A kind of grabbing equipment for automobile threshold beam production

Abstract

The application relates to the technical field of grabbing equipment, and discloses a grabbing equipment for automobile door sill beam production, which comprises a grabbing mechanism, a work station is provided with a working position and a buffer position, the grabbing mechanism comprises a working frame, vertical rails, a screw servo motor and moving devices, the vertical rails are movably connected with the two groups of moving devices respectively, and the middle parts of the two groups of moving devices are movably connected with the screw servo motor. When the workpiece on the working position is completed, the upper gripper is used to lift the processed workpiece, at the same time, the lower gripper is used to move the workpiece on the buffer position to the working position, that is, the material switching is realized, then the grabbing mechanism drives the workpiece to move to the buffer position of the next work station, at the same time, the work station processes the newly placed workpiece, thereby effectively improving the carrying efficiency, realizing uninterrupted work of the marking mechanism, the riveting mechanism and the grabbing mechanism, shortening the moving time in the carrying process, thereby increasing the efficiency, improving the production line capacity.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of grabbing equipment, and in particular to grabbing equipment for automobile door sill beam production. BACKGROUND

[0002] The automobile door sill beam refers to a longitudinal reinforcing structure located at the bottom of the side of the automobile body, which is located below the door and connects the frame of the automobile body between the front wheel and the rear wheel. The door sill beam is a key component of the load-bearing structure of the automobile body and directly affects the safety, rigidity and lightweight design of the vehicle. The production line of the automobile door sill beam includes marking, riveting, welding and other work stations, and the grabbing, carrying, positioning and other tasks of the automobile door sill beam are completed by industrial robots and grabbing equipment. The industrial robot (such as a three-gripper robot arm) has the characteristics of multiple degrees of freedom, programmability and flexibility, and is commonly used in the process of transferring the automobile door sill beam from the trolley to the work station or in the process of coordinated operation with people. The grabbing equipment has the characteristics of stable structure, simple control mode and high integration, and is commonly used in the process of moving the automobile door sill beam between work stations.

[0003] With the vigorous development of the automobile industry in China, the market share of new energy vehicles is increasing year by year, and the increase in market sales will inevitably upgrade the product process. However, due to the sharp increase in sales, the previously developed door sill beam riveting production line cannot meet the customer's demand, and a door sill beam riveting production line that matches the production capacity needs to be redesigned. How to achieve efficient output of production capacity through the development of a new production line under the premise of reducing the number of operating personnel and reducing the intensity of personnel operation is the top priority in the development of the process upgrade and overall production capacity of the door sill beam.

[0004] However, the grabbing equipment on the door sill beam riveting production line still has some defects in the use process: the existing workpiece carrying adopts a single-claw grabbing equipment and cooperates with a rail for carrying. This structure consumes a lot of time in the long-stroke rail movement during carrying. During the movement and carrying period, all work stations cannot work and need to wait until the movement and carrying are completed. This way cannot meet the production capacity demand of the door sill beam with high production capacity demand, resulting in low work efficiency. SUMMARY

[0005] The application provides a grabbing equipment for automobile door sill beam production, which has the advantages of effectively improving each work station, increasing the buffer station, improving the grabbing mechanism, designing two grippers on one grabbing mechanism, realizing uninterrupted movement, shortening the movement time during carrying to increase efficiency and speed, and solving the problems of long time consumption and low work efficiency of the existing single-gripper carrying.

[0006] To achieve the above-mentioned purpose, the application adopts the following technical scheme: a grabbing equipment for automobile door sill beam production, comprising:

[0007] The work station is provided with a work position and a buffer position, the work position is located in front of the buffer position, and the work position is higher than the buffer position;

[0008] The grabbing mechanism comprises a working frame, a vertical rail, a screw servo motor and a moving device, the side wall of the working frame is fixedly provided with a vertical rail, and the vertical rail is movably connected with two groups of moving devices respectively, the middle part of the working frame is fixedly provided with a screw servo motor, and the middle part of the two groups of moving devices is movably connected with the screw servo motor, the two groups of moving devices are fixedly connected, and there is a certain space interval between the two groups of moving devices;

[0009] The upper moving device can take out the workpiece on the work position, and the lower moving device can move the workpiece on the buffer position to the work position, so as to realize material switching.

[0010] Further, the number of the grabbing mechanism is three, and each grabbing mechanism moves back and forth between two different work stations, the three grabbing mechanisms are fixedly connected, and there is a certain space interval between each other, the outer side of the grabbing mechanism is fixedly provided with a rotating motor, and the grabbing mechanism is movably connected with the ground rail through the rotating motor.

[0011] Further, the moving device comprises:

[0012] Crossed double-shaft motion linear rails, one group of the moving devices is correspondingly provided with four crossed double-shaft motion linear rails, and one side wall surface of the crossed double-shaft motion linear rails is movably connected with the side wall of the vertical rail;

[0013] A moving plate is movably arranged in the interior of the working frame, and four corners of the moving plate are fixedly connected with the four crossed double-shaft motion linear rails respectively;

[0014] A horizontal rail, the other side wall surface of the crossed double-shaft motion linear rails is movably connected with the side wall of the horizontal rail, and the horizontal rail is perpendicular to the vertical rail, and one group of the moving devices is correspondingly provided with two horizontal rails;

[0015] A gear servo motor, the moving plate is fixedly connected with a gear servo motor, one of the horizontal rails in one group of the moving devices is provided with a gear slot, and the horizontal rail is engaged with the gear servo motor through the gear slot;

[0016] A gripper, the front end of one group of the horizontal rails is fixedly provided with a gripper for clamping the workpiece.

[0017] Further, the gripper comprises:

[0018] A fixed long plate, the front side of the horizontal rail is provided with a fixed long plate;

[0019] Fixing piece, the rear side of the fixed long plate is fixedly connected with a fixing piece, and the two side walls of the fixing piece are fixedly connected with two horizontal rails respectively;

[0020] Side plate, two groups of side plates are fixedly connected to the front side of the fixed long plate at both ends, and the number of each group of side plates is two;

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

[0022] Control assembly, one control assembly is arranged at each end of the fixed long plate, for improving the stability of workpiece clamping;

[0023] Movable assembly, a movable assembly is arranged on the fixed long plate at the rear side of the control assembly, for providing power source for the work of the supporting assembly and the limiting assembly;

[0024] Supporting assembly, a supporting assembly is arranged inside the fixed long plate below the control assembly, for providing supporting force for the control assembly;

[0025] Limiting assembly, a limiting assembly is arranged inside the control assembly, for enhancing the clamping stability of the control assembly to the workpiece.

[0026] Further, the control assembly comprises:

[0027] Control cylinder, a control cylinder is fixedly connected to the rear side wall of the fixed long plate;

[0028] Piston shaft, a fixed hole is formed in the fixed long plate, and the fixed long plate is movably sleeved with the piston shaft through the fixed hole, and one end of the control cylinder is movably sleeved with one end of the piston shaft;

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

[0030] Connecting piece, the other end of the connecting shaft is fixedly sleeved with the middle part of a connecting piece, the connecting piece is in the shape of a cross, and the inner wall surface of the side plate is provided with a side groove, and the side plate is movably clamped with the side wall of the connecting piece through the side groove;

[0031] Connecting plate, the upper half of the two sides and the lower half of the two sides of the connecting piece are movably hinged with one end of a connecting plate;

[0032] Upper claw, a hinge shaft is arranged between the two side plates above the outer plate, and the side plates are movably hinged with the middle part of the upper claw through the hinge shaft, one end of the upper claw is movably hinged with the other end of the upper connecting plate, and the other end of the upper claw is used for clamping the top surface of the workpiece;

[0033] The transition plate is movably connected with the two side plates through the hinge shafts, and one end of the transition plate is movably connected with the other end of the lower connecting plate.

[0034] The lower claw is fixedly connected with the other end of the transition plate, and the other end of the lower claw is used for clamping the bottom surface of the workpiece.

[0035] By arranging the control assembly on the gripper, and the control assembly being composed 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 piston shaft can be controlled to extend or retract by the control cylinder, so as 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, and when the connecting piece and the connecting plates above and below the connecting piece are in the same vertical plane, the control assembly is self-locked, so that the gripper stably grasps the workpiece, and the stability of the workpiece movement is improved.

[0036] Further, the movable assembly comprises:

[0037] The movable plate is fixedly connected with the front wall of the fixed long plate on the rear side of the connecting plate, and a group of the side plates are internally provided with two movable plates which are symmetrically arranged;

[0038] The movable block is vertically provided with three movable holes in the interior of the movable plate, and the movable block is movably sleeved with the movable plate through the movable holes, the front wall of the fixed long plate is provided with a movable slot corresponding to the positions of the three movable holes, and the movable block is movably sleeved with the fixed long plate through the movable slot, and the three movable holes are respectively corresponding in height to the connecting plate above, the connecting piece in the middle and the connecting plate below;

[0039] The movable capsule is fixedly connected at one end with the end portion of the movable block, and at the other end with the end portion of the movable slot, and the interior of the movable capsule is filled with liquid;

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

[0041] The movable tube is fixedly sleeved in the interior of the fixed long plate, and the inlet end of the movable tube is fixedly communicated with the movable capsule, and the outlet end of the movable tube is fixedly communicated with the interior of the supporting assembly.

[0042] Further, the supporting assembly comprises:

[0043] The support rod is movably sleeved with the fixed long plate through the fixed slot, the bottom end of the support rod is connected with the bottom end of the fixed slot through a spring, and the bottom end of the fixed slot is fixedly communicated with the outlet end of the movable tube.

[0044] The support member is fixedly connected with the top end of the two support rods and is located below the piston shaft.

[0045] The support member is fixedly connected with the top end of the two support rods and is located below the piston shaft.

[0046] Further, the limiting assembly comprises:

[0047] The top end of the lower claw is provided with a limiting slot, and the bottom end of the limiting slot is provided with a long slot, the lower claw is movably clamped with the push plate through the long slot, the length of the long slot is longer than the length of the push plate, the top end of the push plate is provided with a tooth groove, one end of the push plate is provided with N magnetic property, and the other end of the push plate is provided with S magnetic property.

[0048] The fixed long plate is movably sleeved with the push plate through the push frame.

[0049] The end wall of the push frame close to the fixed long plate is fixedly connected with an embedded block, the embedded block is an electromagnet, and the embedded block has the same magnetic property as the end of the adjacent push plate after being electrified.

[0050] The end wall of the push frame away from the fixed long plate is fixedly connected with an embedded block, the embedded block is a magnet material, and the embedded block has the same magnetic property as the end of the adjacent push plate, the magnetic repulsion force between the embedded block and the push plate is smaller than the magnetic repulsion force between the embedded block and the push plate.

[0051] The limiting member is movably arranged in the limiting slot of the lower claw and is located above the push plate.

[0052] Further, the limiting member comprises:

[0053] The limiting plate is movably clamped in the limiting groove, and the width of the limiting plate is adapted to the width of the limiting groove;

[0054] The lower half of the limiting column is fixedly connected with the limiting column at both ends, and the limiting column is movably sleeved with the inner wall of the limiting groove;

[0055] The bottom end of the limiting plate is arc-shaped, and the bottom end of the limiting plate is not in contact with the bottom end of the limiting groove. A groove is formed in the middle of the limiting plate, and the limiting plate is fixedly connected with the limiting tooth block through the groove. The outer wall of the limiting tooth block is engaged with the top end of the pushing plate;

[0056] The top end of the limiting plate is fixedly connected with the limiting pad.

[0057] By setting the limiting groove at the top end of the lower claw, and setting the limiting assembly composed of the pushing plate, the pushing frame, the embedded block, the outer embedded block and the limiting piece in the limiting groove, when the upper claw and the lower claw are in the expanded state, the embedded block is not electrified, so that the pushing plate moves under the magnetic repulsion force of the outer embedded block, thereby pushing the limiting piece to rotate counterclockwise into the limiting groove. When the upper claw and the lower claw are in the contracted state, the movable block is in contact with the inductive piece, the inductive piece is in contact with the inductive piece, and the inductive piece is in contact with the inductive piece. The embedded block is electrified, the pushing plate moves under the magnetic repulsion force of the embedded block, thereby pushing the limiting piece to rotate clockwise, so as to provide a inward tendency pushing force to the lower surface of the workpiece, thereby preventing the downward tendency of the workpiece and the gripper during the lifting process of the gripper clamping the workpiece. The inertia caused by the weight of the workpiece itself is prevented, the stability of the workpiece when being clamped and lifted is enhanced, and the situation that the workpiece falls off is avoided.

[0058] Further, the working position and the buffer position are both provided with a reference air cylinder, a pushing air cylinder, an identification inductor and a compensation assembly, which are used for stable limiting of the workpiece. The reference air cylinder is located on the right side, and the pushing air cylinder is located on the left side. The working position and the buffer position are both symmetrically provided with two identification inductors, and the working position and the buffer position are both symmetrically provided with two compensation assemblies.

[0059] By setting the pushing air cylinder, the identification inductor and the compensation assembly on the working position and the buffer position of each work station, the length of the pushing air cylinder is used to trigger the magnetic switch at different positions of the pushing air cylinder, and the signal is received, thereby distinguishing two different types of workpieces. After the magnetic switch of the pushing air cylinder identifies different types of workpieces, because the same type of workpiece is a mirror image, the identification inductor can identify the left and right pieces of the same type of workpiece by detecting whether there is a hole on the profile surface. Finally, after all the judgments are completed, the compensation assembly is used to adjust the angle to compensate for one type of workpiece, thereby improving the stability of the workpiece placement. Thus, the automatic switching function of 2 models and 4 door sill beams is realized, which can automatically switch programs with products, realize one machine with multiple materials, and realize flexible production.

[0060] The application has the following advantages:

[0061] The application provides a grabbing device for automobile threshold beam production, which is characterized in that buffer positions and working positions are arranged on each work station, the marking mechanism is composed of a marking workbench and a marking buffer table, the riveting mechanism is composed of a riveting workbench and a buffer material placing table, and the grabbing mechanism is improved, so that two groups of mobile devices with grippers are arranged in the working frame, the lead screw servo motor can control the two groups of mobile devices to move vertically synchronously, and the grippers in the two groups of mobile devices can move transversely asynchronously, so that when the workpiece on the working position is completed, 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 buffer position to the working position, so as to realize material switching, and then the grabbing mechanism drives the workpiece to move to the buffer position of the next work station, and at the same time, the work station processes the newly placed workpiece, so as to effectively improve the carrying efficiency, realize uninterrupted work of the marking mechanism, the riveting mechanism and the grabbing mechanism, shorten the moving time in the carrying process, thereby increasing efficiency and speed, improving the production line capacity, and setting an industrial robot on the production line of the automobile threshold beam, using the high efficiency, precision and flexibility of the industrial robot, dynamically optimizing the action process of the industrial robot according to the running speed and running track of the grabbing mechanism, and dynamically cooperating with the grabbing mechanism to realize the processing and transfer of the workpiece on the production line, so as to effectively reduce the delay between production links, reduce the time waste in the workpiece transfer process, further increase efficiency and speed, and improve the production line capacity. BRIEF DESCRIPTION OF DRAWINGS

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of the provided drawings:

[0063] Figure 1 It is a perspective view of the whole structure in the application;

[0064] Figure 2 It is a perspective view of the marking mechanism without workpiece in the application;

[0065] Figure 3 It is an enlarged view of A in the application; Figure 2

[0066] Figure 4 It is a perspective view of the compensation assembly in the application;

[0067] Figure 5 It is a perspective view of the riveting mechanism without workpiece in the application;

[0068] ​Figure 6 isometric view of the ground rail and multiple gripping mechanisms in the present application;

[0069] Figure 7 isometric view of a gripping mechanism in the present application;

[0070] Figure 8 isometric view of a gripping mechanism without a cross rail, a cross direction drag chain and a gripper in the present application;

[0071] Figure 9 isometric view of a cross rail, a cross direction drag chain and a gripper in the present application;

[0072] Figure 10 isometric view of a gripper in the present application;

[0073] Figure 11 isometric view of a control assembly in the present application;

[0074] Figure 12 isometric view of a gripper in the present application;

[0075] Figure 13 isometric view of a gripper in the present application; Figure 12

[0076] Figure 14 isometric view of a gripper in the present application; Figure 12

[0077] Figure 15 isometric view of a gripper in the present application;

[0078] Figure 16 isometric view of a gripper in the present application;

[0079] Figure 17 isometric view of a gripper in the present application; Figure 16

[0080] Figure 18 isometric view of a movable assembly and a support assembly in the present application;

[0081] Figure 19 isometric view of a movable assembly and a support assembly in the present application;

[0082] ​​​In the figure: 1, ground rail; 11, pushing cylinder; 12, identification inductor; 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 stand; 32, riveting workbench; 33, buffer feeding table; 34, riveting device; 4, grabbing mechanism; 41, working frame; 42, vertical rail; 43, cross double-shaft movement 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 plate; 52, fixed part; 53, side plate; 54, outer plate; 6, control assembly; 61, control cylinder; 62, piston shaft; 63, connecting shaft; 64, connecting part; 65, connecting plate; 66, upper jaw; 67, transition plate; 68, lower jaw; 7, movable assembly; 71, movable plate; 72, movable block; 73, movable bag; 74, inductor; 75, movable tube; 8, supporting assembly; 81, supporting rod; 82, supporting part; 9, limiting assembly; 91, pushing plate; 92, pushing frame; 93, inlaid block; 94, outer inlaid block; 95, limiting part; 951, limiting plate; 952, limiting column; 953, limiting tooth block; 954, limiting pad. DETAILED DESCRIPTION

[0083] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0084] Embodiment one, a grabbing device for automobile door sill beam production, comprising a ground rail 1, such as Figure 1 , Figure 6 The top end of the ground rail 1 is provided with three grabbing mechanisms 4, and each grabbing mechanism 4 moves 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 have a certain space interval between each other. The outer side of the grabbing mechanism 4 is fixedly provided with a rotary motor, and the grabbing mechanism 4 is movably connected with the ground rail 1 through the rotary motor. The rotary motor can drive the three grabbing mechanisms 4 to move horizontally on the ground rail 1 synchronously, thereby realizing the back-and-forth movement of the grabbing mechanism 4 between the two workstations.

[0085] As shown in Figure 1 , Figures 6-9The grabbing mechanism 4 comprises a working frame 41, a vertical rail 42, a screw servo motor 45 and a moving device, the top and bottom ends of the working frame 41 facing the work station are provided with roll-up curtain protective covers, so that the cross-over double-shaft movement rail 43, the screw servo motor 45 and the gear servo motor 48 are effectively protected when the grabbing mechanism 4 is not working, dust and debris are prevented from entering the grabbing mechanism 4 when the work station is working, and the service life is affected, the vertical rail 42 is fixedly arranged on the side wall of the working frame 41 and is movably connected with two groups of moving devices, the moving device is limited by the vertical rail 42, and the moving device can move vertically in the working frame 41, the screw servo motor 45 is fixedly arranged in the middle of the working frame 41, and the middle of the two groups of moving devices is movably connected with the screw servo motor 45, when the screw servo motor 45 is started and rotates forward, the two groups of moving devices are driven to move upward, when the screw servo motor 45 is started and rotates reversely, the two groups of moving devices are driven to move downward, a speed reducer is arranged on the screw servo motor 45, the stability of the rotation of the screw servo motor 45 is effectively ensured, the two groups of moving devices are fixedly connected, and there is a certain space interval between the two groups of moving devices, so that the two groups of moving devices can clamp two workpieces respectively and do not affect each other.

[0086] As Figures 6-9 The moving device comprises the cross-over double-shaft movement rail 43, the moving plate 44, the horizontal rail 47, the gear servo motor 48 and the gripper 5, one group of moving devices is provided with four cross-over double-shaft movement rails 43, one side wall surface of the cross-over double-shaft movement rail 43 is movably connected with the side wall of the vertical rail 42, the moving plate 44 is movably arranged in the working frame 41, and four corners of the moving plate 44 are fixedly connected with the four cross-over double-shaft movement rails 43, so that the vertical movement of the moving plate 44 is provided by the cross-over double-shaft movement rail 43, the middle of the moving plate 44 is movably connected with the screw servo motor 45, the screw servo motor 45 is reversely rotated, and the moving plate 44 is vertically moved upward or downward, the other side wall surface of the cross-over double-shaft movement rail 43 is movably connected with the side wall of the horizontal rail 47, the horizontal rail 47 is perpendicular to the vertical rail 42, one group of moving devices is provided with two horizontal rails 47, so that the horizontal movement of the horizontal rail 47 is provided by the cross-over double-shaft movement rail 43, the gear servo motor 48 is fixedly connected with the moving plate 44, a gear slot is formed in the side wall of one of the horizontal rails 47 in one group of moving devices, the horizontal rail 47 is engaged with the gear servo motor 48 through the gear slot, the gear servo motor 48 is reversely rotated, and the horizontal rail 47 is horizontally moved forward or backward, a speed reducer is arranged on the gear servo motor 48, the stability of the rotation of the gear servo motor 48 is effectively ensured, and one group of horizontal rails 47 is provided with one gripper 5 at the front end, for clamping the workpiece.

[0087] As Figures 7-9The vertical drag chain 46 and the horizontal drag chain 49 are arranged in the grabbing mechanism 4, one outer wall of the moving plate 44 is fixedly connected with a supporting plate, the moving plate 44 is fixedly connected with one end of the vertical drag chain 46 through the supporting plate, the outer wall of the working frame 41 is fixedly connected with a supporting plate, the working frame 41 is fixedly connected with the other end of the vertical drag chain 46 through the supporting plate, the outer wall of the two moving plates 44 is fixedly connected with a supporting plate, the moving plate 44 is movably connected with one end of the horizontal drag chain 49 through the supporting plate, the outer wall of the gripper 5 is fixedly connected with a supporting plate, and the gripper 5 is movably connected with the other end of the horizontal drag chain 49 through the supporting plate, the vertical drag chain 46 and the horizontal drag chain 49 are arranged, the wiring and the gas pipe can be stored, and the wiring and the gas pipe are prevented from being affected during movement.

[0088] As Figure 2 and Figure 5 The work station is provided with a working position and a buffer position, the working position is located in front of the buffer position, the working position is higher than the buffer position, and the top of the working position and the buffer position can place workpieces.

[0089] When the workpiece on the working position is completed, the workpiece on the working position is taken out by the upper moving device, and the workpiece on the buffer position is moved to the working position by the lower moving device, so that the material switching is realized, then the grabbing mechanism 4 drives the finished workpiece to move to the buffer position of the next work station, and the workpiece placed on the working position is processed, so that the carrying efficiency is effectively improved, the marking mechanism 2, the riveting mechanism 3 and the grabbing mechanism 4 work continuously, the moving time in the carrying process is shortened, the efficiency is improved, and the production line capacity is improved.

[0090] In the embodiment two, on the basis of the embodiment one, as Figure 2 and Figure 5 The work station includes the marking mechanism 2 and the riveting mechanism 3, and the riveting mechanism 3 is located at the next station of the marking mechanism 2, that is, the workpiece is first marked and then riveted.

[0091] As Figure 2The marking mechanism 2 comprises a marking workbench 21, a marking buffer table 22 and a marking device 23. The marking workbench 21 is located away from the grabbing mechanism 4, and the marking buffer table 22 is located 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 the grabbing mechanism 4 can conveniently switch the 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 23 is arranged in the space between the two marking workbenches 21 and the two marking buffer tables 22. The two-dimensional code can be marked on the surface of each workpiece by using the marking device 23. Because the product information and the riveting related information need to be bound one by one during the operation, the specific material needs to be identified to ensure the uniqueness of each product information. However, the information of each product, such as the riveting quantity, is different. At this time, it is necessary to identify which material is specific, and the program is switched to correspond to the riveting program to ensure that the riveting quantity is correct. Then, the riveting information, such as the number of pull rivets and the quality of pull rivets, is bound to the two-dimensional code. In the future, all the operation information of the product can be called out by scanning the code.

[0092] As shown in Figure 5 , the riveting mechanism 3 comprises a working column 31, a riveting workbench 32, a buffer storage table 33 and a riveting device 34. The number of the working column 31 is two, and the inner side of the working column 31 is provided with the riveting workbench 32. The two riveting workbenches 32 can be controlled to be variable and inverted, so as to drive the workpiece to be inverted synchronously, thereby realizing the omnibearing processing of the workpiece. The riveting workbench 32 is located away from the grabbing mechanism 4, and the buffer storage table 33 is located close to the grabbing mechanism 4. The height of the buffer storage table 33 is lower than that of the riveting workbench 32, so that the grabbing mechanism 4 can conveniently switch the materials between the riveting workbench 32 and the buffer storage table 33. The top end of the working column 31 is provided with the riveting device 34. The operator can perform the riveting operation on the workpiece by using the riveting device 34.

[0093] As shown in Figures 2-4 , the working position and the buffer position are both provided with a reference air cylinder, a material pushing air cylinder 11, an identification sensor 12 and a compensation assembly 13, which are used for stably positioning the workpiece.

[0094] As shown in Figure 3 , the reference air cylinder is located on the right side, and the material pushing air cylinder 11 is located on the left side. The lengths pushed out by the reference air cylinders are the same, and one end of the workpiece is attached to the reference air cylinder. The lengths pushed out by the material pushing air cylinders 11 can be different, and the other end of the workpiece is attached to the material pushing air cylinder 11. For the identification of the two types of workpieces, because the types of the workpieces are different, the lengths are also different. Therefore, three magnetic switches are arranged on the material pushing air cylinder 11. The positions of the different workpieces pushed by the material pushing air cylinder 11 are different, which triggers the magnetic switches at different positions, and then receives the signals, so that the two different types of workpieces can be distinguished.

[0095] As Figure 3 , two recognition sensors 12 are symmetrically arranged on the working position and the buffer position, and the left and right pieces of the same workpiece are recognized after the magnetic switch of the pushing cylinder 11 recognizes different types of workpieces. Because the same workpiece is a mirror image, the recognition sensor 12 can recognize the left and right pieces of the same workpiece by detecting whether the profile surface has a hole.

[0096] As Figures 3-4 , two compensation assemblies 13 are symmetrically arranged on the working position and the buffer position, and the adjustment angle of the compensation assembly 13 is adjusted to compensate the workpiece and improve the stability of the workpiece placement when the workpiece is not attached to the compensation assembly 13 after the above recognition. For specific compensation assembly 13, the compensation assembly 13 is composed 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 the other end of the compensation block 132 is provided with a compensation hole. The wall surface of the compensation seat 131 is fixedly provided with the compensation cylinder 133, and the compensation cylinder 133 is movably sleeved in the compensation hole of the compensation block 132. When compensation is needed, 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] In example three, on the basis of example two, as Figure 10 , the gripper 5 includes a fixed long plate 51, a fixed piece 52, a side plate 53, an outer plate 54 and a control assembly 6. The front side of the cross rail 47 is provided with the fixed long plate 51, the rear side of the fixed long plate 51 is fixedly connected with the fixed piece 52, and the two side walls of the fixed piece 52 are respectively fixedly connected with the two cross rails 47, so that the cross rail 47 can drive the gripper 5 to move horizontally synchronously. The front two ends of the fixed long plate 51 are fixedly connected with two groups of side plates 53, and the number of each group of side plates 53 is two. The outer wall of the side plate 53 is fixedly provided with the recognition sensor 12, and one recognition sensor 12 is provided corresponding to one gripper 5. The recognition sensor 12 can detect the workpiece to confirm the type of the workpiece. The two side plates 53 in the same group are fixedly connected with the outer plate 54, so as to provide space for the setting of the control assembly 6.

[0098] As Figure 11 , one control assembly 6 is arranged at each end of the fixed long plate 51 to improve the stability of the workpiece clamping. The control assembly 6 includes a control cylinder 61, a piston shaft 62, a connecting shaft 63, a connecting piece 64, a connecting plate 65, an upper jaw 66, a transition plate 67 and a lower jaw 68. As Figures 12-17The rear side wall surface of the fixed long plate 51 is fixedly connected with a control cylinder 61, the fixed long plate 51 is provided with a fixed hole, and the fixed long plate 51 is movably sleeved with the piston shaft 62 through the fixed hole. No matter whether the piston shaft 62 is extended outward or retracted inward, a part of the piston shaft 62 is ensured to be located in the fixed hole of the fixed long plate 51. One end of the control cylinder 61 is movably sleeved with one end of the piston shaft 62, the other end of the piston shaft 62 is fixedly sleeved with one end of a connecting shaft 63, the other end of the connecting shaft 63 is fixedly sleeved with the middle part of a connecting piece 64, the connecting piece 64 is in the shape of a cross, the inner wall surface of the side plate 53 is provided with a side groove, and the side plate 53 is movably clamped with the side wall of the connecting piece 64 through the side groove, so as to effectively limit the moving range of the outer plate 54 and ensure the stability of the movement of the outer plate 54. Thus, the control cylinder 61 can drive the piston shaft 62 and the connecting shaft 63 to retract inward or extend outward, and then drive the connecting piece 64 to move horizontally synchronously. The upper half of the two sides of the connecting piece 64 and the lower half of the two sides are movably hinged with one end of a connecting plate 65. The two side plates 53 located above the outer plate 54 are provided with a hinge shaft, and the side plates 53 are movably hinged with the middle part of the upper claw 66 through the hinge shaft. One end of the upper claw 66 is movably hinged with the other end of the upper connecting plate 65, and the other end of the upper claw 66 is used for clamping the top surface of the workpiece. The two side plates 53 located below the outer plate 54 are provided with a hinge shaft, and the side plates 53 are movably hinged with the middle part of the transition plate 67 through the hinge shaft. One end of the transition plate 67 is movably hinged with the other end of the lower connecting plate 65, the other end of the transition plate 67 is fixedly connected with one end of the lower claw 68, and the other end of the lower claw 68 is used for clamping the bottom surface of the workpiece. When the connecting piece 64 moves towards the direction of the outer plate 54, the two connecting plates 65 are effectively driven to tilt, and then the upper claw 66 and the lower claw 68 are controlled to expand, so as to facilitate the expansion of the upper claw 66 and the lower claw 68 to wrap around the outside of the workpiece. When the connecting piece 64 moves away from the direction of the outer plate 54, the two connecting plates 65 are effectively driven to tilt in the opposite direction, and then the upper claw 66 and the lower claw 68 are controlled to retract, so as to facilitate the retraction of the upper claw 66 and the lower claw 68 to clamp the workpiece. It should be noted that when clamping the workpiece, the connecting piece 64 needs to be controlled to move to a specified position, that is, the connecting piece 64 and the upper and lower connecting plates 65 thereabove and therebelow are located in the same vertical plane, so as to realize the self-locking of the control assembly 6, and then the gripper 5 can stably grasp the workpiece, and the stability of the movement of the workpiece is improved.

[0099] In the embodiment four, on the basis of the embodiment three, the gripper 5 further comprises a movable assembly 7 and a supporting assembly 8, specifically:

[0100] As Figures 12-13 , Figures 15-18The movable assembly 7 is arranged on the fixed long plate 51 at the rear side of the control assembly 6, and is used to provide a power source for the work of the supporting assembly 8 and the limiting assembly 9. The movable assembly 7 comprises a movable plate 71, a movable block 72, a movable bag 73 and a movable pipe 75. The movable plate 71 is fixedly connected to the front wall of the fixed long plate 51 at the rear side of the connecting plate 65. A set of side plates 53 is internally provided with two movable plates 71, and the two movable plates 71 are symmetrically arranged and can fill the space gap between the fixed long plate 51 and the connecting piece 64 and the connecting plate 65. When the connecting piece 64 drives the connecting plate 65 to move to adhere to the movable plate 71, a self-locking state of the control assembly 6 is formed, thereby facilitating the self-locking of the connecting piece 64 and the connecting plate 65. The movable plate 71 is internally vertically provided with three movable holes, 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 is provided with a movable groove corresponding to the positions of the three movable holes, and the movable block 72 is movably sleeved with the fixed long plate 51 through the movable groove. The movable block 72 can move in the channel formed by the movable holes and the movable groove according to the requirements, thereby providing power for the movement of the supporting assembly 8 and the limiting assembly 9. The three movable holes are respectively corresponding to the heights of the upper connecting plate 65, the middle connecting piece 64 and the lower connecting plate 65, thereby effectively detecting whether the connecting piece 64 and the connecting plates 65 above and below the connecting piece 64 all reach the specified positions, that is, detecting whether the connecting piece 64 and the connecting plates 65 above and below the connecting piece 64 are in the self-locking state. One end of the movable bag 73 is fixedly connected to the end of the movable block 72, and the other end of the movable bag 73 is fixedly connected to the end of the movable groove. The movable bag 73 is internally filled with liquid. When the movable bag 73 is compressed, the liquid in the movable bag 73 is transferred out of the movable bag 73. When the compression force of the movable bag 73 disappears, it can help the liquid to return to the movable bag 73. The movable pipe 75 is fixedly sleeved in the fixed long plate 51, and the inlet end of the movable pipe 75 is fixedly communicated with the movable bag 73. The outlet end of the movable pipe 75 is fixedly communicated with the inside of the supporting assembly 8, thereby realizing the movement of the liquid between the movable bag 73 and the supporting assembly 8 by using the movable pipe 75. When the movable bag 73 is compressed by the control assembly 6, the liquid in the movable bag 73 can enter the supporting assembly 8 through the movable pipe 75. When the movable bag 73 is not affected by the control assembly 6, the liquid can return to the movable bag 73 under the action of the supporting assembly 8, so that the movable bag 73 is relaxed to the original full state.

[0101] As Figures 12-13 , Figures 15-18The fixed long plate 51 below the control assembly 6 is internally provided with a supporting assembly 8 for providing supporting force for the control assembly 6, the supporting assembly 8 comprises a supporting rod 81 and a supporting piece 82, two fixed grooves are formed in the inside of the fixed long plate 51 below the fixed hole, and the fixed long plate 51 is movably sleeved with the supporting rod 81 through the fixed grooves, the bottom end of the supporting rod 81 and the bottom end of the fixed groove are connected through a spring, and the bottom end of the fixed groove of the fixed long plate 51 is fixedly communicated with 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 the fixed groove through the movable tube 75, so as to effectively push the supporting rod 81 to move upwards, when the movable bag 73 is not affected by the control assembly 6, the supporting rod 81 moves under the action of the spring, so as to push the liquid back into the movable bag 73, so that the movable bag 73 is relaxed to the original state of filling, the top end of the two supporting rods 81 is fixedly connected with the bottom end of the supporting piece 82, and the supporting piece 82 is below the piston shaft 62, so that after the supporting rod 81 pushes the supporting piece 82 to move upwards, the supporting piece 82 can effectively support the piston shaft 62, thereby reducing the influence of gravity on the piston shaft 62, and relieving the deformation of the piston shaft 62 due to long-term compression of gravity.

[0102] In example five, on the basis of example four, the movable assembly 7 further comprises a sensing piece 74, such as Figures 12-13 、 Figures 15-18 The inside of the fixed long plate 51 is fixedly embedded with the sensing piece 74, and the end of the movable block 72 is sleeved with the inside of the sensing piece 74 when the movable block 72 is completely retracted, 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 with the sensing piece 74, that is, the control assembly 6 is in the self-locking state, the sensing piece 74 will transmit the sensing signal to the control system, so as to trigger the limiting assembly 9 to start.

[0103] As Figure 12 、 Figure 14 、 Figure 18The gripper 5 further comprises a limiting assembly 9 arranged inside the control assembly 6, for enhancing the clamping stability of the control assembly 6 on the workpiece. The limiting assembly 9 comprises a pushing plate 91, a pushing frame 92, an inner embedding block 93, an outer embedding block 94 and a limiting piece 95. 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 with the pushing plate 91 through the long groove, and the length of the long groove is longer than that of the pushing plate 91, so that the pushing plate 91 can move in the long groove and help drive the limiting piece 95 to move. The top end of the pushing plate 91 is provided with a tooth groove, which can help the pushing limiting piece 95 to rotate. One end of the pushing plate 91 is provided with N-type magnetism, and the other end of the pushing plate 91 is provided with S-type magnetism, which can help the pushing plate 91 to move. The inner part of the fixed long plate 51 at both ends of the long groove is fixedly sleeved with the pushing frame 92, and the two ends of the pushing plate 91 are movably sleeved with the pushing frame 92. No matter how the pushing plate 91 moves, the two ends of the pushing plate 91 are movably sleeved with the pushing frame 92. The end wall of the pushing frame 92 close to the fixed long plate 51 is fixedly connected with the inner embedding block 93. The inner embedding block 93 is an electromagnet, and the inner embedding block 93 has the same magnetism as the end of the adjacent pushing plate 91 after being electrified. The end wall of the pushing frame 92 away from the fixed long plate 51 is fixedly connected with the outer embedding block 94. The outer embedding block 94 is made of magnet material, and has the same magnetism as the end of the adjacent pushing plate 91, so that the outer embedding block 94 always exerts magnetic repulsion on the pushing plate 91. The magnetic repulsion between the outer embedding block 94 and the pushing plate 91 is smaller than that between the inner embedding block 93 and the pushing plate 91. When the inner embedding block 93 is not electrified, the magnetic repulsion between the pushing plate 91 and the outer embedding block 94 pushes the pushing plate 91 away from the outer embedding block 94. When the inner embedding block 93 is electrified, the magnetic repulsion between the pushing plate 91 and the inner embedding block 93 overcomes the magnetic repulsion between the pushing plate 91 and the outer embedding block 94, so as to push the pushing plate 91 away from the inner embedding block 93. A plurality of limiting pieces 95 are movably arranged in the limiting groove of the lower claw 68 and above the pushing plate 91.

[0104] As Figure 18The limiting piece 95 comprises a limiting plate 951, a limiting column 952, a limiting tooth block 953 and a limiting pad 954, the limiting plate 951 is movably clamped in 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 arranged in the limiting groove, and effectively improves the sufficiency of the contact of the limiting plate 951 with the lower surface of the workpiece, the lower half of the limiting column 952 is fixedly connected at both ends of the limiting column 952, and the limiting column 952 is movably sleeved with the inner wall of the limiting groove, so that the limiting plate 951 can rotate around the limiting column 952, and then the limiting column 952 can swing, 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 normally rotate in the limiting groove, a groove is formed in the middle of the limiting plate 951, and the limiting plate 951 is fixedly connected with 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, and the horizontal movement of the pushing plate 91 can drive the limiting tooth block 953 to rotate, specifically, when the pushing plate 91 moves towards the inward block 93, the lower half of the limiting plate 951 swings towards the inward block 93, the upper half of the limiting plate 951 swings towards the outward block 94, that is, the upper half of the limiting plate 951 is rotated counterclockwise in the limiting groove, thereby preparing for subsequent application of an inward pushing force to the workpiece, when the pushing plate 91 moves towards the outward block 94, the lower half of the limiting plate 951 swings towards the outward block 94, the upper half of the limiting plate 951 swings towards the inward block 93, that is, the upper half of the limiting plate 951 is rotated clockwise until it can be rotated vertically, thereby providing an inward pushing force to the lower surface of the workpiece, thereby preventing the workpiece from sliding downward between the workpiece and the gripper 5 due to the inertia of the weight of the workpiece itself during the lifting process of the gripper 5 clamping the workpiece, enhancing the stability of the workpiece when being clamped and lifted, avoiding the situation that the workpiece falls off, the top end of the limiting plate 951 is fixedly connected with the limiting pad 954, and the limiting pad 954 effectively increases the contact area between the limiting piece 95 and the workpiece, and enhances the friction effect between the limiting piece 95 and the workpiece, so that the limiting piece 95 can stably apply a pushing force to the workpiece.

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

[0106] Firstly, the workpiece is taken out from the trolley by the industrial robot and transferred to the manual buffer station, then the workpiece is taken out from the manual buffer station by the grabbing mechanism 4 and sequentially transferred to the marking mechanism 2 and the riveting mechanism 3, finally, the workpiece after marking and riveting is put into the next production process under the action of the grabbing mechanism 4.

[0107] When the workpiece on the work station has finished processing, the driving of the grabbing mechanism 4 is located at the work station, then the driving of the two grippers 5 moves transversely to clamp the workpiece on the work station and the workpiece on the buffer station, then the driving of the two grippers 5 moves vertically upward to place the workpiece on the buffer station on the work station, while lifting the workpiece on the work station, then the driving of the two grippers 5 moves transversely back, after that the driving of the grabbing mechanism 4 moves to the next work station and places the workpiece taken from the work station on the buffer station of the next work station, while the workpiece transferred from the buffer station to the work station is processed, thereby effectively improving the carrying efficiency, realizing uninterrupted work of the marking mechanism 2, the riveting mechanism 3 and the grabbing mechanism 4, shortening the moving time in the carrying process, thereby increasing efficiency and speed, and improving the production line capacity.

[0108] In the process of placing the workpiece on the buffer station or the work station, first, one end of the workpiece is attached to the reference cylinder, then the control of the pushing cylinder 11 is started, the other end of the workpiece is attached to the pushing cylinder 11, because the lengths of different types of workpieces are different, the pushing cylinder 11 can push out different lengths, thereby triggering the magnetic switch at different positions on the pushing cylinder 11 and receiving signals, thereby distinguishing two different types of workpieces, after the magnetic switch of the pushing cylinder 11 identifies different types of workpieces, because the same type of workpieces are mirror images of each other, the recognition sensor 12 can identify the left and right pieces of the same type of workpiece by detecting whether there is a hole on the profile surface, finally, after all judgments are completed, the angle is adjusted by using the compensation assembly 13 to compensate the workpiece, thereby improving the stability of the workpiece placement, thereby realizing the automatic switching function of the 2 models of 4 threshold beams, which can automatically switch with the program according to the product, realize one machine with multiple materials, and flexible production.

[0109] When the gripper 5 needs to clamp the workpiece, first, the control cylinder 61 is started to drive the connecting piece 64 to move towards the outer plate 54, and the connecting plate 65 and the transition plate 67 are connected, thereby expanding the upper claw 66 and the lower claw 68, so that the upper claw 66 and the lower claw 68 can be pushed above and below the workpiece, thereby preparing for wrapping and clamping the workpiece, then the control cylinder 61 is started in reverse to drive the connecting piece 64 to move towards the fixed long plate 51, and the connecting plate 65 and the transition plate 67 are connected, thereby realizing the contraction of the upper claw 66 and the lower claw 68, so that the upper claw 66 and the lower claw 68 effectively clamp the workpiece, and when the connecting piece 64 and the connecting plate 65 above and below it are in the same vertical plane, the control assembly 6 is self-locked, thereby realizing stable grabbing of the workpiece by the gripper 5 and improving the stability of the workpiece movement.

[0110] When the control assembly 6 is in the process of contraction and self-locking, the connecting piece 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 capsule 73, so that the liquid in the movable capsule 73 is transferred to the lower part of the supporting rod 81, effectively pushing the supporting rod 81 and the support 82 to lift, so that the support 82 can effectively support the piston shaft 62 when clamping the workpiece, thereby reducing the influence of gravity on the piston shaft 62 and relieving the deformation of the piston shaft 62 due to long-term compression by gravity.

[0111] When the control assembly 6 is in the process of expansion, the movable block 72 moves out of contact with the inductive piece 74, so that the inlaid block 93 is not electrified, thereby making the pushing plate 91 move in the direction of the inlaid block 93 under the magnetic repulsion of the outer inlaid block 94, and then pushing the limiting piece 95 to rotate counterclockwise, so that the upper half of the limiting piece 95 is rotated into the limiting groove. When the control assembly 6 is in the process of contraction and the control assembly 6 is self-locked, the movable block 72 moves in and contacts the inductive piece 74, and the inductive piece 74 is inducted to electrify the inlaid block 93. The pushing plate 91 moves in the direction of the outer inlaid block 94 under the magnetic repulsion of the inlaid block 93, thereby pushing the limiting piece 95 to rotate clockwise, so that the upper half of the limiting piece 95 is rotated to abut against the lower surface of the workpiece, to provide an inward tendency of pushing force to the lower surface of the workpiece, thereby preventing the workpiece from sliding downward between the gripper 5 and the workpiece due to the inertia of the weight of the workpiece during the process of lifting the workpiece clamped by the gripper 5, enhancing the stability of the workpiece when it is clamped and lifted, and avoiding the situation of the workpiece falling off.

[0112] The above description of disclosed embodiments enables one skilled in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A gripping device for producing automobile door sill beams, characterized in that, Include: Workstation, the workstation is equipped with work position and buffer position, and the work position is located in front of the buffer position, and the work position is higher than the buffer position; The grabbing mechanism (4) includes a work frame (41), a vertical rail (42), a lead screw servo motor (45) and a moving device, the side wall of the work frame (41) is fixedly provided with a vertical rail (42), and the vertical rail (42) is respectively movably connected with two groups of moving devices, the middle part of the work frame (41) is fixedly provided with a lead screw servo motor (45), and the middle part of the two groups of moving devices is movably connected with the lead screw servo motor (45), the two groups of moving devices are fixedly connected, and there is a certain space interval between the two groups of moving devices; The moving device includes: Crossed double-shaft motion linear rail (43), one group of the moving device is provided with four crossed double-shaft motion linear rails (43), and one side wall surface of the crossed double-shaft motion linear rail (43) is movably connected with the side wall of the vertical rail (42); Cross rail (47), the other side wall surface of the crossed double-shaft motion linear rail (43) is movably connected with the side wall of the cross rail (47), and the cross rail (47) is perpendicular to the vertical rail (42), and one group of the moving device is provided with two cross rails (47); Gripper (5), the front end of one group of the cross rail (47) is fixedly provided with a gripper (5) for clamping workpieces; The gripper (5) includes: Fixed long plate (51), the front side of the cross rail (47) is provided with a fixed long plate (51); Fixed part (52), the rear side of the fixed long plate (51) is fixedly connected with a fixed part (52), and the two side wall surfaces of the fixed part (52) are fixedly connected with the two cross rails (47); Side plate (53), the front side of the fixed long plate (51) is fixedly connected with two groups of side plates (53), and the number of each group of side plates (53) is two; Outer plate (54), the outer plate (54) is fixedly connected between the two side plates (53) in the same group; Control assembly (6), one control assembly (6) is arranged at the two ends of the fixed long plate (51) for improving the stability of workpiece clamping; The control assembly (6) includes: Control cylinder (61), the rear side wall surface of the fixed long plate (51) is fixedly connected with a control cylinder (61); Piston shaft (62), the fixed long plate (51) is provided with a fixed hole, and the fixed long plate (51) is movably sleeved with the piston shaft (62) through the fixed hole, one end of the control cylinder (61) is movably sleeved with one end of the piston shaft (62); Connecting shaft (63), the other end of the piston shaft (62) is fixedly sleeved with one end of the connecting shaft (63); Connecting piece (64), the other end of the connecting shaft (63) is fixedly sleeved with the middle part of the connecting piece (64), the connecting piece (64) is in the shape of a cross, the inner wall surface of the side plate (53) is provided with a side groove, and the side plate (53) is movably connected with the side wall of the connecting piece (64) through the side groove; A connecting plate (65) is movably connected to one end of the upper half and the lower half of the connecting piece (64); An upper claw (66) is movably connected to the middle of the side plates (53) above the outer plate (54) through a hinge shaft, and movably connected to the other end of the upper connecting plate (65); A transition plate (67) is movably connected to the middle of the side plates (53) below the outer plate (54) through a hinge shaft, and movably connected to the other end of the lower connecting plate (65); A lower claw (68) is fixedly connected to the other end of the transition plate (67), and the other end of the lower claw (68) is used for clamping the bottom surface of the workpiece; The workpiece on the work position can be taken out by the upper moving device, and the workpiece on the buffer position can be moved to the work position by the lower moving device, so as to realize material switching.

2. The gripping apparatus for producing an automobile rocker beam according to claim 1, characterized by The number of the grabbing mechanisms (4) is three, each of which moves back and forth between two different workstations, the three grabbing mechanisms (4) are fixedly connected, and there is a certain space interval between each two of them, the outer side of the grabbing mechanism (4) is fixedly provided with a rotating motor, and the grabbing mechanism (4) is movably connected with the ground rail (1) through the rotating motor.

3. The gripping apparatus for the production of automobile rocker panels according to claim 2, characterized in that, The moving device further comprises: A moving plate (44) is movably arranged in the inside of the work frame (41), and the four corners of the moving plate (44) are fixedly connected with four cross-shaped double-shaft motion rails (43) respectively; A gear servo motor (48) is fixedly connected to the moving plate (44), and a gear slot is formed in the side wall of one of the horizontal rails (47) in a group of the moving devices, and the horizontal rail (47) is engaged with the gear servo motor (48) through the gear slot.

4. The gripping apparatus for the production of automobile rocker panels according to claim 3, characterized in that, The gripper (5) further comprises: A movable assembly (7) is arranged on the fixed long plate (51) at the rear side of the control assembly (6), which is used to provide power source for the work of the supporting assembly (8) and the limiting assembly (9); A supporting assembly (8) is arranged in the inside of the fixed long plate (51) below the control assembly (6), which is used to provide supporting force for the control assembly (6); A limiting assembly (9) is arranged in the inside of the control assembly (6), which is used to enhance the clamping stability of the control assembly (6) to the workpiece.

5. The gripping apparatus for the production of automobile rocker panels according to claim 4, characterized in that, The movable assembly (7) comprises: An activity board (71) is fixedly connected to the front wall of the fixed long plate (51) at the rear side of the connecting plate (65), and two activity boards (71) are arranged in the inside of a group of the side plates (53), and the two activity boards (71) are symmetrically arranged; The movable block (72) is movably sleeved with the movable plate (71) through three movable holes vertically arranged in the movable plate (71), and the movable block (72) is movably sleeved with the fixed long plate (51) through a movable slot in the fixed long plate (51) corresponding to the three movable holes; The movable capsule (73) is fixedly connected with one end of the movable block (72), and the other end of the movable capsule (73) is fixedly connected with the end of the movable slot, and the inside of the movable capsule (73) is filled with liquid; The inductor (74) is fixedly embedded in the inside of the fixed long plate (51), and the end of the movable block (72) is sleeved with the inside of the inductor (74) when the movable block (72) is completely retracted, and the end of the movable block (72) is provided with an inductive contact point; The movable tube (75) is fixedly sleeved in the inside of the fixed long plate (51), and the inlet end of the movable tube (75) is fixedly communicated with the movable capsule (73), and the outlet end of the movable tube (75) is fixedly communicated with the inside of the supporting assembly (8).

6. The gripping apparatus for the production of automobile rocker panels according to claim 5, characterized in that, The supporting assembly (8) comprises: The supporting rod (81) is movably sleeved with the fixed long plate (51) through two fixed slots arranged in the inside of the fixed long plate (51) below the fixed hole, and the bottom end of the supporting rod (81) is connected with the bottom end of the fixed slot through a spring, and the bottom end of the fixed slot is fixedly communicated with the outlet end of the movable tube (75); The supporting piece (82) is fixedly connected with the top end of the two supporting rods (81) and the bottom end of the supporting piece (82), and the supporting piece (82) is located below the piston shaft (62).

7. The gripping apparatus for the production of automobile rocker panels according to claim 6, characterized in that, The limiting assembly (9) comprises: The push plate (91) is movably connected with the lower claw (68) through a long slot arranged in the top end of the lower claw (68), and the length of the long slot is longer than the length of the push plate (91), and the top end of the push plate (91) is provided with a tooth groove, and one end of the push plate (91) is provided with N type magnetism, and the other end of the push plate (91) is provided with S type magnetism; The push frame (92) is fixedly sleeved in the inside of the fixed long plate (51) at both ends of the long slot, and the two ends of the push plate (91) are movably sleeved with the push frame (92); The embedded block (93) is fixedly connected with the end wall of the push frame (92) close to the fixed long plate (51), the embedded block (93) is an energized electromagnet, and the embedded block (93) has the same magnetism as the end of the adjacent push plate (91) after being energized. An outer embedded block (94) is fixedly connected to the inner wall of the end of the pushing frame (92) away from the fixed long plate (51), the outer embedded block (94) is made of magnet material, and the outer embedded block (94) has the same magnetism as the end of the adjacent pushing plate (91), the magnetic repulsion between the outer embedded block (94) and the pushing plate (91) is smaller than the magnetic repulsion between the inner embedded block (93) and the pushing plate (91); A plurality of limiting pieces (95) are movably arranged in the limiting groove of the lower claw (68), and the limiting pieces (95) are located above the pushing plate (91).

8. The gripping apparatus for the production of automobile rocker panels according to claim 7, characterized in that, The limiting piece (95) comprises: A limiting plate (951) is movably clamped 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) is fixedly connected to the lower half of the limiting column (952), and the limiting column (952) is movably sleeved with the inner wall of the limiting groove; The bottom end of the limiting plate (951) is arc-shaped, and the bottom end of the limiting plate (951) is not in contact with the bottom end of the limiting groove, a groove is formed in the middle of the limiting plate (951), and the limiting plate (951) is fixedly connected with 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); A limiting pad (954) is fixedly connected to the top end of the limiting plate (951).

9. The gripping apparatus for the production of automobile rocker panels according to claim 8, characterized in that, The working position and the buffer position are provided with reference large cylinders, pushing cylinders (11), identification sensors (12) and compensation assemblies (13) for stable limiting of workpieces, the reference large cylinders are located on the right side, and the pushing cylinders (11) are located on the left side, the working position and the buffer position are symmetrically provided with two identification sensors (12), and the working position and the buffer position are symmetrically provided with two compensation assemblies (13).

Images