Grabbing device for automobile exterior trim covering part

Abstract

The invention discloses a grabbing device for an automobile exterior trim covering part, and relates to the field of automobile accessory machining equipment.The grabbing device comprises an adjusting frame, a conveying belt and a grabbing device body, symmetrical stand columns are arranged on the two sides of the adjusting frame, and the conveying belt is arranged between the two stand columns of the adjusting frame; the grabbing device comprises a fixing support and a bent pipe grabbing structure. The two ends of the fixing support are connected to the adjusting support. The bent pipe grabbing structure comprises a bent pipe structure and a connecting part, the middle position of the bent pipe structure is arranged on the connecting part, and the connecting part is fixedly connected to the fixing support. A traditional manipulator needs an expensive force control module to avoid collision, the elastic deformation characteristic of a bent pipe is adopted, the bent pipe is automatically attached to a curved surface contour, the contact pressure of a suction cup is lower than the elastic deformation threshold value of a workpiece, and damage in the grabbing process is avoided.

Description

Technical Field

[0001] The present invention relates to the field of automobile parts processing equipment, in particular to a gripping device for automobile exterior covering parts. Background Art

[0002] In the automated production of automotive exterior parts (such as bumpers and fenders), the workpiece's large curved surface (radius of curvature <200mm) and asymmetric structure (tolerance ±1.5mm) present two core challenges for traditional robotic grippers:

[0003] 1. Inherent defects of traditional rigid gripping systems

[0004] Risk of collision Loss of control:

[0005] Areas with sudden changes in curved contours (such as bumper light slots and fender wheel arches) require millimeter-level avoidance accuracy, and rigid fixtures need to be equipped with a six-dimensional force control module (which is relatively expensive) for real-time posture adjustment. A response delay of >0.5 seconds still results in a collision rate as high as 15%-20%.

[0006] Lack of adaptive ability:

[0007] The failure area of ​​the vacuum suction cup group on the negative curvature surface exceeds 30%, and the mechanical gripper is prone to indentation and deformation due to stress concentration on thin-walled parts (2-3mm thickness).

[0008] 2. Cost and efficiency bottlenecks of force control technology

[0009] High-precision force control relies on expensive hardware:

[0010] Existing solutions require the integration of laser scanning and joint torque sensors, which increases system complexity and maintenance costs.

[0011] Insufficient dynamic compensation response:

[0012] When the vibration of the conveyor belt and the workpiece posture drift are superimposed, traditional PID control is difficult to synchronously compensate for the multi-degree-of-freedom offset, and the grasping success rate drops sharply to below 60%. Summary of the Invention

[0013] The object of the present invention is to provide a gripping device for automobile exterior covering parts to solve the problems raised in the above background technology.

[0014] To achieve the above objectives, the present invention provides the following technical solutions: a gripping device for automobile exterior coverings, comprising an adjustment frame, a conveyor belt, and a gripping device, wherein symmetrical columns are provided on both sides of the adjustment frame, the conveyor belt is arranged between the two columns of the adjustment frame, and the gripping device comprises a fixed bracket and a bent pipe gripping structure;

[0015] Both ends of the fixing bracket are connected to the adjusting bracket;

[0016] The curved pipe grabbing structure includes a curved pipe structure and a connecting portion. The middle position of the curved pipe structure is arranged on the connecting portion, and the connecting portion is fixedly connected to a fixed bracket.

[0017] Preferably, the adjustment frame includes a threaded rod, the bottom of the threaded rod is connected to the motor, and a guide rod is provided on the outside of the threaded rod;

[0018] Both ends of the guide rod are fixedly connected to the column.

[0019] .The grabbing device for automobile exterior covering parts according to claim 1 is characterized in that a triangular support plate is provided on the back of the column.

[0020] Preferably, the fixing bracket comprises two sets of electric slide rails arranged in parallel up and down, the two ends of the electric slide rails are connected by a connecting frame, and a threaded sleeve is provided in the connecting frame;

[0021] The threaded sleeve is threadedly connected to the threaded rod and can move up and down under the action of the rotation of the threaded rod.

[0022] Preferably, the connecting frame is slidably connected to the guide rod.

[0023] Preferably, the bent pipe structure includes a bent pipe, a traction rope and a traction motor, a grabbing suction cup is provided at the lower end of the bent pipe, and connectors are provided at both ends of the bent pipe;

[0024] The connector is connected to the traction sheave through a traction rope, and the traction sheave is connected to the output shaft of the traction motor through a connecting shaft.

[0025] Preferably, the traction sheave comprises two groups of groove wheels arranged in parallel, and the two groups of groove wheels are respectively connected to symmetrically arranged traction heads through traction ropes.

[0026] Preferably, the connecting part includes a connecting seat, a connecting rod and a moving frame, the connecting seat is connected to the connecting rod, the connecting rod is fixedly connected to the moving frame, and the moving frame is connected to the electric slide rail.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. This invention addresses the problem of large curvature and asymmetric surfaces on exterior trims such as automotive bumpers and fenders, which require expensive force control modules for collision avoidance by conventional manipulators. By leveraging the elastic deformation properties of curved tubes, the robot automatically conforms to the contours of the curved surface. The suction cup contact pressure is lower than the elastic deformation threshold of the workpiece, preventing damage during the gripping process.

[0029] 2. The double-grooved wheel provided in the invention avoids electronic delay through mechanical synchronization, thereby avoiding jitter or distortion caused by unilateral overload of the bent pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structure of the present invention;

[0031] Figure 2 A top view of the present invention;

[0032] Figure 3 for Figure 2 The main view;

[0033] Figure 4 This is an enlarged view of the structure of the bent pipe grabbing structure.

[0034] In the figure: 1-adjust the frame;

[0035] 11- pillar;

[0036] 12-threaded rod;

[0037] 13-guide rod;

[0038] 2- conveyor belt;

[0039] 3-Fix the bracket;

[0040] 31-electric slide;

[0041] 32-connection frame;

[0042] 4- elbow grabbing structure;

[0043] 41-Bend pipe structure:

[0044] 411- elbow;

[0045] 412-traction rope;

[0046] 413-traction motor;

[0047] 414-grasping suction cup;

[0048] 415-connector;

[0049] 416-traction sheave;

[0050] 42-Connection part:

[0051] 421-connection seat;

[0052] 422-connecting rod;

[0053] 423-Mobile framework. DETAILED DESCRIPTION

[0054] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0055] See also Figures 1 to 4 The present invention provides a technical solution: a grabbing device for automobile exterior covering parts, comprising an adjustment frame 1, a conveyor belt 2, and a grabbing device, wherein symmetrical columns 11 are provided on both sides of the adjustment frame 1, the conveyor belt 2 is arranged between the two columns 11 of the adjustment frame 1, and the grabbing device comprises a fixed bracket 3 and a bent pipe grabbing structure 4;

[0056] Both ends of the fixed bracket 3 are connected to the adjustment bracket 1;

[0057] The curved pipe grabbing structure 4 includes a curved pipe structure 41 and a connecting portion 42 . The middle position of the curved pipe structure 41 is arranged on the connecting portion 42 , and the connecting portion 42 is fixedly connected to the fixing bracket 3 .

[0058] The curved pipe structure 41 is an arc-shaped pipe made of elastic material such as high-strength engineering plastics or special alloys.

[0059] The bent pipe itself has a certain elasticity and shape, which can better fit the contour of the curved cover.

[0060] A grabbing suction cup 414 is mounted thereon.

[0061] In this embodiment, the adjustment frame 1 includes a threaded rod 12, the bottom of the threaded rod 12 is connected to the motor, and a guide rod 13 is provided on the outer side of the threaded rod 12;

[0062] In this embodiment, both ends of the guide rod 13 are fixedly connected to the column 11 .

[0063] In this embodiment, the threaded rod 12 is provided to establish a vertical motion module of the entire device, which helps the bent pipe grasping structure 4 to approach downward and grasp the exterior covering, and then lift the exterior covering upward after grasping. The setting of the guide rod 13 can eliminate radial shaking through sliding fit, thereby ensuring the vertical accuracy of the lifting trajectory.

[0064] In this embodiment, a triangular support plate is provided on the back of the column 11. The triangular support plate on the back can enhance the bending rigidity and resist vibration and eccentric load moment during grasping.

[0065] In this embodiment, the fixing bracket 3 includes two sets of electric slide rails 31 arranged in parallel above and below. The two ends of the electric slide rails 31 are connected by a connecting frame 32. A threaded sleeve is provided in the connecting frame 32.

[0066] In this embodiment, the threaded sleeve is threadedly connected to the threaded rod 12 and can move up and down under the action of the rotation of the threaded rod 12.

[0067] In this embodiment, the horizontally arranged electric slide rail 31 can adjust the position of the bent pipe grabbing structure 4 relative to the product on the conveyor belt 2, so as to facilitate the selection of the most suitable position for grabbing.

[0068] In this embodiment, the connecting frame 32 is slidably connected to the guide rod 13, and the sliding fit eliminates radial shaking and ensures the vertical accuracy of the lifting trajectory.

[0069] In this embodiment, the curved pipe structure 41 includes a curved pipe 411, a traction rope 412, and a traction motor 413. A grabbing suction cup 414 is provided at the lower end of the curved pipe 411, and connectors 415 are provided at both ends of the curved pipe 411.

[0070] In this embodiment, the connector 415 is connected to the traction sheave 416 via a traction rope 412 , and the traction sheave 416 is connected to the output shaft of the traction motor 413 via a connecting shaft.

[0071] In this embodiment, the curved tube 411 is made of an elastic material, and a traction motor 413 drives a traction sheave 416 to retract and extend a traction rope 412. The traction rope 412 pulls the connectors 415 at both ends of the curved tube 411. Utilizing the elasticity of the curved tube 411, after the curved tube 411 adheres to and grasps the exterior covering using its own elasticity, the curved tube 411 is actively tightened, transferring the weight of the exterior covering to the traction rope 412, thereby achieving stable grasping and preventing the grasped object from falling due to the weight of the product and the deformability of the curved tube 411.

[0072] In this embodiment, the grabbing suction cup 414 on the curved pipe 411 adopts a silicone sealing lip design, which automatically forms a negative pressure seal when contacting a curved workpiece, and different models of adsorption force can be selected according to needs.

[0073] In this embodiment, the traction sheave 416 includes two sets of groove wheels arranged in parallel, and the two sets of groove wheels are respectively connected to the symmetrically arranged traction heads 415 through the traction ropes 412.

[0074] In this embodiment, the two groove wheels correspond to the curved pipes 411 on both sides respectively, so that the same power drives the two groups of curved pipes 411.

[0075] In this embodiment, the connecting part 42 includes a connecting seat 421, a connecting rod 422 and a movable frame 423. The connecting seat 421 is connected to the connecting rod 422, the connecting rod 422 is fixedly connected to the movable frame 423, and the movable frame 423 is connected to the electric slide rail 31. The connecting part 42 is used to connect the bent pipe structure 41 to the electric slide rail 31.

[0076] Working principle: It mainly includes the following steps:

[0077] 1. Preparation stage:

[0078] 1.1. Initialization: Adjust the elbow gripping structure 4 to a safe position above the conveyor belt 2 where it does not affect the conveying of products;

[0079] At this time, the bent tube structure 41 is in the following state: the traction motor 413 is in a relaxed state, the traction rope 412 is relaxed, the elastic bent tube 411 is in a naturally bent state, and the suction cup 414 is not activated.

[0080] 1.2. Horizontal position: Based on the shape of the workpiece and the position of the conveyor belt, the electric slide 31 drives the entire elbow grasping structure 4 in the horizontal direction, accurately positioning it above the optimal grasping point above the conveyor belt;

[0081] This position ensures that the elbow 411 can cover the key support point or center of gravity area of ​​the workpiece.

[0082] 1.3 Vertical positioning: Once the horizontal position is ready, the threaded rod motor starts to drive the threaded rod 12 to rotate;

[0083] The threaded sleeve engaged with the threaded rod 12 forces the entire fixed bracket 3 to descend stably and without shaking along the limitation of the guide rod 13.

[0084] Descend until bend pipe 411 approaches or gently contacts the cover surface. Guide bar 13 now bears any possible small bending moment, guarantees that descending track is vertical and does not tilt.

[0085] 2. Contact and fit:

[0086] 2.1. As the device continues to slowly descend, the suction cup 414 provided at the lower end of the elastic elbow 411 first contacts the curved surface of the cover;

[0087] 2.2. Due to the elasticity of the elbow 411, it will not forcefully crush the workpiece, but will naturally and softly bend and deform elastically according to the actual curved surface shape of the workpiece, and fit along the contour line.

[0088] 2.3. At the same time, the silicone gripping suction cup 414 at the lower end of the curved tube 411 contacts the surface of the cover.

[0089] Due to its softness and elasticity, the sealing lip made of silicone will fit tightly to the local curved surface of the workpiece under contact pressure, and can form a preliminary and effective sealing ring even if there are slight unevenness on the surface.

[0090] 3. Adsorption and initial fixation:

[0091] 3.1. Suction cup 414 holds the product by applying negative pressure;

[0092] 3.2. Since the silicone sealing lip has formed a good initial seal, the negative pressure will quickly form an effective adsorption force between the suction cup 414 and the cover, initially fixing the cover on the elbow 411.

[0093] 4. Active tensioning and load transfer

[0094] 4.1. After the initial fixation, the key action begins: the traction motor 413 is started, driving the traction sheave 416 to rotate;

[0095] 4.2. The traction sheave 416 begins to reel in the traction ropes 412 on both sides;

[0096] 4.3. The traction rope 412 on each side pulls upward the connector 415 at the end of the corresponding bend 411;

[0097] 4.4. Changes in the state of the elbow 411:

[0098] The two ends of the curved tube 411 are pulled upwards, and due to the elasticity of the material, its natural bending curvature is reduced, and a significant elastic tension is generated inside the curved tube 411.

[0099] 4.6 Load transfer: At this time, the gravity of the cover is no longer solely borne by the elastic bending of the bend 411 itself. This gravity is mainly transferred to the upwardly tightened connector 415, and then transferred to the sturdy traction wheel 416 and the motor bracket through the stretched traction rope 412.

[0100] 4.7. The role of the elbow 411 itself has changed: from the main load-bearing function to providing tension and positioning the suction cup, and the weight of the workpiece is borne by the high-strength traction rope 412 and the supporting structure.

[0101] The cover is tightly "clamped" in a state of bending and fitting and tensioning of the traction rope, which greatly enhances the stability and reliability of the grasping and effectively prevents the cover from falling off or deforming due to the weight of the workpiece, vibration or slight collision.

[0102] 5. Lifting the workpiece:

[0103] 5.1. While the traction rope 412 remains taut, the threaded rod motor is reversed or started to drive the threaded rod 12 to rotate;

[0104] 5.2. Rotate the threaded sleeve in the connecting frame 32 to rise stably and vertically along the limit of the guide rod 13;

[0105] 5.3. The absorbed, tightened and lifted cover then leaves the conveyor belt surface;

[0106] 5.4. The guide rod 13 continues to eliminate shaking, ensure a vertical trajectory, and withstand the lifting torque during the ascent; the column 11 and the triangular support plate on its back bear the main load and maintain the rigidity of the entire frame, resisting eccentric loading or vibration during the lifting process.

[0107] 6. Horizontal transfer:

[0108] After being lifted to a safe height, the electric slide rail 31 can drive the entire grasping device to move horizontally along the X-axis, moving the workpiece from above the conveyor belt to just above the next workstation.

[0109] 7. Placement and Release:

[0110] 7.1 Vertical positioning: After the workpiece is moved above the target position, the threaded rod motor drive unit slowly descends to the placement point;

[0111] 7.2 Release tension: The traction motor 413 is started and reversed to release the traction rope 412. The elasticity of the bent pipe 411 causes it to slowly return to its initial bending state, relaxing the tension on the workpiece.

[0112] 7.3 Release adsorption: The suction cup 414 releases the negative pressure and releases the vacuum adsorption.

[0113] Based on the above, this invention addresses the problem that automobile bumpers, fenders and other exterior trims have large curvature and asymmetric surfaces, and traditional robots require expensive force control modules to avoid collisions. The invention uses the elastic deformation characteristics of the bent pipe to automatically fit the curved surface contour, and the suction cup contact pressure is lower than the elastic deformation threshold of the workpiece, avoiding damage during the grasping process; the double-grooved wheel set in this invention avoids electronic delays through mechanical synchronization, thereby avoiding jitter or distortion caused by unilateral overload of the bent pipe.

[0114] It is understood from common technical knowledge that the present invention may be implemented by other embodiments that do not depart from its spirit or essential features. Therefore, the embodiments disclosed above are, in all respects, merely illustrative and not exclusive. All modifications within the scope of the present invention or equivalent to the scope of the present invention are intended to be encompassed by the present invention.

Claims

1. A gripping device for automobile exterior covering parts, characterized in that: The invention comprises an adjustment frame (1), a conveyor belt (2) and a grabbing device, wherein symmetrical columns (11) are provided on both sides of the adjustment frame (1), the conveyor belt (2) is arranged between the two columns (11) of the adjustment frame (1), and the grabbing device comprises a fixed bracket (3) and a bent pipe grabbing structure (4); Both ends of the fixed bracket (3) are connected to the adjustment bracket (1); The curved pipe grabbing structure (4) comprises a curved pipe structure (41) and a connecting portion (42); the middle position of the curved pipe structure (41) is arranged on the connecting portion (42); and the connecting portion (42) is fixedly connected to the fixed bracket (3).

2. The gripping device for automobile exterior covering parts according to claim 1, characterized in that: The adjustment frame (1) comprises a threaded rod (12), the bottom of the threaded rod (12) is connected to the motor, and a guide rod (13) is provided on the outside of the threaded rod (12); Both ends of the guide rod (13) are fixedly connected to the column (11).

3. The gripping device for automobile exterior covering parts according to claim 2, characterized in that: A triangular support plate is provided on the back of the column (11).

4. The gripping device for automobile exterior covering parts according to claim 2, characterized in that: The fixed bracket (3) comprises two sets of electric slide rails (31) arranged in parallel up and down, the two ends of the electric slide rails (31) are connected by a connecting frame (32), and a threaded sleeve is provided in the connecting frame (32); The threaded sleeve is threadedly connected to the threaded rod (12) and can move up and down under the action of the rotation of the threaded rod (12).

5. The gripping device for automobile exterior covering parts according to claim 4, characterized in that: The connecting frame (32) is slidably connected to the guide rod (13).

6. The gripping device for automobile exterior covering parts according to claim 5, characterized in that: The curved pipe structure (41) comprises a curved pipe (411), a traction rope (412) and a traction motor (413); a grabbing suction cup (414) is provided at the lower end of the curved pipe (411); and connectors (415) are provided at both ends of the curved pipe (411); The connector (415) is connected to a traction sheave (416) via a traction rope (412), and the traction sheave (416) is connected to an output shaft of a traction motor (413) via a connecting shaft.

7. The gripping device for automobile exterior covering parts according to claim 6, characterized in that: The traction wheel (416) includes two groups of groove wheels arranged in parallel, and the two groups of groove wheels are respectively connected to the symmetrically arranged traction heads (415) through traction ropes (412).

8. The gripping device for automobile exterior covering parts according to claim 7, characterized in that: The connecting part (42) comprises a connecting seat (421), a connecting rod (422) and a movable frame (423); the connecting seat (421) is connected to the connecting rod (422); the connecting rod (422) is fixedly connected to the movable frame (423); and the movable frame (423) is connected to the electric slide rail (31).

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