High-efficiency grabbing equipment for automobile doorsill beam production

Abstract

The invention relates to the technical field of grabbing equipment, and discloses high-efficiency grabbing equipment for automobile doorsill beam production, which comprises a grabbing mechanism, a work station is provided with a work station and a buffer position, the grabbing mechanism comprises a work frame, a vertical rail, a screw servo motor and moving devices, and the vertical rail is movably clamped with the two moving devices respectively. And the middle parts of the two groups of moving devices are movably connected with a screw rod servo motor. When a workpiece on the working station is operated, the upper gripper is used for lifting the machined workpiece, meanwhile, the lower gripper is used for moving the workpiece on the buffering position to the working station, material switching is achieved, and then the grabbing mechanism drives the workpiece to move to the buffering position of the next working station; and meanwhile, the work station can machine the newly-placed workpieces, so that the carrying efficiency is effectively improved, the marking mechanism, the riveting mechanism and the grabbing mechanism work continuously, the moving time in the carrying process is shortened, the efficiency is improved, the speed is increased, and the productivity of a production line is improved.

Description

Technical Field

[0001] The present application relates to the technical field of gripping equipment, and in particular to a gripping equipment for producing high-efficiency automobile door sill beams. Background Art

[0002] The sill beam is a longitudinal reinforcement located at the bottom of the side of a car body, beneath the doors, connecting the body frame between the front and rear wheels. A key component of the vehicle's load-bearing structure, the sill beam directly impacts the vehicle's safety, rigidity, and lightweight design. The sill beam production line includes workstations such as marking, riveting, and welding. Industrial robots and gripping equipment are used to grasp, transport, and position the sill beam. Industrial robots (such as three-gripper robotic arms) offer multiple degrees of freedom, programmability, and flexibility, and are often used to transfer sill beams from material carts to workstations or coordinate operations with humans. Gripping equipment, with its stable structure, simple control methods, and high integration, is often used to move sill beams between workstations.

[0003] With the vigorous development of my country's automobile industry, the market share of new energy vehicles has increased year by year. The increase in market sales will inevitably require the upgrading and acceleration of product technology. However, due to the surge in sales, the previously developed threshold beam riveting production line can no longer meet customer needs. The threshold beam riveting production line needs to be redesigned to match the production capacity. How to achieve efficient output through the development of the new production line while reducing the number of operators and lowering the workload of personnel, and upgrading the threshold beam process and improving the overall production capacity are the top priorities of research and development.

[0004] However, the gripping equipment on the threshold beam riveting production line still has some defects during use: the existing workpiece handling uses a single-claw gripping device and is carried out in conjunction with a ground rail. The long-stroke ground rail movement of this structure consumes a lot of time during the handling process. During the moving and handling period, all workstations are unable to operate and must wait until the moving and handling is completed before they can work. This method cannot meet the production capacity requirements for threshold beams with high production capacity requirements, resulting in low work efficiency. Summary of the Invention

[0005] This application proposes a high-efficiency gripping equipment for the production of automobile door sill beams, which has the advantages of effectively improving each work station, adding cache stations, and improving the gripping mechanism. Two grippers are designed on one gripping mechanism to achieve uninterrupted movement, shorten the moving time during the transportation process, and increase efficiency and speed, so as to solve the problem of long time and low work efficiency of existing single gripper transportation.

[0006] To achieve the above objectives, the present application adopts the following technical solution: a high-efficiency gripping device for producing automobile door sill beams, comprising:

[0007] A workstation, wherein the workstation is provided with a working position and a buffer position, wherein the working position is located in front of the buffer position and is higher than the buffer position;

[0008] The grabbing mechanism includes a working frame, a vertical rail, a screw servo motor and a moving device. The side walls of the working frame are fixedly provided with vertical rails, and the vertical rails are movably connected to the two groups of moving devices respectively. The middle part of the working frame is fixedly provided with a screw servo motor, and the middle parts of the two groups of moving devices are movably connected to the screw servo motor. The two groups of moving devices are fixedly connected, and there is a certain space between the two groups of moving devices.

[0009] The workpiece on the working position can be taken out by using the upper moving device, and the workpiece on the buffer position can be moved to the working position by using the lower moving device, thereby realizing material switching.

[0010] Furthermore, there are three gripping mechanisms, and each gripping mechanism moves back and forth between two different workstations. The three gripping mechanisms are fixedly connected, and there is a certain spatial interval between each of them. A rotating motor is fixedly installed on the outside of the gripping mechanism, and the gripping mechanism is movably connected to the ground rail through the rotating motor.

[0011] Furthermore, the mobile device includes:

[0012] Cross-cross dual-axis motion linear rails, a group of the said moving devices is correspondingly provided with four cross-cross dual-axis motion linear rails, and one side wall of the cross-cross dual-axis motion linear rail is movably engaged with the side wall of the vertical rail;

[0013] A movable plate, wherein the movable plate is movably arranged inside the working frame, and the four corners of the movable plate are respectively fixedly connected to four cross-cross dual-axis motion linear rails;

[0014] A horizontal rail, wherein the other side wall of the cross-cross dual-axis motion linear rail is movably engaged with the side wall of the horizontal rail, and the horizontal rail and the vertical rail are perpendicular to each other, and a group of the moving devices is correspondingly provided with two horizontal rails;

[0015] A gear servo motor is fixedly connected to the movable plate, and a tooth groove is formed on the side wall of one of the horizontal rails in a group of the movable devices, and the horizontal rail is meshed with the gear servo motor through the tooth groove;

[0016] A gripper is fixedly provided at the front end of a group of cross rails for clamping a workpiece.

[0017] Furthermore, the gripper includes:

[0018] A fixed long board is provided on the front side of the cross rail;

[0019] A fixing member, wherein the rear side of the fixed long plate is fixedly connected with the fixing member, and the two side walls of the fixing member are respectively fixedly connected to the two cross rails;

[0020] Side panels, wherein two sets of side panels are fixedly connected to both ends of the front side of the fixed long board, and the number of side panels in each set is two;

[0021] An outer plate is fixedly connected between two side plates in the same group;

[0022] A control assembly is provided at each end of the fixed long plate to improve the stability of the workpiece clamping;

[0023] A movable component is provided on the fixed long plate at the rear side of the control component, and is used to provide a power source for the support component and the limit component;

[0024] A support assembly is provided inside the fixed long plate below the control assembly, and is used to provide support force for the control assembly;

[0025] A limiting component is provided inside the control component to enhance the clamping stability of the control component on the workpiece.

[0026] Furthermore, the control component includes:

[0027] A control cylinder is fixedly connected to the rear wall of the fixed long plate;

[0028] The piston shaft, the fixed long plate is provided with a fixing hole, and the fixed long plate is movably connected to the piston shaft through the fixing hole, and one end of the control cylinder is movably connected to one end of the piston shaft;

[0029] A connecting shaft, wherein the other end of the piston shaft is fixedly sleeved with one end of the connecting shaft;

[0030] A connecting piece, wherein the other end of the connecting shaft is fixedly sleeved with the middle portion of the connecting piece, the connecting piece is cross-shaped, the inner wall surface of the side plate is provided with a side groove, and the side plate is movably engaged with the side wall of the connecting piece through the side groove;

[0031] A connecting plate, wherein both sides of the upper half and both sides of the lower half of the connecting member are movably hinged to one end of a connecting plate;

[0032] An upper jaw is provided with a hinge shaft between the two side plates above the outer plate, and the side plates are movably hinged to the middle part of the upper jaw through the hinge shaft, one end of the upper jaw is movably hinged to the other end of the upper connecting plate, and the other end of the upper jaw is used to clamp the top surface of the workpiece;

[0033] A transition plate is provided with a hinge shaft between the two side plates below the outer plate, and the side plates are movably hinged to the middle part of the transition plate through the hinge shaft, and one end of the transition plate is movably hinged to the other end of the lower connecting plate;

[0034] The lower jaw, the other end of the transition plate is fixedly connected to one end of the lower jaw, and the other end of the lower jaw is used to clamp the bottom surface of the workpiece.

[0035] By arranging a control component on the gripper, and the control component consists of a control cylinder, a piston shaft, a connecting shaft, a connecting piece, a connecting plate, an upper claw, a transition plate and a lower claw, the control cylinder can be used to control the extension and retraction of the piston shaft to change the position of the connecting piece, so that the upper claw and the transition plate expand when the connecting piece is close to the outer plate, and the upper claw and the transition plate contract when the connecting piece is away from the outer plate. When the connecting piece and the connecting plates above and below it are in the same vertical plane, the control component is self-locking, so that the gripper can stably grasp the workpiece and improve the stability of the workpiece movement.

[0036] Furthermore, the active components include:

[0037] A movable plate is fixedly connected to the front wall of the fixed long plate located at the rear side of the connecting plate. Two movable plates are arranged inside a set of side plates, and the two movable plates are symmetrically arranged;

[0038] A movable block, wherein three movable holes are vertically provided inside the movable plate, and the movable block is movably connected to the movable plate through the movable holes, and a movable groove is provided on the front wall of the fixed long plate corresponding to the positions of the three movable holes, and the movable block is movably connected to the fixed long plate through the movable groove, and the three movable holes respectively correspond in height to the upper connecting plate, the middle connecting piece and the lower connecting plate;

[0039] a movable sac, one end of which is fixedly connected to the end of the movable block, and the other end of which is fixedly connected to the end of the movable groove, the interior of which is filled with liquid;

[0040] The induction member is fixedly embedded in the interior of the fixed long plate, and when the movable block is fully retracted, the end of the movable block is sleeved with the interior of the induction member, and the end of the movable block is provided with an induction contact point;

[0041] The movable tube is fixedly sleeved inside the fixed long plate, and the inlet end of the movable tube is fixedly communicated with the movable bag, and the outlet end of the movable tube is fixedly communicated with the inside of the support assembly.

[0042] Furthermore, the support assembly includes:

[0043] A support rod, wherein two fixing grooves are provided inside the fixed long plate below the fixing hole, and the fixed long plate is movably connected to the support rod through the fixing grooves, the bottom end of the support rod is connected to the bottom end of the fixing groove by a spring, and the bottom end of the fixing groove is fixedly connected to the outlet end of the movable tube;

[0044] The top ends of the two support rods are fixedly connected to the bottom ends of the support members, and the support members are located below the piston shaft.

[0045] By arranging a movable component between the fixed long plate and the connecting part, and the movable component consists of a movable plate, a movable block, a movable bag and a movable tube, and by arranging a support component below the piston shaft, and the support component consists of a support rod and a support member, when the control component is retracted and self-locked, it effectively pushes the movable block to move and compresses the movable bag, so that the liquid in the movable bag is transferred to the bottom of the support rod, effectively pushing the support rod and the support member to lift, so that the support member can effectively support the piston shaft when clamping the workpiece, thereby reducing the influence of gravity on the piston shaft, and alleviating the deformation of the piston shaft due to long-term gravity pressure.

[0046] Furthermore, the limiting component includes:

[0047] The push plate has a limit groove at the top of the lower claw, and a long groove at the bottom of the limit groove. The lower claw is movably engaged with the push plate through the long groove, and the length of the long groove is longer than the length of the push plate. The top of the push plate has a tooth groove, one end of the push plate has an N-type magnet, and the other end of the push plate has an S-type magnet;

[0048] A push frame is fixedly sleeved inside the fixed long plates at both ends of the long slot, and both ends of the push plate are movably sleeved with the push frame respectively;

[0049] An embedded block is fixedly connected to the inner wall of the end of the push frame close to the fixed long plate. The embedded block is an electromagnet and has the same magnetism as the adjacent push plate end when energized;

[0050] An outer embedded block is fixedly connected to the inner wall of the end of the push frame away from the fixed long plate. The outer embedded block is made of a magnetic material and has the same magnetism as the adjacent end of the push plate. The magnetic repulsion between the outer embedded block and the push plate is smaller than the magnetic repulsion between the inner embedded block and the push plate.

[0051] A limiting member, wherein a plurality of limiting members are movably arranged in the limiting groove of the lower claw, and the limiting members are located above the pushing plate.

[0052] Furthermore, the limiting member includes:

[0053] A limiting plate, the limiting plate is movably engaged in the limiting slot, and the width of the limiting plate is adapted to the width of the limiting slot;

[0054] A limiting column, wherein both ends of the lower half of the limiting column are fixedly connected to the limiting column, and the limiting column is movably connected to the inner wall of the limiting groove;

[0055] A limiting tooth block, wherein the bottom end of the limiting plate is arc-shaped, and the bottom end of the limiting plate does not contact the bottom end of the limiting groove; a groove is opened in the middle of the limiting plate, and the limiting plate is fixedly connected to the limiting tooth block through the groove; the outer wall of the limiting tooth block is engaged with the top end of the push plate;

[0056] A limiting pad is fixedly connected to the top end of the limiting plate.

[0057] By providing a limit groove at the top of the lower jaw, and providing a limit assembly consisting of a push plate, a push frame, an inner embedded block, an outer embedded block and a limit piece in the limit groove, when the upper jaw and the lower jaw are in an expanded state, the inner embedded block is not energized and the push plate moves under the action of the magnetic repulsion of the outer embedded block, thereby pushing the limit piece to rotate counterclockwise into the limit groove; when the upper jaw and the lower jaw are in a contracted state, the movable block contacts the sensing piece, and the sensing piece receives the induction and energizes the inner embedded block, and the push plate moves under the action of the magnetic repulsion of the inner embedded block, thereby pushing the limit piece to move clockwise, so as to provide an inward thrust to the lower surface of the workpiece, thereby preventing the workpiece and the gripper from sliding downward due to the inertia of the workpiece's own weight in the process of the gripper clamping the workpiece and lifting it, thereby enhancing the stability of the workpiece when it is clamped and lifted, and avoiding the workpiece from falling off.

[0058] Furthermore, the working position and the cache position are both provided with a reference large cylinder, a pushing cylinder, an identification sensor and a compensation component for stabilizing the position of the workpiece. The reference large cylinder is located on the right, and the pushing cylinder is located on the left. Two identification sensors are symmetrically provided on the working position and the cache position, and two compensation components are symmetrically provided on the working position and the cache position.

[0059] By setting push cylinders, identification sensors and compensation components on the work positions and cache positions of each workstation, and utilizing the different pushing lengths of the push cylinders to trigger magnetic switches at different positions on the push cylinders and receive signals, two different types of workpieces can be distinguished. After the magnetic switch of the push cylinder identifies different types of workpieces, the same workpieces are mirror images of each other, so the identification sensor can be used to detect whether there are holes on the surface of the profile to identify the left and right parts of the same workpiece. Finally, after all judgments are completed, the compensation component is used to adjust the angle to compensate for one workpiece and improve the stability of the workpiece placement. In this way, the automatic switching function of 4 door sill beams of 2 models is realized, and the program can be automatically switched according to the product, realizing one machine with multiple materials and flexible production.

[0060] The beneficial effects of the present invention are as follows:

[0061] The present application provides a high-efficiency gripping device for the production of automobile door sill beams, which provides a cache position and a working position at each workstation, that is, the marking mechanism is composed of a marking workbench and a marking cache table, and the riveting mechanism is composed of a riveting workbench and a cache discharge table. At the same time, by improving the gripping mechanism, two groups of moving devices with grippers are provided in the working frame, so that the screw servo motor can control the synchronous vertical movement of the two groups of moving devices, and the grippers in the two groups of moving devices can move asynchronously horizontally, so that when the workpiece on the working position completes the operation, the upper gripper is used to lift the processed workpiece, and at the same time, the lower gripper is used to move the workpiece on the cache position to the working position, thus realizing material switching, and then the gripping mechanism drives the workpiece to move It moves to the cache position of the next workstation. At the same time, the workstation will process the newly placed workpiece, thereby effectively improving the handling efficiency, realizing uninterrupted operation of the marking mechanism, riveting mechanism and gripping mechanism, shortening the movement time during the handling process, thereby increasing efficiency and speed, and improving production line capacity. In addition, by setting up industrial robots on the production line of automobile door sill beams, and utilizing the high efficiency, precision and flexibility of industrial robots, the action process of industrial robots is dynamically optimized according to the operating speed and trajectory of the gripping mechanism, and the gripping mechanism is flexibly coordinated to realize the processing and transfer of workpieces on the production line, thereby effectively reducing the delay between production links, reducing the time waste in the workpiece transfer process, further increasing efficiency and speed, and improving production line capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only embodiments of the present invention. Those skilled in the art can also derive other drawings based on the provided drawings without inventive work.

[0063] Figure 1 It is a three-dimensional structural diagram of the whole of the present invention;

[0064] Figure 2 This is a three-dimensional structural diagram of the marking mechanism without a workpiece in the present invention;

[0065] Figure 3 For the present invention Figure 2 A magnified structural diagram;

[0066] Figure 4 is a three-dimensional structural diagram of the compensation component in the present invention;

[0067] Figure 5 This is a three-dimensional structural diagram of the riveting mechanism without a workpiece in the present invention;

[0068] Figure 6 It is a three-dimensional structural diagram of the ground rail and multiple gripping mechanisms in the present invention;

[0069] Figure 7 A three-dimensional structural diagram of a grabbing mechanism in the present invention;

[0070] Figure 8 This is a three-dimensional structural diagram of the grabbing mechanism of the present invention without the cross rail, the cross drag chain and the grabber;

[0071] Figure 9 It is a three-dimensional structural diagram of the cross rail, cross drag chain and gripper in the present invention;

[0072] Figure 10 This is a three-dimensional structural diagram of the gripper in the present invention;

[0073] Figure 11 A three-dimensional structural diagram of the control component of the present invention;

[0074] Figure 12 This is a cross-sectional three-dimensional structural diagram of the gripper located in the middle of the limiting assembly in the present invention;

[0075] Figure 13 For the present invention Figure 12 The enlarged structure diagram at B;

[0076] Figure 14 For the present invention Figure 12 The enlarged structure diagram at C;

[0077] Figure 15 This is a cross-sectional perspective structural diagram of a partial gripper located in the middle of the movable assembly in the present invention;

[0078] Figure 16 This is a cross-sectional three-dimensional structural diagram of the gripper located in the middle of the support assembly of the present invention;

[0079] Figure 17 For the present invention Figure 16 The enlarged structure diagram at D;

[0080] Figure 18 A three-dimensional structural diagram of the movable assembly and the supporting assembly in the present invention;

[0081] Figure 19 It is a three-dimensional structural diagram of the limiting component in the present invention.

[0082] In the figure: 1. Ground rail; 11. Push cylinder; 12. Identification sensor; 13. Compensation assembly; 131. Compensation seat; 132. Compensation block; 133. Compensation cylinder; 2. Marking mechanism; 21. Marking workbench; 22. Marking buffer table; 23. Marking device; 3. Riveting mechanism; 31. Working column; 32. Riveting workbench; 33. Buffer unloading table; 34. Riveting device; 4. Grabbing mechanism; 41. Working frame; 42. Vertical rail; 43. Cross-cross dual-axis motion linear rail; 44. Moving plate; 45. Screw servo motor; 46. Vertical drag chain; 47. Horizontal rail; 48. Gear servo motor; 49. Horizontal drag chain; 5. Gripper; 51. Fixed long board; 52. Fixing part; 53. Side board; 54. Outer board; 6. Control assembly; 61. Control cylinder; 62. Piston shaft; 63. Connecting shaft; 64. Connecting part; 65. Connecting plate; 66. Upper claw; 67. Transition plate; 68. Lower claw; 7. Movable assembly; 71. Movable plate; 72. Movable block; 73. Movable bag; 74. Induction part; 75. Movable tube; 8. Support assembly; 81. Support rod; 82. Support part; 9. Limit assembly; 91. Push plate; 92. Push frame; 93. Inner block; 94. Outer block; 95. Limit part; 951. Limit plate; 952. Limit column; 953. Limit tooth block; 954. Limit pad. DETAILED DESCRIPTION

[0083] The following will clearly and completely describe 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0084] Example 1, a high-efficiency gripping device for producing automobile door sill beams, including a ground rail 1, such as Figure 1 、 Figure 6 Three grabbing mechanisms 4 are provided at the top of the ground rail 1, and each grabbing mechanism 4 will move back and forth between two different workstations, thereby effectively limiting the working range of the grabbing mechanism 4. The three grabbing mechanisms 4 are fixedly connected, and there is a certain space interval between each of them. A rotating motor is fixedly provided on the outside of the grabbing mechanism 4, and the grabbing mechanism 4 is movably connected to the ground rail 1 through the rotating motor. The rotating motor can drive the three five grabbing mechanisms 4 to synchronously perform horizontal displacement on the ground rail 1, thereby realizing the back and forth movement of the grabbing mechanism 4 between the two workstations.

[0085] like Figure 1 、 Figure 6-Figure 9The grabbing mechanism 4 includes a working frame 41, vertical rails 42, a screw servo motor 45 and a moving device. The top and bottom ends of the working frame 41 facing the workstation are provided with roller shutter protective covers, so as to effectively protect the cross-cross dual-axis motion linear rails 43, the screw servo motor 45 and the gear servo motor 48 when the grabbing mechanism 4 is not working, and prevent dust and debris from entering the grabbing mechanism 4 when the workstation is working and affecting its service life. The side walls of the working frame 41 are fixedly provided with vertical rails 42, and the vertical rails 42 are respectively engaged with the two sets of moving devices. The vertical rails 42 can be used to limit the moving device to ensure that the moving device can move vertically within the working frame 41. A screw servo motor 45 is fixedly installed in the middle of the working frame 41, and the middle parts of the two groups of moving devices are movably connected to the screw servo motor 45. When the screw servo motor 45 starts and rotates forward, the two groups of moving devices are driven to move upward. When the screw servo motor 45 starts and rotates reversely, the two groups of moving devices are driven to move downward. A reducer is provided on the screw servo motor 45 to effectively ensure the stability of the rotation of the screw servo motor 45. The two groups of moving devices are fixedly connected, and there is a certain spatial interval between the two groups of moving devices, which can effectively ensure that the two groups of moving devices clamp two workpieces respectively without affecting each other.

[0086] like Figure 6-Figure 9 The moving device includes a cross-cross dual-axis motion linear rail 43, a moving plate 44, a horizontal rail 47, a gear servo motor 48 and a gripper 5. A group of moving devices is correspondingly provided with four cross-cross dual-axis motion linear rails 43, and one side wall of the cross-cross dual-axis motion linear rail 43 is movably connected to the side wall of the vertical rail 42. The moving plate 44 is movably arranged inside the working frame 41, and the four corners of the moving plate 44 are respectively fixedly connected to the four cross-cross dual-axis motion linear rails 43, so that the cross-cross dual-axis motion linear rails 43 can provide conditions for the vertical movement of the moving plate 44. The middle part of the moving plate 44 is movably connected to the screw servo motor 45. The forward and reverse rotation of the screw servo motor 45 can make the moving plate 44 move vertically upward or downward. The other side wall of the moving linear rail 43 is movably engaged with the side wall of the horizontal rail 47, and the horizontal rail 47 is perpendicular to the vertical rail 42. A group of moving devices is correspondingly provided with two horizontal rails 47, so that the cross-cross dual-axis moving linear rail 43 can provide conditions for the lateral movement of the horizontal rail 47. A gear servo motor 48 is fixedly connected to the moving plate 44. A tooth groove is provided on the side wall of one of the horizontal rails 47 in a group of moving devices, and the horizontal rail 47 is engaged with the gear servo motor 48 through the tooth groove. The forward and reverse rotation of the gear servo motor 48 can make the horizontal rail 47 move forward or backward. A reducer is provided on the gear servo motor 48 to effectively ensure the stability of the rotation of the gear servo motor 48. A gripper 5 is fixedly provided at the front end of a group of horizontal rails 47 for clamping the workpiece.

[0087] like Figure 7-Figure 9A vertical drag chain 46 and a horizontal drag chain 49 are provided in the grabbing mechanism 4, wherein the outer wall of one of the movable plates 44 is fixedly connected to a support plate, and the movable plate 44 is fixedly connected to one end of the vertical drag chain 46 through the support plate, the outer wall of the working frame 41 is fixedly connected to the support plate, and the working frame 41 is fixedly connected to the other end of the vertical drag chain 46 through the support plate, the outer walls of the two movable plates 44 are fixedly connected to the support plate, and the movable plate 44 is movably connected to one end of the horizontal drag chain 49 through the support plate, the outer wall of the gripper 5 is fixedly connected to the support plate, and the gripper 5 is movably connected to the other end of the horizontal drag chain 49 through the support plate, and the arrangement of the vertical drag chain 46 and the horizontal drag chain 49 can be used to store the wiring and the air pipes, thereby avoiding the wiring and the air pipes being affected during movement.

[0088] like Figure 2 and Figure 5 The workstation is equipped with a working position and a cache position, and the working position is located in front of the cache position, and the working position is higher than the cache position. Workpieces can be placed on the top of the working position and the cache position.

[0089] When the workpiece on the workstation completes the operation, the workpiece on the workstation can be taken out by the upper moving device, and the workpiece on the cache position can be moved to the workstation by the lower moving device, thereby realizing material switching. After that, the grabbing mechanism 4 drives the processed workpiece to move to the cache position of the next workstation, and at the same time, the workpiece newly placed on the workstation will be processed, thereby effectively improving the handling efficiency, realizing the uninterrupted operation of the marking mechanism 2, the riveting mechanism 3 and the grabbing mechanism 4, shortening the movement time during the handling process, thereby increasing efficiency and speed, and improving the production line capacity.

[0090] Example 2, based on Example 1, Figure 2 and Figure 5 The workstation includes a marking mechanism 2 and a riveting mechanism 3, and the riveting mechanism 3 is located at the next station of the marking mechanism 2, that is, the workpiece is marked first and then riveted.

[0091] like Figure 2The marking mechanism 2 includes a marking workbench 21, a marking buffer table 22 and a marking device 23. The marking workbench 21 is located on the side away from the grabbing mechanism 4, and the marking buffer table 22 is located on the side close to the grabbing mechanism 4. The height of the marking buffer table 22 is lower than that of the marking workbench 21, so that it is convenient for the grabbing mechanism 4 to switch materials between the marking workbench 21 and the marking buffer table 22. The number of the marking workbench 21 and the marking buffer table 22 is two, and the marking device is set in the space between the two marking workbench 21 and the two marking buffer tables 22. 23. The marking device 23 can be used to mark the QR code on the surface of each workpiece. Because during operation, product information and riveting-related information need to be bundled one by one, so it is necessary to identify the specific material to ensure the uniqueness of each product information. However, the information of each product, such as the number of rivets, is different. At this time, it is necessary to identify the specific material and switch the riveting program accordingly to ensure that the number of rivets is correct. Then, the riveting information, such as the number of rivets, the quality of rivets, etc., is bundled with the QR code. Later, all the operation information of the product can be retrieved by scanning the code.

[0092] like Figure 5 The riveting mechanism 3 includes a working column 31, a riveting workbench 32, a cache unloading table 33 and a riveting device 34. There are two working columns 31, and a riveting workbench 32 is provided on the inner side of the working column 31. The two riveting workbench 32 are controlled to be variable and flipped, thereby driving the workpiece to flip synchronously to achieve all-round processing of the workpiece. The riveting workbench 32 is located on the side away from the grasping mechanism 4, and the cache unloading table 33 is located on the side close to the grasping mechanism 4. The height of the cache unloading table 33 is lower than that of the riveting workbench 32, so that the grasping mechanism 4 can switch materials between the riveting workbench 32 and the cache unloading table 33. A riveting device 34 is provided on the top of the working column 31, and the operator can use the riveting device 34 to perform riveting operations on the workpiece.

[0093] like Figure 2-Figure 4 The working position and the buffer position are both provided with a reference cylinder, a push cylinder 11, an identification sensor 12 and a compensation component 13 for stabilizing the position of the workpiece.

[0094] like Figure 3 The reference cylinder is located on the right, and the pushing cylinder 11 is located on the left. The length pushed out by the reference cylinder is the same, and one end of the workpiece is in contact with the reference cylinder, while the length pushed out by the pushing cylinder 11 can be different, and the other end of the workpiece is in contact with the pushing cylinder 11. For the identification of the two types of workpieces, since the types of workpieces are different, their lengths are also different, so three magnetic switches are arranged on the pushing cylinder 11. The different positions of different workpieces pushed by the pushing cylinder 11 trigger the magnetic switches at different positions, and then receive signals, so that the two different types of workpieces can be distinguished.

[0095] like Figure 3 Two identification sensors 12 are symmetrically arranged on the working position and the cache position. For the identification of the left and right parts of the same workpiece, after the magnetic switch of the pushing cylinder 11 identifies different types of workpieces, the same workpieces are mirror images of each other, so the identification sensor 12 can be used to identify the left and right parts of the same workpiece by detecting whether there are holes on the surface of the profile.

[0096] like Figure 3-Figure 4 Two compensation components 13 are symmetrically arranged on the working position and the cache position. For tooling switching, after completing the above-mentioned identification, because the cross-sections of the two workpieces are different, if the workpiece does not fit with the compensation component 13, the angle of the compensation component 13 can be adjusted to compensate for the workpiece and improve the stability of the workpiece placement. Specifically, the compensation component 13 consists of a compensation seat 131, a compensation block 132 and a compensation cylinder 133. One side of the compensation seat 131 is movably hinged to one end of the compensation block 132, and a compensation hole is provided at the other end of the compensation block 132. A compensation cylinder 133 is fixedly provided on the wall of the compensation seat 131, and the compensation cylinder 133 can be movably sleeved in the compensation hole of the compensation block 132. When compensation is required, the compensation cylinder 133 is inserted into the compensation hole of the compensation block 132 to adjust the angle of the compensation block 132 so that the compensation block 132 can compensate and support the workpiece.

[0097] Example 3, based on Example 2, Figure 10 The gripper 5 includes a fixed long plate 51, a fixing part 52, a side plate 53, an outer plate 54 and a control component 6. A fixed long plate 51 is provided on the front side of the cross rail 47, and a fixing part 52 is fixedly connected to the rear side of the fixed long plate 51, and the two side walls of the fixing part 52 are respectively fixedly connected to the two cross rails 47, so that the cross rails 47 can synchronously drive the gripper 5 to move laterally. Two groups of side plates 53 are fixedly connected at both ends of the front side of the fixed long plate 51, and the number of side plates 53 in each group is two. The outer wall of the side plate 53 is fixedly provided with an identification sensor 12, and one gripper 5 is correspondingly provided with an identification sensor 12. The identification sensor 12 can be used to detect the workpiece and confirm the type of the workpiece. The outer plate 54 is fixedly connected between the two side plates 53 in the same group, thereby providing space for the setting of the control component 6.

[0098] like Figure 11 , a control assembly 6 is provided at both ends of the fixed long plate 51 for improving the stability of the workpiece clamping, and the control assembly 6 includes a control cylinder 61, a piston shaft 62, a connecting shaft 63, a connecting member 64, a connecting plate 65, an upper claw 66, a transition plate 67 and a lower claw 68, as shown Figure 12-17The rear side wall of the fixed long plate 51 is fixedly connected with a control cylinder 61, and a fixing hole is opened on the fixed long plate 51, and the fixed long plate 51 is movably connected with the piston shaft 62 through the fixing hole. No matter whether the piston shaft 62 is extended or retracted, it is ensured that a part of the piston shaft 62 is always located in the fixing hole of the fixed long plate 51. One end of the control cylinder 61 is movably connected with one end of the piston shaft 62, and the other end of the piston shaft 62 is fixedly connected with one end of the connecting shaft 63. The other end of the connecting shaft 63 is fixedly connected with the middle part of the connecting piece 64. The shape of the connecting piece 64 is cross-shaped, and the inner wall of the side plate 53 is opened. There are side grooves, and the side panels 53 are movably connected to the side walls of the connecting piece 64 through the side grooves, which effectively limits the movement range of the outer panel 54 and ensures the stability of the movement of the outer panel 54. Therefore, the control cylinder 61 can be used to drive the piston shaft 62 and the connecting shaft 63 to retract inward or extend outward, thereby driving the connecting piece 64 to move horizontally in synchronization. Both sides of the upper half and the lower half of the connecting piece 64 are movably hinged to one end of a connecting plate 65. A hinge shaft is provided between the two side panels 53 above the outer panel 54, and the side panels 53 are movably hinged to the middle of the upper claw 66 through the hinge shaft. One end of the upper claw 66 The other end of the upper claw 66 is movably hinged to the other end of the upper connecting plate 65, and the other end of the upper claw 66 is used to clamp the top surface of the workpiece. A hinge shaft is provided between the two side plates 53 below the outer plate 54, and the side plate 53 is movably hinged to the middle of the transition plate 67 through the hinge shaft. One end of the transition plate 67 is movably hinged to the other end of the lower connecting plate 65, and the other end of the transition plate 67 is fixedly connected to one end of the lower claw 68, and the other end of the lower claw 68 is used to clamp the bottom surface of the workpiece. When the connecting member 64 moves in the direction close to the outer plate 54, it effectively drives the two connecting plates 65 to tilt, thereby controlling the upper claw 66 and the lower claw 68. 8 expands to facilitate the upper claws 66 and the lower claws 68 to open and wrap around the outside of the workpiece. When the connecting member 64 moves in the direction away from the outer plate 54, it effectively drives the two connecting plates 65 to tilt in the opposite direction, thereby controlling the upper claws 66 and the lower claws 68 to contract, so as to facilitate the tightening of the upper claws 66 and the lower claws 68 to clamp the workpiece. It should be noted that when clamping the workpiece, it is necessary to control the connecting member 64 to move to the specified position, that is, the connecting member 64 and the connecting plates 65 above and below it will be in the same vertical plane, thereby realizing the self-locking of the control component 6, and then enabling the gripper 5 to stably grasp the workpiece and improve the stability of the workpiece movement.

[0099] In the fourth embodiment, based on the third embodiment, the gripper 5 further includes a movable component 7 and a supporting component 8, specifically:

[0100] like Figure 12-13 、 Figures 15-18, a movable component 7 is provided on the fixed long plate 51 located at the rear side of the control component 6, which is used to provide a power source for the work of the support component 8 and the limit component 9. The movable component 7 includes a movable plate 71, a movable block 72, a movable bag 73 and a movable tube 75. The front wall of the fixed long plate 51 located at the rear side of the connecting plate 65 is fixedly connected to the movable plate 71. Two movable plates 71 are provided inside a group of side plates 53, and the two movable plates 71 are symmetrically arranged, which can fill the space gap between the fixed long plate 51 and the connecting member 64 and the connecting plate 65. When the connecting member 64 drives the connecting plate 65 to move to the position close to the movable plate 71, the movable plate 71 is fixed to the front wall of the fixed long plate 51. When closed, the self-locking state of the control component 6 is formed, which facilitates the control connection member 64 and the connecting plate 65 to form a self-locking state. The movable plate 71 is vertically provided with three movable holes inside, and the movable block 72 is movably sleeved with the movable plate 71 through the movable holes. The front wall of the fixed long plate 51 corresponding to the position of the three movable holes is provided with a movable groove, and the movable block 72 is movably sleeved with the fixed long plate 51 through the movable groove, so that the movable block 72 can move according to demand in the channel composed of the movable holes and the movable groove, thereby providing power for the movement of the support component 8 and the limit component 9. The three movable holes are respectively connected to the upper connecting plate 65, the middle The connecting piece 64 at the top and the connecting plate 65 at the bottom correspond in height, so that it is possible to effectively detect whether the connecting piece 64 and the connecting plates 65 above and below have reached the specified position, that is, to detect whether the connecting piece 64 and the connecting plates 65 above and below are in a self-locking state. One end of the movable capsule 73 is fixedly connected to the end of the movable block 72, and the other end of the movable capsule 73 is fixedly connected to the end of the movable groove. The interior of the movable capsule 73 is filled with liquid. When the movable capsule 73 is compressed, the liquid inside is transferred out of the movable capsule 73. When the force compressing the movable capsule 73 disappears, it can provide help for the liquid to be transferred back to the movable capsule 73. To help, the interior of the fixed long plate 51 is fixedly sleeved with a movable tube 75, and the inlet end of the movable tube 75 is fixedly connected to the movable bag 73, and the outlet end of the movable tube 75 is fixedly connected to the interior of the support component 8, so that the movable tube 75 can be used to realize the movement of liquid between the movable bag 73 and the support component 8. When the movable bag 73 is compressed by the control component 6, the liquid in the movable bag 73 can enter the support component 8 through the movable tube 75. When the movable bag 73 is not affected by the control component 6, the liquid can return to the movable bag 73 under the action of the support component 8, so that the movable bag 73 is stretched to its original full state.

[0101] like Figure 12-13 、 Figures 15-18, a support assembly 8 is provided inside the fixed long plate 51 below the control assembly 6 for providing support force for the control assembly 6. The support assembly 8 includes a support rod 81 and a support member 82. Two fixed grooves are provided inside the fixed long plate 51 below the fixing hole, and the fixed long plate 51 is movably connected to the support rod 81 through the fixed groove. The bottom end of the support rod 81 is connected to the bottom end of the fixed groove by a spring, and the bottom end of the fixed groove of the fixed long plate 51 is fixedly connected to the outlet end of the movable tube 75. When the movable bag 73 is compressed by the control assembly 6, the liquid in the movable bag 73 can enter through the movable tube 75. The support rod 81 is inserted into the fixed groove, thereby effectively pushing the support rod 81 to move upward. When the movable bag 73 is not affected by the control component 6, the support rod 81 moves downward under the action of the spring, thereby pushing the liquid back into the movable bag 73, so that the movable bag 73 is stretched to its original full state. The top ends of the two support rods 81 are fixedly connected to the bottom ends of the support members 82, and the support members 82 are located below the piston shaft 62. Therefore, after the support rod 81 pushes the support member 82 to move upward, the support member 82 can effectively support the piston shaft 62, thereby reducing the influence of gravity on the piston shaft 62 and alleviating the deformation of the piston shaft 62 due to long-term gravity pressure.

[0102] Example 5: Based on Example 4, the movable component 7 further includes a sensing element 74, such as Figure 12-13 、 Figures 15-18 The interior of the fixed long plate 51 is fixedly embedded with a sensing member 74, and when the movable block 72 is fully retracted, the end of the movable block 72 is socketed with the interior of the sensing member 74. The end of the movable block 72 is provided with a sensing contact point. When the sensing contact point on the movable block 72 contacts the sensing member 74, that is, the control component 6 is in a self-locking state, the sensing member 74 will transmit the sensing signal to the control system, thereby triggering the limit component 9 to start.

[0103] like Figure 12 、 Figure 14 、 Figure 18The gripper 5 also includes a limit assembly 9. A limit assembly 9 is provided inside the control assembly 6 to enhance the clamping stability of the control assembly 6 on the workpiece. The limit assembly 9 includes a push plate 91, a push frame 92, an inner block 93, an outer block 94 and a limit piece 95. A limit groove is provided at the top of the lower claw 68, and a long groove is provided at the bottom of the limit groove. The lower claw 68 is movably connected to the push plate 91 through the long groove, and the length of the long groove is longer than that of the push plate 91, so that the push plate 91 can move in the long groove and can be driven The limiting member 95 is provided with a tooth groove at the top of the pushing plate 91, which can provide assistance for the rotation of the limiting member 95. One end of the pushing plate 91 has an N-type magnet, and the other end of the pushing plate 91 has an S-type magnet, which can provide assistance for the movement of the pushing plate 91. The fixed long plate 51 at both ends of the long slot is fixedly sleeved with a pushing frame 92, and the two ends of the pushing plate 91 are respectively movably sleeved with the pushing frame 92. No matter how the pushing plate 91 moves, it is necessary to ensure that both ends are movably sleeved with the pushing frame 92. The inner wall of the end of the push frame 92 near the fixed long plate 51 is fixedly connected with an inner block 93, which is an electromagnet, and after the inner block 93 is energized, it has the same magnetism as the end of the adjacent push plate 91. The inner wall of the end of the push frame 92 away from the fixed long plate 51 is fixedly connected with an outer block 94, which is made of a magnet and has the same magnetism as the end of the adjacent push plate 91, so that the outer block 94 always exerts a magnetic repulsion on the push plate 91, and the magnetic repulsion between the outer block 94 and the push plate 91 Compared with the magnetic repulsion between the embedded block 93 and the push plate 91, the magnetic repulsion between the push plate 91 and the outer embedded block 94 is small. When the embedded block 93 is not powered, the magnetic repulsion between the push plate 91 and the outer embedded block 94 acts to push the push plate 91 away from the outer embedded block 94. When the embedded block 93 is powered, the magnetic repulsion between the push plate 91 and the embedded block 93 overcomes the magnetic repulsion between the push plate 91 and the outer embedded block 94, thereby pushing the push plate 91 away from the embedded block 93. Several limiting members 95 are movably arranged in the limiting groove of the lower claw 68, and the limiting members 95 are located above the push plate 91.

[0104] like Figure 18The limiting member 95 includes a limiting plate 951, a limiting column 952, a limiting tooth block 953 and a limiting pad 954. The limiting plate 951 is movably connected to the limiting groove, and the width of the limiting plate 951 is adapted to the width of the limiting groove, which effectively ensures the stability of the limiting plate 951 set in the limiting groove and effectively improves the adequacy of the contact between the limiting plate 951 and the lower surface of the workpiece. The two ends of the lower half of the limiting column 952 are fixedly connected to the limiting column 952, and the limiting column 952 is movably connected to the inner wall of the limiting groove, so that the limiting plate 951 can rotate around the limiting column 952. The bottom end of the limiting plate 951 is arc-shaped, and the bottom end of the limiting plate 951 does not contact the bottom end of the limiting groove, effectively ensuring that the limiting plate 951 can rotate normally in the limiting groove. A groove is provided in the middle of the limiting plate 951, and the limiting plate 951 is fixedly connected to the limiting tooth block 953 through the groove. The outer wall of the limiting tooth block 953 is engaged with the top end of the pushing plate 91. The horizontal movement of the pushing plate 91 can drive the limiting tooth block 953 to rotate. Specifically, when the pushing plate 91 moves toward the embedded block 93, The lower half of the limiting plate 951 swings toward the inner block 93, and the upper half of the limiting plate 951 swings toward the outer block 94, that is, the upper half of the limiting plate 951 is pushed to rotate counterclockwise into the limiting groove, thereby preparing for the subsequent inward thrust on the workpiece. When the pushing plate 91 moves toward the outer block 94, the lower half of the limiting plate 951 swings toward the outer block 94, and the upper half of the limiting plate 951 swings toward the inner block 93, that is, the upper half of the limiting plate 951 is pushed to rotate clockwise until it can be rotated into a vertical shape, thereby The lower surface provides an inward thrust, thereby preventing the workpiece and the gripper 5 from sliding downward due to the inertia of the workpiece's own weight during the process of the gripper 5 clamping the workpiece and lifting it, thereby enhancing the stability of the workpiece when being clamped and lifted, and avoiding the workpiece from falling off. The top of the limit plate 951 is fixedly connected to the limit pad 954, and the limit pad 954 is used to effectively increase the contact area between the limit member 95 and the workpiece, and enhance the friction effect between the limit member 95 and the workpiece, so that the limit member 95 can stably apply thrust to the workpiece.

[0105] The working principle of the method of use of the present invention is as follows:

[0106] First, an industrial robot is used to remove the workpiece from the material cart and transfer it to the manual buffer station. Then, the gripping mechanism 4 is used to remove the workpiece from the manual buffer station and transfer it to the marking mechanism 2 and the riveting mechanism 3 in turn. Finally, the workpiece that has completed marking and riveting enters the next production process under the action of the gripping mechanism 4.

[0107] When the workpiece on the workstation has been processed, the grabbing mechanism 4 is driven to be located at the workstation, and then the two grippers 5 are driven to move horizontally to clamp the workpiece on the workstation and the workpiece on the cache position, and then the two grippers 5 are driven to move vertically upward to place the workpiece on the cache position on the workstation, and at the same time lift the workpiece on the workstation, and then drive the two grippers 5 to return horizontally, and then drive the grabbing mechanism 4 to move to the next workstation, and place the workpiece taken out from the workstation on the cache position of the next workstation. At the same time, the workpiece transferred from the cache position to the workstation is processed, thereby effectively improving the transportation efficiency, realizing uninterrupted operation of the marking mechanism 2, the riveting mechanism 3 and the grabbing mechanism 4, shortening the movement time during the transportation process, thereby increasing efficiency and speed, and improving the production line capacity.

[0108] When the workpiece is placed in the cache position or working position, one end of the workpiece is first fitted with the reference cylinder, and then the pushing cylinder 11 is controlled to start and the other end of the workpiece is fitted with the pushing cylinder 11. Since different types of workpieces have different lengths, the pushing cylinder 11 can push out different lengths, thereby triggering the magnetic switches at different positions on the pushing cylinder 11 and receiving signals to distinguish between two different types of workpieces. After the magnetic switch of the pushing cylinder 11 identifies different types of workpieces, since the same type of workpieces are mirror images of each other, the identification sensor 12 can be used to identify the left and right parts of the same workpiece by detecting whether there are holes on the surface of the profile. Finally, after all judgments are completed, the compensation component 13 is used to adjust the angle to compensate for the workpiece and improve the stability of the workpiece placement, thereby realizing the automatic switching function of 4 types of door sill beams of 2 models, and can automatically switch the program with the product to achieve one machine with multiple materials and flexible production.

[0109] When the gripper 5 needs to clamp the workpiece, the control cylinder 61 is first started to drive the connecting member 64 to move toward the outer plate 54, and to link the connecting plate 65 and the transition plate 67, so as to realize the expansion of the upper claw 66 and the lower claw 68, so that the upper claw 66 and the lower claw 68 can be pushed to the upper and lower parts of the workpiece, and then prepare for wrapping and clamping the workpiece. Then, the control cylinder 61 is started in the reverse direction to drive the connecting member 64 to move toward the fixed long plate 51, and to link the connecting plate 65 and the transition plate 67, so as to realize the contraction of the upper claw 66 and the lower claw 68, so that the upper claw 66 and the lower claw 68 can effectively clamp the workpiece, and when the connecting member 64 and the connecting plates 65 above and below it are in the same vertical plane, the control component 6 realizes self-locking, so that the gripper 5 can stably grasp the workpiece and improve the stability of the workpiece movement.

[0110] When the control component 6 is in the process of contraction and self-locking, the connecting member 64 and the connecting plates 65 above and below it effectively push the movable block 72 to move into the fixed long plate 51 and compress the movable bag 73, so that the liquid in the movable bag 73 is transferred to the bottom of the support rod 81, effectively pushing the support rod 81 and the support member 82 to lift, so that the support member 82 can effectively support the piston shaft 62 when clamping the workpiece, thereby reducing the influence of gravity on the piston shaft 62 and alleviating the deformation of the piston shaft 62 due to long-term gravity pressure.

[0111] When the control assembly 6 is in the process of expansion, the movable block 72 moves outward without contacting the induction member 74, so that the embedded block 93 is not energized, so that the push plate 91 moves toward the embedded block 93 under the action of the magnetic repulsion of the outer embedded block 94, and then pushes the limit member 95 to rotate counterclockwise, so that the upper half of the limit member 95 is rotated into the limit groove. When the control assembly 6 is in the process of contraction and the control assembly 6 is self-locking, the movable block 72 moves inward and contacts the induction member 74. The induction member 74 is induced and the embedded block 93 is energized, pushing the plate 91. Under the action of the magnetic repulsion of the inner block 93, 91 overcomes the magnetic repulsion of the outer block 94 and moves toward the outer block 94, thereby pushing the limit member 95 to move clockwise, so that the upper half of the limit member 95 is rotated and contacts the lower surface of the workpiece, so as to provide an inward thrust to the lower surface of the workpiece, thereby preventing the workpiece and the gripper 5 from sliding downward due to the inertia of the workpiece's own weight during the process of the gripper 5 clamping the workpiece and lifting it, thereby enhancing the stability of the workpiece when it is clamped and lifted, and avoiding the workpiece from falling off.

[0112] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A high-efficiency grabbing device for automobile door sill beam production, characterized in that: include: A workstation, wherein the workstation is provided with a working position and a buffer position, wherein the working position is located in front of the buffer position and is higher than the buffer position; A gripping mechanism (4), the gripping mechanism (4) comprising a working frame (41), a vertical rail (42), a screw servo motor (45) and a moving device, the side wall of the working frame (41) being fixedly provided with a vertical rail (42), and the vertical rail (42) being movably connected to two groups of moving devices, the middle portion of the working frame (41) being fixedly provided with a screw servo motor (45), and the middle portions of the two groups of moving devices being movably connected to the screw servo motor (45), the two groups of moving devices being fixedly connected, and a certain space interval being present between the two groups of moving devices; The workpiece on the working position can be taken out by using the upper moving device, and the workpiece on the buffer position can be moved to the working position by using the lower moving device, thereby realizing material switching.

2. The high-efficiency gripping equipment for producing automobile rocker beams according to claim 1 is characterized in that: The number of the gripping mechanisms (4) is three, and each gripping mechanism (4) moves back and forth between two different workstations. The three gripping mechanisms (4) are fixedly connected, and there is a certain space interval between each of them. A rotating motor is fixedly provided on the outside of the gripping mechanism (4), and the gripping mechanism (4) is movably connected to the ground rail (1) through the rotating motor.

3. The high-efficiency gripping equipment for producing automobile rocker beams according to claim 2 is characterized in that: The mobile device comprises: A cross-cross dual-axis motion linear rail (43), wherein a group of the mobile devices is correspondingly provided with four cross-cross dual-axis motion linear rails (43), and a side wall of the cross-cross dual-axis motion linear rail (43) is movably engaged with a side wall of the vertical rail (42); A movable plate (44), wherein the movable plate (44) is movably arranged inside the working frame (41), and the four corners of the movable plate (44) are respectively fixedly connected to the four cross-crossed dual-axis motion linear rails (43); A horizontal rail (47), wherein the other side wall of the cross-cross dual-axis motion linear rail (43) is movably engaged with the side wall of the horizontal rail (47), and the horizontal rail (47) and the vertical rail (42) are perpendicular to each other, and a group of the mobile devices is correspondingly provided with two horizontal rails (47); A gear servo motor (48) is fixedly connected to the movable plate (44), and a side wall of one of the transverse rails (47) in a group of the movable devices is provided with a tooth groove, and the transverse rail (47) is meshed with the gear servo motor (48) through the tooth groove; A gripper (5) is fixedly provided at the front end of a group of the transverse rails (47) for clamping a workpiece.

4. The high-efficiency gripping equipment for producing automobile rocker beams according to claim 3 is characterized in that: The gripper (5) comprises: A fixed long plate (51), the front side of the cross rail (47) is provided with a fixed long plate (51); A fixing member (52), wherein the rear side of the fixed long plate (51) is fixedly connected to the fixing member (52), and the two side walls of the fixing member (52) are respectively fixedly connected to the two transverse rails (47); Side panels (53), wherein two sets of side panels (53) are fixedly connected to both ends of the front side of the fixed long plate (51), and the number of each set of side panels (53) is two; An outer plate (54) is fixedly connected between the two side plates (53) in the same group; A control component (6), wherein each end of the fixed long plate (51) is provided with a control component (6) for improving the stability of the workpiece clamping; A movable component (7) is provided on the fixed long plate (51) at the rear side of the control component (6) and is used to provide a power source for the operation of the support component (8) and the limit component (9); A support assembly (8) is provided inside the fixed long plate (51) below the control assembly (6) and is used to provide support force for the control assembly (6); A limiting component (9) is provided inside the control component (6) and is used to enhance the clamping stability of the control component (6) on the workpiece.

5. The high-efficiency gripping equipment for producing automobile rocker beams according to claim 4 is characterized in that: The control component (6) comprises: A control cylinder (61), the rear side wall of the fixed long plate (51) is fixedly connected to the control cylinder (61); The piston shaft (62) is provided with a fixing hole on the fixing long plate (51), and the fixing long plate (51) is movably connected to the piston shaft (62) through the fixing hole, and one end of the control cylinder (61) is movably connected to one end of the piston shaft (62); A connecting shaft (63), wherein the other end of the piston shaft (62) is fixedly sleeved with one end of the connecting shaft (63); A connecting piece (64), the other end of the connecting shaft (63) is fixedly sleeved with the middle of the connecting piece (64), the connecting piece (64) is cross-shaped, the inner wall surface of the side plate (53) is provided with a side groove, and the side plate (53) is movably connected to the side wall of the connecting piece (64) through the side groove; A connecting plate (65), both sides of the upper half and both sides of the lower half of the connecting member (64) are movably hinged to one end of a connecting plate (65); An upper claw (66) is provided with a hinge shaft between the two side plates (53) above the outer plate (54), and the side plate (53) is movably hinged to the middle part of the upper claw (66) through the hinge shaft, one end of the upper claw (66) is movably hinged to the other end of the upper connecting plate (65), and the other end of the upper claw (66) is used to clamp the top surface of the workpiece; A transition plate (67) is provided with a hinge shaft between the two side plates (53) below the outer plate (54), and the side plates (53) are movably hinged to the middle of the transition plate (67) through the hinge shaft, and one end of the transition plate (67) is movably hinged to the other end of the lower connecting plate (65); The other end of the transition plate (67) is fixedly connected to one end of the lower claw (68), and the other end of the lower claw (68) is used to clamp the bottom surface of the workpiece.

6. The high-efficiency gripping equipment for producing automobile rocker beams according to claim 5, characterized in that: The movable component (7) comprises: A movable plate (71) is fixedly connected to the front wall of the fixed long plate (51) located at the rear side of the connecting plate (65), and two movable plates (71) are arranged inside a group of the side plates (53), and the two movable plates (71) are symmetrically arranged; A movable block (72), wherein three movable holes are vertically provided inside the movable plate (71), and the movable block (72) is movably connected to the movable plate (71) through the movable holes, and a movable groove is provided on the front wall of the fixed long plate (51) corresponding to the positions of the three movable holes, and the movable block (72) is movably connected to the fixed long plate (51) through the movable groove, and the three movable holes respectively correspond in height to the upper connecting plate (65), the middle connecting piece (64) and the lower connecting plate (65); a movable sac (73), one end of the movable sac (73) being fixedly connected to the end of the movable block (72), and the other end of the movable sac (73) being fixedly connected to the end of the movable groove, and the interior of the movable sac (73) being filled with liquid; The induction member (74) is fixedly embedded in the interior of the fixed long plate (51), and when the movable block (72) is completely retracted, the end of the movable block (72) is sleeved with the interior of the induction member (74), and the end of the movable block (72) is provided with an induction contact point; The movable tube (75) is fixedly sleeved inside the fixed long plate (51), and the inlet end of the movable tube (75) is fixedly connected to the movable bag (73), and the outlet end of the movable tube (75) is fixedly connected to the inside of the support assembly (8).

7. The high-efficiency gripping equipment for producing automobile rocker beams according to claim 6, characterized in that: The support assembly (8) comprises: A support rod (81) is provided with two fixing grooves inside the fixed long plate (51) located below the fixing hole, and the fixed long plate (51) is movably connected to the support rod (81) through the fixing grooves, the bottom end of the support rod (81) is connected to the bottom end of the fixing groove by a spring, and the bottom end of the fixing groove is fixedly connected to the outlet end of the movable tube (75); The top ends of the two support rods (81) are fixedly connected to the bottom ends of the support member (82), and the support member (82) is located below the piston shaft (62).

8. The high-efficiency gripping equipment for producing automobile rocker beams according to claim 7, characterized in that: The limiting component (9) comprises: A push plate (91), the top end of the lower claw (68) is provided with a limiting groove, and the bottom end of the limiting groove is provided with a long groove, the lower claw (68) is movably connected to the push plate (91) through the long groove, and the length of the long groove is longer than the length of the push plate (91), the top end of the push plate (91) is provided with a tooth groove, one end of the push plate (91) has an N-type magnet, and the other end of the push plate (91) has an S-type magnet; A push frame (92) is fixedly sleeved inside the fixed long plate (51) at both ends of the long slot, and both ends of the push plate (91) are movably sleeved with the push frame (92); An embedded block (93) is fixedly connected to the inner wall of the end of the push frame (92) close to the fixed long plate (51), and the embedded block (93) is an electromagnet, and after the embedded block (93) is energized, it has the same magnetism as the end of the adjacent push plate (91); An outer embedded block (94) is fixedly connected to the inner wall of the end portion of the push frame (92) away from the fixed long plate (51), and the outer embedded block (94) is made of a magnetic material and has the same magnetism as the end portion of the adjacent push plate (91). The magnetic repulsion between the outer embedded block (94) and the push plate (91) is smaller than the magnetic repulsion between the inner embedded block (93) and the push plate (91); A plurality of limiting members (95) are movably arranged in the limiting groove of the lower claw (68), and the limiting members (95) are located above the pushing plate (91).

9. The high-efficiency gripping equipment for producing automobile rocker beams according to claim 8, characterized in that: The limiting member (95) comprises: A limiting plate (951), wherein the limiting plate (951) is movably engaged in the limiting groove, and the width of the limiting plate (951) is adapted to the width of the limiting groove; A limiting column (952), wherein both ends of the lower half of the limiting column (952) are fixedly connected to the limiting column (952), and the limiting column (952) is movably sleeved with the inner wall of the limiting groove; A limiting tooth block (953), the bottom end of the limiting plate (951) is arc-shaped, and the bottom end of the limiting plate (951) does not contact the bottom end of the limiting groove, a groove is provided in the middle of the limiting plate (951), and the limiting plate (951) is fixedly connected to the limiting tooth block (953) through the groove, and the outer wall of the limiting tooth block (953) is engaged with the top end of the push plate (91); A limiting pad (954), the top end of the limiting plate (951) is fixedly connected to the limiting pad (954).

10. The gripping device for high-efficiency automobile rocker beam production according to claim 9, characterized in that: The working position and the buffer position are both provided with a reference cylinder, a push cylinder (11), an identification sensor (12) and a compensation component (13) for stabilizing the position of the workpiece. The reference cylinder is located on the right side, and the push cylinder (11) is located on the left side. The working position and the buffer position are both symmetrically provided with two identification sensors (12). The working position and the buffer position are both symmetrically provided with two compensation components (13).

Images