate 312, thereby completing The front and rear positions of the paired horizontally placed automobile frame accessories are positioned. At this time, due to the forward movement of the front push plate 334, the front push plate 334 will drive the synchronous plate 336 to move forward together, and push the round rod 415 through the synchronous plate 336, thereby cooperating with the round rod 415 to push the lower extension plate 414 and the vertical plate 413 forward. At this time, the limit slider will compress the inner spring and synchronously position the front and rear positions of the front clamping member 42, the rear clamping member 43 and the vertically placed automobile frame accessories, thereby ensuring that the joints of the vertically and horizontally placed automobile frame accessories are aligned and tightly fitted.

[0041] See Figure 3-Figure 5 The front clamping member 42 includes a square rod fixed to the side of the vertical plate 413, a horizontal sleeve 421 is sleeved on the square rod, a tension spring 422 is connected between the horizontal sleeve 421 and the vertical plate 413, and an L-shaped clamping rod 423 is fixed to the rear side of the horizontal sleeve 421.

[0042] The rear clamping member 43 also includes a square rod fixed to the side of the vertical plate 413, and a square plate is fixed to the end of the square rod away from the vertical plate 413. A square sleeve 431 is provided on the square rod, and a compression spring 432 is connected between the square sleeve 431 and the square plate. A pressure block 433 is fixed to the front side of the square sleeve 431, and a rubber friction pad is provided on the side of the pressure block 433 close to the vertical plate 413. Upper extension rods 434 are fixed to the tops of the horizontal sleeve 421 and the square sleeve 431, and a U-shaped rod 435 is connected between the two upper extension rods 434. A locking structure is provided between the U-shaped rod 435 and the vertical plate 413.

[0043] In this embodiment, if Figure 4 As shown, the locking structure includes a positioning hole opened at the vertical end of the U-shaped rod 435, and a matching hole corresponding to the positioning hole is opened at the top of the vertical plate 413, and a positioning pin is connected between the matching hole and the positioning hole.

[0044] The front clamping member 42 and the rear clamping member 43 are used to quickly position and clamp vertically placed automobile frame accessories. At the same time, the front clamping member 42 and the rear clamping member 43 can perform different positioning and clamping methods according to the special structure of the vertically placed automobile frame accessories, and ensure the stability of the vertically placed automobile frame accessories after the positioning and clamping are completed. The U-shaped rod 435 and the upper extension rod 434 synchronously drive the front clamping member 42 and the rear clamping member 43 to clamp, which can ensure the accuracy of clamping.

[0045] Specifically, after the front-pushing member 33 completes the front and rear positioning of the horizontally placed automobile frame accessories, the vertically placed automobile frame accessories are just placed on both ends of the horizontally placed automobile frame accessories. The positioning pins are removed first. As the positioning pins are removed, the vertical plate 413 will separate from the U-shaped rod 435. Due to the elastic force of the compression spring 432 that was previously in a compressed state and the tension spring 422 that was in a tension state, the square sliding sleeve 431 and the horizontal sliding sleeve 421 will quickly move toward the vertical plate 413, thereby driving the pressing block 433 and the L-shaped clamping rod 423 to press and clamp the side and protruding part of the vertically placed automobile frame accessories respectively.

[0046] See Figure 4 and Figure 5 The side thrust member 44 includes a mounting rod 441 fixed on the front side of the upper extension rod 434 on the square sliding sleeve 431, a vertical sliding sleeve 442 is fixed to the bottom front end of the mounting rod 441, an inner slider 443 is slidably connected to the vertical sliding sleeve 442, a vertical spring is connected between the inner slider 443 and the bottom of the vertical sliding sleeve 442, a push rod 444 is horizontally penetrated on the inner slider 443, a friction plate 445 is fixed to the end of the push rod 444 close to the vertical plate 413, a push block 446 is fixed to the end of the push rod 444 away from the vertical plate 413, and a push block 447 that cooperates with the push block 446 is fixed to the side of the front end of the mounting rod 441 away from the vertical plate 413.

[0047] The side push member 44 is used to push the vertically placed automobile frame accessories downward when the joints of the vertically and horizontally placed automobile frame accessories are not fully aligned in the initial limit state, thereby ensuring that the joints of the vertically placed automobile frame accessories and the horizontally placed automobile frame accessories are fully aligned, thereby ensuring the welding quality during the welding process and avoiding the occurrence of missing welds or inaccurate riveting processes.

[0048] Specifically, when the square sleeve 431 and the horizontal sleeve 421 move quickly toward the vertical plate 413, the side push member 44 will move toward the vertical plate 413 together with the upper extension rod 434. At this time, the friction plate 445 will first contact the side of the vertically placed automobile frame accessory. As the square sleeve 431 and the horizontal sleeve 421 move, the pushed rod 444 will move relative to the inner slider 443, so that the pushed block 446 is pushed by the pushed block 447 to drive the pushed rod 444 and the inner slider 443 to move downward as a whole, and compress the vertical spring, so that the friction plate 445 continues to generate a downward pushing force on the side of the vertically placed automobile frame accessory, thereby preventing the vertically placed automobile frame accessory from being merely placed on the horizontally placed automobile frame accessory and ensuring that the connection between the two is tightly fitted.

[0049] See Figure 6 、 Figure 7 and Figure 8 The positioning manipulator 32 includes a manipulator support column 321 fixed to the front side of the manipulator mounting column 31, and the top of the vertical end of the manipulator support column 321 is hinged with a rotating plate 322, and a manipulator power structure is connected between the rotating plate 322 and the vertical end of the manipulator support column 321, and a downward pressure structure and an upward pressure structure are respectively provided on the front and rear of the rotating plate 322; the upward pressure structure includes a hollow plate 342 fixed to the bottom of the rotating plate 322, and the hollow plate 342 is slidingly connected with an embedded block 343 in a limited position, and the hollow plate 342 is slidingly connected with a horizontal rod 344 at a position away from the median block 111, and a horizontal spring is connected between the horizontal rod 344 and the hollow plate 342, and the end of the horizontal rod 344 away from the median block 111 is hinged with a downward pressure plate 345, and a matching slope is provided between the horizontal rod 344 and the embedded block 343.

[0050] The downward pressing structure includes a fixed plate 323 fixed on the top of the rotating plate 322, and a rotating disk 324 is rotatably installed on the top of the fixed plate 323. A rotating adjustment member is provided between the fixed plate 323 and the rotating disk 324. A restraining sleeve 325 is fixed to the front side of the rotating disk 324, and an inner sliding rod 326 is slidably connected inside the restraining sleeve 325. A return spring is connected between the inner sliding rod 326 and the restraining sleeve 325. The end of the inner sliding rod 326 away from the neutral block 111 is hinged to a manipulator pressure plate 327 through a connecting rod, and a manipulator pushing member for pushing the inner sliding rod 326 is provided on the rotating plate 322.

[0051] The manipulator pusher includes a sliding plate slidably connected to the rotating plate 322. The inner slide rod 326 has a push slope at one end close to the mid-position block 111. A push rod 328 is fixed on the top of the sliding plate for cooperating with the push slope to push the inner slide rod 326.

[0052] In this embodiment, if Figure 7 and Figure 8As shown, the rotation adjustment member includes a positioning seat 329 fixed on the side of the rotating disk 324, a coordination plate 340 is provided on the top of the fixed plate 323, and a plurality of locking holes 341 are evenly opened on the coordination plate 340 and located around the rotating disk 324, and a positioning pin is connected between the coordination plate 340 and the locking holes 341 at the corresponding positions.

[0053] The positioning robot 32 can not only further clamp and stabilize the horizontally placed automobile frame accessories, but also push the two ends of the connection between the horizontally and vertically placed automobile frame accessories through the downward pressure structure and the upward pressure structure, thereby further ensuring that the connection between the horizontally and vertically placed automobile frame accessories is tightly fitted, thereby ensuring the welding quality when welding the connection between the two. At the same time, the adjustable downward pressure structure can also ensure that the connection between the horizontally and vertically placed automobile frame accessories with different inclination degrees can be pressed.

[0054] Specifically, after the front clamping member 42 and the rear clamping member 43 cooperate with the side pushing member 44 to complete the positioning of the vertically placed automobile frame accessories, the two cylinders on the front side are synchronously controlled to rotate the rotating plate 322. During the rotation of the rotating plate 322, the embedded block 343 will first be pressed by the horizontally placed automobile frame accessories and move upward, thereby pushing the horizontal rod 344. At this time, since the horizontal rod 344 is pushed, the two horizontal rods 344 will simultaneously drive the lower pressure plate 345 to push the two ends of the horizontally placed automobile frame accessories.

[0055] Then the sliding plate will come into contact with the top of the horizontally placed automobile frame accessory and move upward under the pressure of the horizontally placed automobile frame accessory. At this time, the sliding plate will drive the push rod 328 to cooperate with the pushed slope to make the inner sliding rod 326 move toward the vertically placed automobile frame accessory. As the inner sliding rod 326 moves toward the vertically placed automobile frame accessory, the robot pressure plate 327 will fit the side of the vertically placed automobile frame accessory and press downward. At this time, the downward pressure will not only make the joints of the vertical and horizontal automobile frame accessories fit more tightly, but also ensure that the joints of the vertical and horizontal automobile frame accessories are more stable during the welding process.

[0056] The working steps of the present invention are as follows: In the first step, two vertically placed automobile frame accessories are first passed through the area composed of the front clamping member 42, the rear clamping member 43, the side pushing member 44 and the vertical plate 413 at the left and right positions from bottom to top, and then the horizontally placed automobile frame accessories are placed on the horizontal clamping mechanism 3.

[0057] In the second step, after the horizontally placed automobile frame accessories are placed, the manipulator power structure in the front pushing member 33 is controlled to push the front pressure plate 332 to rotate, thereby driving the rotating rod 333 to rotate, and the rotating rod 333 drives the front pushing plate 334 limited by the limiting rod 335 to push the protrusion on the rear side of the horizontally placed automobile frame accessories forward until the protrusion on the rear side of the horizontally placed automobile frame accessories fits into the rear side of the lower support plate 312, thereby completing the front and rear position positioning of the horizontally placed automobile frame accessories. At the same time, due to the action of the synchronous structure, the vertically placed automobile frame accessories can also be positioned in the front and rear positions.

[0058] In the third step, after the front pushing component 33 completes the front and rear positioning of the horizontally placed automobile frame accessories, the vertically placed automobile frame accessories are just placed on both ends of the horizontally placed automobile frame accessories. First, remove the positioning pins. As the positioning pins are removed, the vertical plate 413 will separate from the U-shaped rod 435. Due to the elastic force of the compression spring 432 that was previously in a compressed state and the tension spring 422 that was in a tension state, the square sliding sleeve 431 and the horizontal sliding sleeve 421 will quickly move toward the vertical plate 413, thereby driving the pressing block 433 and the L-shaped clamping rod 423 to press and clamp the side and protruding part of the vertically placed automobile frame accessories respectively. At the same time, the side pushing component 44 will push the vertically placed automobile frame accessories downward.

[0059] In the fourth step, after the front clamping member 42 and the rear clamping member 43 cooperate with the side pushing member 44 to complete the positioning of the vertically placed automobile frame accessories, the two cylinders on the front side are synchronously controlled to rotate the rotating plate 322, and the upper pressure structure and the lower pressure structure will push the horizontally and vertically placed automobile frame accessories in turn, so that the joints of the horizontally and vertically placed automobile frame accessories are more tightly fitted.

[0060] In the fifth step, after the horizontally and vertically placed automobile frame accessories are positioned and clamped, the joints of the horizontally and vertically placed automobile frame accessories are welded by an external welding device placed on the rear side. After the welding is completed, the positioning and clamping functions of the horizontal clamping mechanism 3 and the vertical clamping mechanism 4 are released and the automobile frame accessories are removed.

[0061] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention, which are still covered by the scope of protection of the present invention.

Claims

1. An adjustable gripping manipulator for automobile parts processing, comprising a main mounting plate (1), a horizontal slide rail (11) being fixed on the top of the main mounting plate (1), characterized in that: The horizontal slide rail (11) is symmetrically connected to a connecting plate (2) via a horizontal slider, and the opposite ends of the two connecting plates (2) are each provided with a horizontal clamping mechanism (3), and the opposite ends of the two connecting plates (2) are each provided with a vertical clamping mechanism (4); A center block (111) is fixed in the middle of the horizontal slide rail (11), and a bidirectional threaded rod (21) for synchronously adjusting the left and right positions of the two connecting plates (2) is provided on the center block (111), and a crank is fixed to the right end of the bidirectional threaded rod (21); the horizontal clamping mechanism (3) comprises two manipulator mounting columns (31) fixed on the top of the connecting plate (2), a bending plate (311) is fixed on the top of the manipulator mounting column (31) away from the center block (111), and a lower support plate (312) is fixed on the top of the manipulator mounting column (31) close to the center block (111), and a positioning manipulator (32) and a forward pushing member (33) are respectively provided on the front and rear sides of the manipulator mounting column (31) close to the center block (111), and the horizontally placed automobile parts are positioned front and back by the forward pushing member (33) and the automobile parts are pressed down and clamped by the positioning manipulator (32); The vertical clamping mechanism (4) comprises a vertical column (41) fixed on the top of the connecting plate (2), the vertical column (41) is farther away from the center block (111) than the two manipulator mounting columns (31), a collection block (411) is fixed on the top of the vertical column (41), a limiting slide rail (412) is fixed on the side of the collection block (411) close to the center block (111), a vertical plate (413) is connected to the limiting slide rail (412) via a limiting slider, an inner spring is connected between the limiting slider and the limiting slide rail (412), a front clamping member (42) and a rear clamping member (43) are respectively provided on the front and rear sides of the vertical plate (413) close to the center block (111), and a side pushing member (44) is connected to the rear clamping member (43); The positioning manipulator (32) comprises an L-shaped manipulator support column (321) fixed to the front side of the manipulator mounting column (31); a rotating plate (322) is hingedly connected to the top of the vertical end of the manipulator support column (321); a manipulator power structure is connected between the rotating plate (322) and the vertical end of the manipulator support column (321); and a downward pressing structure and an upward pressing structure are respectively provided on the front and rear of the rotating plate (322).

2. The adjustable clamping manipulator for automobile parts processing according to claim 1 is characterized in that: The pressing structure comprises a fixed plate (323) fixed on the top of the rotating plate (322), a rotating disk (324) is rotatably installed on the top of the fixed plate (323), a rotating adjusting member is provided between the fixed plate (323) and the rotating disk (324), a restraining sleeve (325) is fixed on the front side of the rotating disk (324), an inner sliding rod (326) is slidably connected in the restraining sleeve (325), a return spring is connected between the inner sliding rod (326) and the restraining sleeve (325), an end of the inner sliding rod (326) away from the middle block (111) is hinged to a manipulator pressing plate (327) through a connecting rod, and a manipulator pushing member for pushing the inner sliding rod (326) is provided on the rotating plate (322).

3. The adjustable clamping manipulator for automobile parts processing according to claim 2 is characterized in that: The manipulator pusher comprises a sliding plate slidably connected to a rotating plate (322); an inner sliding rod (326) is provided with a push slope at one end close to the middle block (111); and a push rod (328) is fixed on the top of the sliding plate for cooperating with the push slope to push the inner sliding rod (326).

4. The adjustable clamping manipulator for automobile parts processing according to claim 1 is characterized in that: The upper pressure structure includes a hollow plate (342) fixed at the bottom of the rotating plate (322), an inner block (343) is slidingly connected to the inner limit of the hollow plate (342), a horizontal rod (344) is slidingly connected to the position of the hollow plate (342) away from the middle block (111), a horizontal spring is connected between the horizontal rod (344) and the hollow plate (342), a lower pressure plate (345) is hinged at one end of the horizontal rod (344) away from the middle block (111), and a matching slope is provided between the horizontal rod (344) and the inner block (343).

5. The adjustable clamping manipulator for automobile parts processing according to claim 1 is characterized in that: The forward pushing member (33) comprises an L-shaped rear extension column (331) fixed to the rear side of the manipulator mounting column (31); a front pressure plate (332) is hinged on the top of the vertical end of the L-shaped rear extension column (331); rotating rods (333) are symmetrically mounted on the left and right sides of the front pressure plate (332); a front pushing plate (334) is hinged between the two rotating rods (333); a limiting rod (335) is fixed to the rear side of the manipulator mounting column (31); and the limiting rod (335) and the front pushing plate (334) are slidably connected.

6. The adjustable clamping manipulator for automobile parts processing according to claim 5 is characterized in that: A synchronization structure is connected between the vertical plate (413) and the forward pushing member (33), and the synchronization structure includes a lower extension plate (414) fixed to the bottom of the vertical plate (413), a round rod (415) is fixed to one end of the lower extension plate (414) close to the median block (111), and a synchronization plate (336) is fixed to one end of the forward pushing plate (334) close to the lower extension plate (414).

7. The adjustable clamping manipulator for automobile parts processing according to claim 1 is characterized in that: The front clamping member (42) comprises a square rod fixed to the side of the vertical plate (413), a horizontal sliding sleeve (421) is sleeved on the square rod, a tension spring (422) is connected between the horizontal sliding sleeve (421) and the vertical plate (413), and an L-shaped clamping rod (423) is fixed to the rear side of the horizontal sliding sleeve (421).

8. The adjustable clamping manipulator for automobile parts processing according to claim 7 is characterized in that: The rear clamping member (43) also includes a square rod fixed to the side of the vertical plate (413), a square plate fixed to one end of the square rod away from the vertical plate (413), a square sliding sleeve (431) is sleeved on the square rod, a compression spring (432) is connected between the square sliding sleeve (431) and the square plate, a pressing block (433) is fixed to the front side of the square sliding sleeve (431), a rubber friction pad is provided on the side of the pressing block (433) close to the vertical plate (413), an upper extension rod (434) is fixed to the top of the horizontal sliding sleeve (421) and the square sliding sleeve (431), a U-shaped rod (435) is connected between the two upper extension rods (434), and a locking structure is provided between the U-shaped rod (435) and the vertical plate (413).

9. The adjustable clamping manipulator for automobile parts processing according to claim 8, characterized in that: The side thrust member (44) includes a mounting rod (441) fixed on the front side of an upper extension rod (434) on a square sliding sleeve (431); a vertical sliding sleeve (442) is fixed to the front end of the bottom of the mounting rod (441); an inner slider (443) is slidably connected to the vertical sliding sleeve (442); a vertical spring is connected between the inner slider (443) and the bottom of the vertical sliding sleeve (442); a push rod (444) is horizontally passed through the inner slider (443); a friction plate (445) is fixed to the end of the push rod (444) close to the vertical plate (413); a push block (446) is fixed to the end of the push rod (444) away from the vertical plate (413); and a push block (447) that cooperates with the push block (446) is fixed to the side of the front end of the mounting rod (441) away from the vertical plate (413).

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