A gantry-type gantry robot for vehicle assembly

Abstract

This invention relates to the field of robotic arms, specifically disclosing a gantry-type truss robotic arm for vehicle assembly, comprising: a gantry truss and a gripping unit movably mounted on the gantry truss. The gripping unit includes a positioning element adapted to a positioning hole of a plate, an adsorption element adapted to the concave end face of the plate, and a support element adapted to a protrusion of the plate. In this invention, the positioning element, adsorption element, and support element work together to achieve vertical positioning of the plate by utilizing the cooperation between the support rod in the support element and the adsorption element, thus preventing vertical jumping of the plate during transfer. The two-sided flipping frame limits the two sides of the plate, and works with the positioning element to achieve horizontal positioning of the plate, preventing horizontal displacement of the plate during transfer, ensuring that the plate will not shift or fall off during movement, thereby improving the stability and assembly accuracy of the plate during gripping and assembly.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically, to a gantry-type robotic arm for vehicle assembly. Background Technology

[0002] Gantry gantry robots have a large frame structure that spans the work area. In the field of vehicle assembly, gantry gantry robots are typically used to grab plates from the feeding area and transfer them to a designated area on the assembly line for assembly with the body-in-white.

[0003] Please see Figure 1 There is an existing plate 100, the middle area of ​​which is a concave end face 110. The four corners of the plate 100 are symmetrically provided with positioning holes 120, and the two sides of the plate 100 are symmetrically provided with protrusions 130, with notches 140 in the protrusions 130. When assembling the plate 100, the gripping end of the existing gantry gantry robot only uses a suction cup module to attract the concave end face 110 of the plate 100. During the gripping, transfer and release of the plate, the plate is prone to displacement or accidental drop due to suction cup failure, which affects the assembly accuracy and stability. Summary of the Invention

[0004] To overcome the above-mentioned technical problems, the present invention proposes a gantry-type gantry robot for vehicle assembly.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] A gantry-type gantry robot for vehicle assembly includes:

[0007] Gantry truss;

[0008] The gripping unit includes a positioning member adapted to the positioning hole of the plate, an adsorption member adapted to the concave end face of the plate, and a support member adapted to the protrusion of the plate; wherein, a linkage member is provided between the positioning member and the support member, and when the positioning member is inserted into the positioning hole, the linkage member triggers the support member to support the bottom of the protrusion.

[0009] The lateral movement component, which is movably mounted on the gantry truss, is used to drive the gripping unit to move laterally;

[0010] The longitudinal moving component, which is movably mounted on the transverse moving component, is used to drive the gripping unit to move longitudinally;

[0011] The lifting component, which is movably mounted on the longitudinal moving component, is used to drive the lifting movement of the gripping unit.

[0012] As a further embodiment of the present invention: the transverse component includes a transverse guide rail fixed on the gantry truss and a transverse slide table slidably mounted on the transverse guide rail. A transverse motor is mounted on the transverse slide table, and a transverse gear is connected to the output end of the transverse motor. A transverse rack that meshes with the transverse gear is provided on the transverse guide rail.

[0013] The longitudinal moving component includes a longitudinal moving guide rail fixed to the transverse moving slide and a longitudinal moving slide slidably mounted on the longitudinal moving guide rail. A longitudinal moving motor is mounted on the longitudinal moving slide, and a longitudinal moving gear is connected to the output end of the longitudinal moving motor. A longitudinal moving rack that meshes with the longitudinal moving gear is provided on the longitudinal moving guide rail.

[0014] The lifting component includes a guide sleeve fixed to the longitudinal sliding table and a lifting guide rod slidably embedded in the guide sleeve. The lower end of the lifting guide rod is fixed to a lifting platform. A lifting cylinder is vertically installed on the longitudinal sliding table, and the extended end of the lifting cylinder is fixedly connected to the lifting platform. The gripping unit is installed on the lifting platform.

[0015] As a further aspect of the present invention: the positioning component includes a sleeve fixed to the lifting platform and a positioning pin movably embedded in the sleeve.

[0016] As a further embodiment of the present invention: the support member includes a tilting frame rotatably mounted on the lifting platform and a support rod fixed to the end of the tilting frame; wherein the tilting frame is adapted to the notch of the protrusion and the support rod is adapted to the lower end face of the protrusion.

[0017] As a further aspect of the present invention: a telescopic cavity is provided inside the flipping frame, a telescopic column is installed on the support rod and is slidably connected to the telescopic cavity, and a fourth spring is provided inside the telescopic cavity and connected to the telescopic column, the fourth spring being a tension spring.

[0018] As a further aspect of the present invention: the linkage includes a drive frame fixed to a positioning pin, a drive rack vertically arranged on the drive frame, and a drive gear meshing with the drive rack on the flipping frame.

[0019] As a further aspect of the present invention: a locking element is provided on one side of the sleeve; the locking element includes a sleeve shell fixed to one side of the sleeve, a sliding plate is slidably disposed inside the sleeve shell, a wedge block adapted to the drive frame is installed on the sliding plate, a second spring is disposed inside the sleeve shell and abuts against the sliding plate, an electromagnet is installed at the end of the sleeve shell away from the wedge block, and an iron core adapted to the electromagnet is disposed on the sliding plate.

[0020] As a further aspect of the present invention: the adsorption component includes a connecting frame fixed to the middle of the lifting platform and a suction cup fixedly connected to the connecting frame. The bottom of the suction cup is provided with an adsorption cavity, and an installation cavity is provided around the adsorption cavity. An airbag ring is installed in the installation cavity.

[0021] As a further embodiment of the present invention: a T-shaped frame is fixedly provided inside the airbag ring, a vertical sliding groove is provided inside the T-shaped frame, a vertical slider is slidably installed in the vertical sliding groove, a horizontal slider is slidably installed at the upper end of the T-shaped frame, and a connecting rod is hinged between the horizontal slider and the vertical slider.

[0022] A vertical push plate is fixedly connected to the vertical slider, and a horizontal push plate is fixedly connected to one side of the horizontal slider. A sealing cavity adapted to the horizontal push plate is opened on the inner wall of one side of the mounting cavity.

[0023] A guide rod is also vertically fixed inside the vertical groove, and a third spring is sleeved on the upper end of the guide rod to abut against the vertical slider.

[0024] As a further aspect of the present invention: a piston plate is installed at one end of the positioning pin that extends into the sleeve, the piston plate divides the sleeve into a first chamber and a second chamber, a first spring is provided in the first chamber to abut against the piston plate, and a vent hole communicating with the outside is also provided in the first chamber; an air extraction hole is provided in the second chamber, and an air extraction pipe is connected between the air extraction hole and the adsorption chamber.

[0025] The beneficial effects of this invention are:

[0026] In this invention, a stable gripping system is formed through the coordinated operation of positioning components, adsorption components, and support components. The vertical positioning of the plate is achieved by the cooperation of the support rod in the support component and the adsorption component, which prevents the plate from jumping vertically during the transfer process. The two-sided flipping frame limits the two sides of the plate and, together with the positioning component, achieves the horizontal positioning of the plate, which prevents the plate from shifting horizontally during the transfer process. This ensures that the plate will not be displaced or fall off during the movement, thereby improving the stability and assembly accuracy of the plate during the gripping and assembly process. Attached Figure Description

[0027] The invention will now be further described with reference to the accompanying drawings.

[0028] Figure 1 This is a structural schematic diagram of the sheet metal.

[0029] Figure 2 This is a three-dimensional schematic diagram of the present invention;

[0030] Figure 3 This is a schematic diagram of the transverse moving component in this invention;

[0031] Figure 4 This is a schematic diagram of the longitudinal moving component in this invention;

[0032] Figure 5 This is a schematic diagram of the lifting component in this invention;

[0033] Figure 6 This is a schematic diagram of the gripping unit in this invention;

[0034] Figure 7 This is a schematic diagram of the grasping unit from another perspective in this invention;

[0035] Figure 8 This is a schematic diagram of the support component in this invention;

[0036] Figure 9 This is a schematic diagram of the adsorption element in this invention;

[0037] Figure 10 for Figure 9 Enlarged view of point A in the middle;

[0038] Figure 11 This is a cross-sectional view of the suction cup in this invention;

[0039] Figure 12 for Figure 11 Enlarged view at point B in the middle;

[0040] Figure 13 This is a schematic diagram of the structure of the adsorption element and the positioning element in this invention.

[0041] In the picture:

[0042] 100. Plate; 110. Concave end face; 120. Locating hole; 130. Protrusion; 140. Notch;

[0043] 200. Gantry truss; 210. Transverse sliding component; 211. Transverse sliding guide rail; 212. Transverse sliding table; 213. Transverse sliding motor; 214. Transverse sliding rack; 220. Longitudinal sliding component; 221. Longitudinal sliding guide rail; 222. Longitudinal sliding table; 223. Longitudinal sliding motor; 224. Longitudinal sliding rack; 230. Lifting component; 231. Guide sleeve; 232. Lifting guide rod; 233. Lifting platform; 234. Lifting cylinder;

[0044] 300. Gripping unit; 310. Positioning component; 311. Sleeve; 3111. Piston plate; 3112. First chamber; 3113. Second chamber; 3114. First spring; 3115. Air extraction port; 3116. Vent; 312. Positioning pin; 313. Drive frame; 314. Drive rack; 315. Locking component; 3151. Housing; 3152. Slide plate; 3153. Wedge block; 3154. Second spring; 3155. Electromagnet; 3156. Iron core; 320. Adsorption component; 321. Connecting frame; 322. Suction cup 3221. Mounting cavity; 3222. Sealing cavity; 323. Adsorption cavity; 324. Airbag ring; 3241. T-shaped frame; 3242. Vertical slide rail; 3243. Vertical push plate; 3244. Vertical slider; 3245. Guide rod; 3246. Third spring; 3247. Horizontal slider; 3248. Horizontal push plate; 3249. Connecting rod; 325. Air extraction pipe; 330. Support component; 331. Tilting frame; 3311. Telescopic cavity; 3312. Fourth spring; 332. Support rod; 3321. Telescopic column; 333. Drive gear. Detailed Implementation

[0045] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0046] Please see Figure 2 This invention discloses a gantry-type truss robot for vehicle assembly, used to grip plate 100, including a gantry truss 200, a transverse moving member 210, a longitudinal moving member 220, a lifting member 230, and a gripping unit 300; the transverse moving member 210 is movably disposed on the gantry truss 200 and is used to drive the gripping unit 300 to move laterally; the longitudinal moving member 220 is movably disposed on the transverse moving member 210 and is used to drive the gripping unit 300 to move longitudinally; the lifting member 230 is movably disposed on the longitudinal moving member 220 and is used to drive the gripping unit 300 to move vertically.

[0047] Please see Figure 6 and Figure 7The gripping unit 300 is disposed on the lifting member 230 and includes a positioning member 310 adapted to the positioning hole 120 of the plate 100, an adsorption member 320 adapted to the concave end face 110 of the plate 100, and a support member 330 adapted to the protrusion 130 of the plate 100. A linkage member is provided between the positioning member 310 and the support member 330. When the positioning member 310 is inserted into the positioning hole 120, the linkage member triggers the support member 330 to support the bottom of the protrusion 130.

[0048] Specifically, during vehicle assembly, the gripping unit 300 is moved to directly above the corresponding plate 100 in the feeding area through the cooperation of the transverse moving member 210 and the longitudinal moving member 220, aligning the positioning member 310 with the corresponding positioning hole 120 on the plate 100. Then, the lifting member 230 drives the gripping unit 300 vertically downwards, inserting the positioning member 310 into the corresponding positioning hole 120 of the plate 100 to position the plate 100, until the adsorption member 320 aligns with... The concave end face 110 of the plate 100 contacts and is attracted to the concave end face 110. At the same time, under the triggering action of the linkage, the supporting member 330 supports the protrusions 130 on both sides of the plate 100, thereby achieving stable gripping of the plate 100. Then, through the cooperation of the transverse moving member 210, the longitudinal moving member 220 and the lifting member 230, the plate 100 gripped by the gripping unit 300 is transferred to the body-in-white assembly area on the assembly station for release.

[0049] It should be noted that, in this invention, a stable gripping system is formed through the coordinated cooperation of the positioning component 310, the adsorption component 320, and the support component 330. The positioning component 310 first ensures the precise positioning of the plate 100, the adsorption component 320 then adsorbs and fixes the plate 100, and at the same time, under the action of the linkage component, the support component 330 is triggered to provide additional support to the protrusions 130 on both sides of the plate 100. The three components work together to ensure that the plate 100 will not be displaced or fall off during the movement, thereby improving the stability and assembly accuracy of the plate 100 during the gripping and assembly process.

[0050] In one embodiment, please refer to Figure 3 The transverse moving component 210 includes a transverse moving guide rail 211 fixed on the gantry truss 200 and a transverse moving slide 212 slidably mounted on the transverse moving guide rail 211. A transverse moving motor 213 is mounted on the transverse moving slide 212, and a transverse moving gear is connected to the output end of the transverse moving motor 213. A transverse moving rack 214 that meshes with the transverse moving gear is provided on the transverse moving guide rail 211. The longitudinal moving component 220 is disposed on the transverse moving slide 212.

[0051] The transverse motor 213 drives the transverse gear to rotate. Under the meshing transmission of the transverse gear and the transverse rack 214, the transverse slide table 212 can be driven to slide laterally along the transverse guide rail 211 to realize the transverse feed of the gripping unit 300.

[0052] Similarly, please see Figure 4 The longitudinal moving component 220 includes a longitudinal moving guide rail 221 fixed on the transverse moving slide 212 and a longitudinal moving slide 222 slidably mounted on the longitudinal moving guide rail 221. A longitudinal moving motor 223 is mounted on the longitudinal moving slide 222, and a longitudinal moving gear is connected to the output end of the longitudinal moving motor 223. A longitudinal moving rack 224 that meshes with the longitudinal moving gear is provided on the longitudinal moving guide rail 221. The lifting component 230 is disposed on the longitudinal moving slide 222.

[0053] The longitudinal motor 223 drives the longitudinal gear to rotate. Under the meshing transmission of the longitudinal gear and the longitudinal rack 224, the longitudinal slide table 222 can be driven to slide longitudinally along the longitudinal guide rail 221 to realize the longitudinal feed of the gripping unit 300.

[0054] With the coordinated action of the transverse component 210 and the longitudinal component 220, the two-dimensional position adjustment of the gripping unit 300 in the horizontal plane can be realized, so as to achieve precise positioning of the gripping unit 300 and the corresponding plate 100.

[0055] Further, please refer to Figure 5 The lifting component 230 includes a guide sleeve 231 fixed on the longitudinal slide table 222 and a lifting guide rod 232 slidably embedded in the guide sleeve 231. The lower end of the lifting guide rod 232 is fixed to a lifting platform 233. A lifting cylinder 234 is vertically installed on the longitudinal slide table 222. The extended end of the lifting cylinder 234 is fixedly connected to the lifting platform 233. The gripping unit 300 is installed on the lifting platform 233.

[0056] Specifically, by driving the lifting platform 233 to move up and down through the lifting cylinder 234, the gripping unit 300 can be adjusted in height to achieve the gripping and releasing action of the gripping unit 300 on the plate 100.

[0057] In yet another embodiment, please refer to Figure 7 The positioning component 310 includes a sleeve 311 fixed on the lifting platform 233 and a positioning pin 312 movably embedded in the sleeve 311.

[0058] Specifically, when the lifting platform 233 drives the positioning pin 312 to insert into the corresponding positioning hole 120, as the height of the lifting platform 233 decreases, the positioning pin 312 gradually retracts into the sleeve 311.

[0059] It should be noted that the positioning pin 312 only needs to achieve the positioning function of the plate 100. In order to avoid the positioning pin 312 interfering with the adsorption member 320 in the vertical direction, in this embodiment, after the positioning pin 312 contacts the positioning hole 120, as the lifting platform 233 continues to descend, the positioning pin 312 can adaptively retract into the sleeve 311, thereby ensuring that the adsorption member 320 can descend smoothly and contact the concave end face 110 of the plate 100.

[0060] Further, please refer to Figure 7 The support member 330 includes a tilting frame 331 rotatably mounted on the lifting platform 233 and a support rod 332 fixed to the end of the tilting frame 331; wherein the tilting frame 331 is adapted to the notch 140 of the protrusion 130, and the support rod 332 is adapted to the lower end face of the protrusion 130.

[0061] Specifically, in the initial state, the flipping frame 331 is always flipped upwards, and the support rod 332 will not interfere with the normal lifting and lowering movement of the positioning member 310 and the suction member 320. When the flipping frame 331 flips downwards, the flipping frame 331 just enters the corresponding notch 140 until the support rod 332 flips to the bottom of the plate 100 and contacts the lower end face of the protrusion 130. At the same time, the flipping frame 331 abuts against the side wall of the notch 140. Thus, the vertical positioning of the plate 100 is achieved by the cooperation of the support rod 332 and the suction member 320, avoiding vertical jumping of the plate 100 during the transfer process. The flipping frames 331 on both sides limit the two sides of the plate 100, and together with the positioning member 310, the horizontal positioning of the plate 100 is achieved, avoiding horizontal displacement of the plate 100 during the transfer process.

[0062] Additionally, please see Figure 8 In order to better fit the support rod 332 with the bottom of the protrusion 130, a telescopic cavity 3311 is provided in the flipping frame 331. A telescopic column 3321 that is slidably connected to the telescopic cavity 3311 is installed on the support rod 332. A fourth spring 3312 that is connected to the telescopic column 3321 is provided in the telescopic cavity 3311. The fourth spring 3312 is a tension spring.

[0063] The fourth spring 3312 applies tension to the telescopic column 3321, so that the support rod 332 can always be in close contact with the bottom of the protrusion 130. At the same time, the support rod 332 has a certain amount of telescopic movement space relative to the tilting frame 331, which facilitates the adaptive telescopic adjustment of the support rod 332 during the swing of the tilting frame 331, so as to avoid interference between the support rod 332 and the protrusion 130. In addition, the elastic coefficient of the fourth spring 3312 is small, so it will not affect the driving of the tilting frame 331 to reverse and reset when the positioning pin 312 falls back and extends out of the sleeve 311 during the release of the plate 100.

[0064] Please see Figure 7 Regarding the linkage triggering effect between the positioning component 310 and the supporting component 330, the linkage component includes a drive frame 313 fixed on the positioning pin 312, a drive rack 314 vertically arranged on the drive frame 313, and a drive gear 333 meshing with the drive rack 314 on the flipping frame 331.

[0065] Specifically, when the positioning pin 312 is inserted into the corresponding positioning hole 120, as the lifting platform 233 continues to descend, the positioning pin 312 retracts into the sleeve 311, thereby driving the drive frame 313 to move upward relative to the lifting platform 233. Then, by utilizing the meshing action of the drive rack 314 and the drive gear 333, the tilting frame 331 is tilted downward, causing the support rod 332 to tilt below the protrusion 130, and at the same time, the tilting frame 331 enters the notch 140.

[0066] Furthermore, please refer to Figure 9 To prevent the plate 100 from accidentally falling off due to the failure of the adsorption member 320 during the transfer process, a locking member 315 is provided on one side of the sleeve 311. When the flipping frame 331 flips down into place, the locking member 315 locks the posture of the flipping frame 331. In this way, even if the adsorption member 320 fails during the transfer process, the flipping frame 331, which maintains the locked posture, can still limit the vertical and horizontal dimensions of the plate 100, thereby ensuring that the plate 100 will not accidentally fall off the gripping unit 300.

[0067] Accordingly, please refer to Figure 10 The locking member 315 includes a housing 3151 fixed to one side of the sleeve 311. A sliding plate 3152 is slidably disposed inside the housing 3151. A wedge block 3153 adapted to the drive frame 313 is installed on the sliding plate 3152. A second spring 3154 abutting against the sliding plate 3152 is disposed inside the housing 3151. An electromagnet 3155 is installed at the end of the housing 3151 away from the wedge block 3153. An iron core 3156 adapted to the electromagnet 3155 is disposed on the sliding plate 3152.

[0068] Specifically, when the support rod 332 reaches the bottom of the corresponding protrusion 130 of the plate 100, the drive frame 313 on the positioning pin 312 just reaches above the wedge block 3153. The wedge block 3153 locks the drive frame 313 in position. At this time, the drive frame 313 cannot move in the opposite direction, thus preventing the positioning pin 312 and the flipping frame 331 from accidentally resetting, so as to ensure that the plate 100 will not fall accidentally during the transfer process.

[0069] After the gripping unit 300 transfers the plate 100 to the designated position, the electromagnet 3155 is energized, attracting the iron core 3156 and causing the wedge block 3153 to retract into the housing 3151. The wedge block 3153 no longer locks the drive frame 313. After the adsorption effect of the adsorption component 320 is released, as the lifting platform 233 rises, the positioning pin 312 falls back and extends out of the sleeve 311, simultaneously driving the flipping frame 331 to flip upward and reset, causing the support rod 332 to rotate out from the bottom of the protrusion 130, thus realizing the automatic release of the plate 100.

[0070] In further embodiments, please refer to Figure 9 and Figure 11 The adsorption component 320 includes a connecting frame 321 fixed in the middle of the lifting platform 233 and a suction cup 322 fixedly connected to the connecting frame 321. The suction cup 322 has an adsorption cavity 323 at its bottom and an installation cavity 3221 around the adsorption cavity 323. An airbag ring 324 is installed in the installation cavity 3221.

[0071] Specifically, when the suction cup 322 contacts the concave end face 110 of the plate 100, the airbag ring 324 is squeezed, thereby sealing the gap between the adsorption cavity 323 and the concave end face 110. Then, the adsorption cavity 323 is evacuated, which can generate negative pressure in the adsorption cavity 323 to achieve adsorption of the plate 100.

[0072] Furthermore, considering that the airbag ring 324 is installed in the mounting cavity 3221, since the airbag ring 324 will deform after being squeezed, it will inevitably cause a gap between the airbag ring 324 and the mounting cavity 3221, thereby causing air pressure leakage between the adsorption cavity 323 and the external environment.

[0073] For this purpose, please refer to Figure 12 A T-shaped frame 3241 is fixedly installed inside the airbag ring 324. A vertical sliding groove 3242 is opened inside the T-shaped frame 3241. A vertical slider 3244 is slidably installed inside the vertical sliding groove 3242. A horizontal slider 3247 is slidably installed at the upper end of the T-shaped frame 3241. A connecting rod 3249 is hinged between the horizontal slider 3247 and the vertical slider 3244.

[0074] A vertical push plate 3243 is fixedly connected to the vertical slider 3244, and a horizontal push plate 3248 is fixedly connected to one side of the horizontal slider 3247. A sealing cavity 3222 adapted to the horizontal push plate 3248 is opened on the inner wall of one side of the mounting cavity 3221.

[0075] When the airbag ring 324 is compressed, it pushes the vertical push plate 3243 back into the mounting cavity 3221, thereby driving the vertical slider 3244 to slide upward along the vertical slide groove 3242. Under the transmission of the connecting rod 3249, it drives the horizontal slider 3247 to slide laterally, thereby causing the horizontal push plate 3248 to enter the sealing cavity 3222. The horizontal push plate 3248 squeezes the airbag ring 324 in contact with it into the sealing cavity 3222, thereby achieving further sealing between the airbag ring 324 and the mounting cavity 3221, effectively preventing gaps from forming between the airbag ring 324 and the mounting cavity 3221, which would cause negative pressure failure in the adsorption cavity 323.

[0076] Additionally, please see Figure 12 After the airbag ring 324 is separated from the plate 100, in order to achieve automatic reset of the airbag ring 324, a guide rod 3245 is also vertically fixed in the vertical slide groove 3242. The upper end of the guide rod 3245 is fitted with a third spring 3246 that abuts against the vertical slider 3244.

[0077] When the airbag ring 324 is compressed, it drives the vertical slider 3244 to slide upward, and the third spring 3246 is compressed. After the airbag ring 324 is separated from the plate 100, under the elastic force of the third spring 3246, it pushes the vertical slider 3244 to slide down along the vertical slide groove 3242. Under the transmission of the connecting rod 3249, the horizontal slider 3247 can be driven to slide and reset, thereby causing the horizontal push plate 3248 to retract into the mounting cavity 3221, so as to realize the reset of the airbag ring 324.

[0078] Furthermore, please refer to Figure 13 To achieve automatic air suction of the suction cup 322, a piston plate 3111 is installed at one end of the positioning pin 312 that extends into the sleeve 311. The piston plate 3111 divides the sleeve 311 into a first chamber 3112 and a second chamber 3113. A first spring 3114 is provided in the first chamber 3112 to abut against the piston plate 3111. A vent 3116 communicating with the outside is also provided in the first chamber 3112. An air extraction hole 3115 is provided in the second chamber 3113. An air extraction pipe 325 is connected between the air extraction hole 3115 and the suction chamber 323.

[0079] When the suction cup 322 contacts the concave end face 110 of the plate 100, as the airbag ring 324 is gradually squeezed, the positioning pin 312 also gradually retracts into the sleeve 311, driving the piston plate 3111 to move upward synchronously, thereby reducing the volume of the first chamber 3112, so that the air in the first chamber 3112 can be squeezed out from the vent 3116, while the volume of the second chamber 3113 increases, and a negative pressure is generated in the second chamber 3113, so that the air inside the adsorption chamber 323 can be sucked into the second chamber 3113 through the air extraction pipe 325, thereby generating a negative pressure in the adsorption chamber 323 to achieve automatic adsorption of the plate 100;

[0080] During the release of plate 100, as the electromagnet 3155 in locking member 315 is energized to attract the iron core 3156, the wedge block 3153 retracts into the housing 3151, thus releasing the locking effect on the drive frame 313. In this way, under the elastic force of the first spring 3114, the positioning pin 312 pops out from the sleeve 311, and drives the support member 330 to flip and reset through the linkage. At the same time, the air in the second chamber 3113 is pushed into the adsorption chamber 323 again through the air extraction pipe 325, increasing the air pressure inside the adsorption chamber 323, thereby releasing the adsorption effect on plate 100, so as to realize the automatic separation of gripping unit 300 from plate 100.

[0081] The specific implementation of this embodiment has been described above. However, this embodiment is not limited to the specific implementation described above. The specific implementation described above is merely illustrative and not restrictive. Those skilled in the art can make many other forms based on the guidance of this embodiment, all of which are within the protection scope of this embodiment.

Claims

1. A gantry-type gantry robot for vehicle assembly, used for gripping plate parts (100), characterized in that, include: Gantry truss (200); A transverse sliding member (210) is movably mounted on the gantry truss (200); The longitudinal moving member (220) is movably mounted on the transverse moving member (210); The lifting component (230) is movably mounted on the longitudinal moving component (220); The gripping unit (300) includes a positioning member (310) adapted to the positioning hole (120) of the plate (100), an adsorption member (320) adapted to the concave end face (110) of the plate (100), and a support member (330) adapted to the protrusion (130) of the plate (100). A linkage is provided between the positioning member (310) and the support member (330). When the positioning member (310) is inserted into the positioning hole (120), the support member (330) is triggered by the linkage to support the bottom of the protrusion (130). The transverse component (210) includes a transverse guide rail (211) fixed on the gantry truss (200) and a transverse slide (212) slidably mounted on the transverse guide rail (211). A transverse motor (213) is mounted on the transverse slide (212). A transverse gear is connected to the output end of the transverse motor (213). A transverse rack (214) that meshes with the transverse gear is provided on the transverse guide rail (211). The longitudinal moving component (220) includes a longitudinal moving guide rail (221) fixed on a transverse moving slide (212) and a longitudinal moving slide (222) slidably mounted on the longitudinal moving guide rail (221). A longitudinal moving motor (223) is mounted on the longitudinal moving slide (222). A longitudinal moving gear is connected to the output end of the longitudinal moving motor (223). A longitudinal moving rack (224) that meshes with the longitudinal moving gear is provided on the longitudinal moving guide rail (221). The lifting component (230) includes a guide sleeve (231) fixed on a longitudinal sliding table (222) and a lifting guide rod (232) slidably embedded in the guide sleeve (231). A lifting platform (233) is fixed to the lower end of the lifting guide rod (232). A lifting cylinder (234) is vertically installed on the longitudinal sliding table (222). The extended end of the lifting cylinder (234) is fixedly connected to the lifting platform (233). The gripping unit (300) is installed on the lifting platform (233). The positioning component (310) includes a sleeve (311) fixed on the lifting platform (233) and a positioning pin (312) movably embedded in the sleeve (311). The support member (330) includes a tilting frame (331) rotatably mounted on the lifting platform (233) and a support rod (332) fixed to the end of the tilting frame (331); wherein the tilting frame (331) is adapted to the notch (140) of the protrusion (130), and the support rod (332) is adapted to the lower end face of the protrusion (130); The linkage includes a drive frame (313) fixed on a positioning pin (312), a drive rack (314) is vertically arranged on the drive frame (313), and a drive gear (333) that meshes with the drive rack (314) is arranged on the flipping frame (331).

2. The gantry-type gantry robot for vehicle assembly according to claim 1, characterized in that, The flipping frame (331) has a telescopic cavity (3311) inside. The support rod (332) is equipped with a telescopic column (3321) that is slidably connected to the telescopic cavity (3311). The telescopic cavity (3311) is provided with a fourth spring (3312) that is connected to the telescopic column (3321). The fourth spring (3312) is a tension spring.

3. The gantry-type gantry robot for vehicle assembly according to claim 1, characterized in that, A locking element (315) is provided on one side of the sleeve (311); the locking element (315) includes a housing (3151) fixed to one side of the sleeve (311), a sliding plate (3152) is slidably disposed inside the housing (3151), a wedge block (3153) adapted to the drive frame (313) is installed on the sliding plate (3152), a second spring (3154) abutting against the sliding plate (3152) is provided inside the housing (3151), an electromagnet (3155) is installed at the end of the housing (3151) away from the wedge block (3153), and an iron core (3156) adapted to the electromagnet (3155) is provided on the sliding plate (3152).

4. A gantry-type gantry robot for vehicle assembly according to claim 1, characterized in that, The adsorption component (320) includes a connecting frame (321) fixed in the middle of the lifting platform (233) and a suction cup (322) fixedly connected to the connecting frame (321). The suction cup (322) has an adsorption cavity (323) at the bottom and an installation cavity (3221) is provided around the adsorption cavity (323). An airbag ring (324) is installed in the installation cavity (3221).

5. A gantry-type gantry robot for vehicle assembly according to claim 4, characterized in that, A T-shaped frame (3241) is fixedly installed inside the airbag ring (324). A vertical sliding groove (3242) is opened inside the T-shaped frame (3241). A vertical slider (3244) is slidably installed inside the vertical sliding groove (3242). A horizontal slider (3247) is slidably installed at the upper end of the T-shaped frame (3241). A connecting rod (3249) is hinged between the horizontal slider (3247) and the vertical slider (3244). A vertical push plate (3243) is fixedly connected to the vertical slider (3244), and a horizontal push plate (3248) is fixedly connected to one side of the horizontal slider (3247). A sealing cavity (3222) adapted to the horizontal push plate (3248) is opened on the inner wall of one side of the mounting cavity (3221). A guide rod (3245) is also vertically fixed inside the vertical slide groove (3242), and a third spring (3246) is sleeved on the upper end of the guide rod (3245) to abut against the vertical slider (3244).

6. A gantry-type gantry robot for vehicle assembly according to claim 4, characterized in that, A piston plate (3111) is installed at one end of the positioning pin (312) that extends into the sleeve (311). The piston plate (3111) divides the sleeve (311) into a first chamber (3112) and a second chamber (3113). A first spring (3114) is provided in the first chamber (3112) to abut against the piston plate (3111). A vent hole (3116) communicating with the outside is also provided in the first chamber (3112). A suction hole (3115) is provided in the second chamber (3113). A suction pipe (325) is connected between the suction hole (3115) and the adsorption chamber (323).

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