Positioning and grabbing device for intelligent welding type special-shaped sheet metal part and sheet metal part machining equipment

Abstract

The invention relates to the technical field of sheet metal part machining, in particular to an intelligent welding type special-shaped sheet metal part positioning and grabbing device and sheet metal part machining equipment, the intelligent welding type special-shaped sheet metal part positioning and grabbing device is arranged on the side portion of a conveying line to form a material transferring station, and the intelligent welding type special-shaped sheet metal part positioning and grabbing device comprises a swing arm, a clamping mechanism, a clamping mechanism and a clamping mechanism, the swing arm is fixedly connected with two first cross arms and two second cross arms; the multiple limiting wheels are arranged below the two first cross arms, the limiting wheels are connected with first sliding blocks through elastic telescopic mechanisms, the first sliding blocks are embedded in the first cross arms in a sliding mode, and second sliding blocks are further embedded in the first cross arms in a sliding mode; by means of the limiting wheels, deviation of the sheet metal part in the width direction of the conveying line can be corrected, the automatic deviation correcting function is achieved, and the situation that under the condition that the sheet metal part deviates, the clamping part directly acts on the sheet metal part, and then weak decorative corners on the sheet metal part are uneven in stress and bent and deformed is effectively avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sheet metal part processing, and particularly relates to a positioning and grabbing device for intelligent welding type special-shaped sheet metal parts and a sheet metal part processing equipment. BACKGROUND

[0002] Sheet metal parts are components processed from metal plates, and have many advantages such as light weight, high strength, low cost, easy mass production and good appearance quality, and are therefore widely used in many fields such as automobiles, aerospace, household appliances and mechanical manufacturing. In the automatic production process, the processing of sheet metal parts usually includes multiple steps. One key step is to transfer the sheet metal parts on the conveying line to the welding station for welding processing. In order to efficiently and accurately complete this operation, a special grabbing and transferring mechanism is usually arranged on the production line. When the sheet metal part moves along the conveying line and reaches a specific position, the grabbing and transferring mechanism is started. Generally, the grabbing and transferring mechanism uses a clamping part designed by mechanical design to clamp the sheet metal part. The design of the clamping part needs to fully consider the shape, size and processing requirements of the sheet metal part to ensure that the sheet metal part is firmly fixed during clamping and is not damaged. In this way, the sheet metal part can be accurately transferred to the welding station, thereby ensuring the smooth progress of the entire production process.

[0003] However, in actual processing and production, when the sheet metal part is placed on the conveying line, due to manual operation or the precision limitation of automatic placing equipment, the position may not be accurate, so that when the sheet metal part reaches the specific position, there is a certain deviation from the ideal position. In addition, the vibration generated during the operation of the conveying line may cause the position of the sheet metal part to move during the conveying process, which may also cause the actual position of the sheet metal part when it reaches the specific position to deviate from the ideal position.

[0004] Although the above factors generally result in a small amount of deviation of the sheet metal part, for a special-shaped sheet metal part, the shape is diverse, including regular shapes and irregular special shapes, which can result in a low adaptability of the clamping part on the grabbing and transferring mechanism to the position where the sheet metal part is acted upon when the grabbing and transferring mechanism performs the grabbing action, reducing the stability of the sheet metal part during the transferring process. In addition, even a small amount of deviation can cause the clamping part to act on a protruding corner or other specially designed position of the sheet metal part. These positions can be designed to meet the functional or appearance requirements of the product, rather than as clamping positions. In the case of deviation of the sheet metal part, when the clamping part clamps these positions, under the action of the clamping force, damage can easily occur. For example, the sheet metal part is provided with decorative corners, which are generally weak and have a structural strength lower than that of the main body of the sheet metal part. If the clamping part acts on the corner of the sheet metal part, it can cause uneven stress on the corner, and further cause bending and deformation, affecting the appearance quality of the product. Moreover, such damage can also cause inaccurate positioning of the sheet metal part during subsequent welding and other processing processes, because the damaged position can change the overall size and shape of the sheet metal part. SUMMARY

[0005] The present application aims to provide a positioning and grabbing device for intelligent welding of special-shaped sheet metal parts and a sheet metal part processing equipment to solve the problems raised in the background art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0007] A positioning and grabbing device for intelligent welding of special-shaped sheet metal parts is arranged on the side of a conveying line to form a material transferring station, comprising:

[0008] An oscillating arm is connected to a power mechanism arranged on the side of the conveying line, and the oscillating arm can be driven by the power mechanism to perform oscillation and lifting actions. The oscillating arm is fixedly connected with two first cross arms and two second cross arms;

[0009] A plurality of limiting wheels are arranged below the two first cross arms. The limiting wheels are connected to first sliding blocks slidingly fitted on the first cross arms through elastic extension mechanisms. Second sliding blocks connected to the elastic extension mechanisms are also slidingly fitted on the first cross arms. A threaded drive mechanism is arranged on the second cross arm to drive the first sliding blocks and the limiting wheels to move along the width direction of the conveying line, so that the limiting wheels can approach the sheet metal part;

[0010] Two clamping parts are symmetrically arranged on the second cross arm. The clamping parts are connected to the second sliding blocks through a transmission mechanism. When the limiting wheels contact the sheet metal part, the first sliding blocks and the second sliding blocks slide relative to each other, the transmission mechanism is triggered, and the clamping parts can be driven to move along the length direction of the conveying line to perform a clamping action on the sheet metal part.

[0011] As a further scheme of the present application: the threaded drive mechanism comprises a bidirectional screw rod rotatably mounted between the two second cross arms and two threaded sleeves symmetrically arranged on the bidirectional screw rod and threadedly connected with the bidirectional screw rod, the threaded sleeves are fixedly connected with the first sliding block through connecting arms, the connecting arms are also connected with the transmission mechanism, a second motor is also mounted on the second cross arm, and an output end of the second motor is connected with the bidirectional screw rod.

[0012] As a further scheme of the present application: the elastic telescopic mechanism comprises telescopic rods fixedly connected with the first sliding block and the second sliding block respectively, and guide cylinders slidably sleeved with the telescopic rods;

[0013] The guide cylinders are internally provided with springs sleeved on outer peripheries of the telescopic rods, one end of each spring is connected with an inner wall of the guide cylinder, the other end of each spring is connected with a boss fixed to an end of the telescopic rod away from the first sliding block, the guide cylinders are fixedly connected with assembly plates through first vertical arms, and the limit wheels are rotatably mounted on the assembly plates.

[0014] As a further scheme of the present application: the transmission mechanism comprises a transmission plate slidably connected with the second sliding block, the transmission plate is connected with the clamping piece through a follow-up structure, and a sliding fit assembly is arranged between the connecting arm and the transmission plate, the sliding fit assembly can drive the transmission plate to move along a length direction of the transmission line relative to the second sliding block.

[0015] As a further scheme of the present application: the follow-up structure comprises a driven arm located between the two second cross arms and slidably connected with the two second cross arms, and the clamping piece is fixed below the driven arm through two second vertical arms.

[0016] The driven arm is provided with a strip-shaped through slot, the transmission plate is fixedly provided with a second column body matched with the strip-shaped through slot, and the second column body penetrates through the strip-shaped through slot and is slidably connected with the transmission plate.

[0017] As a further scheme of the present application: the sliding fit assembly comprises a first column body fixed to the connecting arm, the transmission plate is provided with an inclined slot matched with the first column body, the first column body is arranged in the inclined slot and is slidably connected with the transmission plate.

[0018] When the first sliding block slides towards the center of the first cross arm and the first sliding block moves relative to the second sliding block, the first column body slides along the inclined slot and drives the transmission plate to move on the second sliding block towards the swing arm.

[0019] As a further scheme of the present application: the power mechanism comprises a first motor installed on the side of the conveying line, a vertical shaft connected to the output end of the first motor, and a sleeve shaft sleeved with the vertical shaft, the sleeve shaft being fixed with the swing arm;

[0020] The vertical shaft and the sleeve shaft are provided with a synchronous transmission structure, and the sleeve shaft is connected with a height adjustment structure provided on the side of the conveying line, the height adjustment structure being used to drive the relative sliding of the vertical shaft and the sleeve shaft.

[0021] As a further scheme of the present application: the synchronous transmission structure comprises two protrusions formed on the outer wall of the vertical shaft and two grooves provided on the inner wall of the sleeve shaft, the protrusions and the grooves are both in strip shape, are matched, and are parallel to the central axes of the vertical shaft and the sleeve shaft.

[0022] As a further scheme of the present application: the height adjustment structure comprises a guide rail fixed on the side of the conveying line and a movable seat slidably fitted on the guide rail, the movable seat is rotationally connected with the sleeve shaft, and the side of the conveying line is further rotationally provided with a pneumatic cylinder, the movable end of the pneumatic cylinder being rotationally connected with the movable seat.

[0023] A sheet metal part processing equipment comprising the positioning and grabbing device for the intelligent welding type special-shaped sheet metal part.

[0024] Compared with the prior art, the present application has the following beneficial effects:

[0025] The power mechanism drives the swing arm to perform swing and lifting actions, so that the flexible transfer of the sheet metal part from the conveying line to the welding station can be achieved, the limiting wheel and the clamping piece are arranged below the swing arm, the limiting wheel can correct the deviation of the sheet metal part in the width direction of the conveying line, the automatic deviation correction function is realized, the adaptability of the clamping piece and the position of the sheet metal part is ensured, so that the clamping stability is guaranteed, in addition, the problem that the clamping piece directly acts on the sheet metal part when the sheet metal part deviates, and then the decorative corners of the sheet metal part which are relatively weak are unevenly stressed, and bending deformation occurs, affecting the appearance quality of the product, is avoided, and the damage position of the sheet metal part may change the overall size and shape of the sheet metal part, so that the positioning accuracy of the sheet metal part in the subsequent welding and other processing processes is ensured.

[0026] Specifically, the movement of the limiting wheel and the clamping piece are driven by the threaded drive mechanism, and the movement of the two is realized in sequence through the elastic extension mechanism and the transmission mechanism, that is, the limiting wheel first acts on the sheet metal part to perform regular processing on the sheet metal part, corrects the offset of the sheet metal part in the width direction of the transmission line, and then uses the relative movement between the first slider and the second slider to perform clamping operation on the sheet metal part by the clamping piece. Therefore, through the interlocking cooperation of the mechanical mechanism, the movement of the limiting wheel and the clamping piece has strict logical sequence, so that the whole grabbing and transferring process of the sheet metal part can be reliably completed. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 A perspective view of an embodiment of the positioning and grabbing device for the intelligent welding type special-shaped sheet metal part.

[0028] Figure 2 A structural schematic view of an embodiment of the positioning and grabbing device for the intelligent welding type special-shaped sheet metal part.

[0029] Figure 3 A structural schematic view of an embodiment of the positioning and grabbing device for the intelligent welding type special-shaped sheet metal part from another angle.

[0030] Figure 4 A structural schematic view of an embodiment of the positioning and grabbing device for the intelligent welding type special-shaped sheet metal part from still another angle.

[0031] Figure 5 A structural schematic view of an embodiment of the positioning and grabbing device for the intelligent welding type special-shaped sheet metal part. Figure 3 An enlarged view of structure at A in FIG. 6.

[0032] Figure 6 An exploded view of the power mechanism in an embodiment of the positioning and grabbing device for the intelligent welding type special-shaped sheet metal part.

[0033] Figure 7 A distribution schematic view of the limiting wheel and the clamping piece in an embodiment of the positioning and grabbing device for the intelligent welding type special-shaped sheet metal part.

[0034] Figure 8 A structural schematic view of an embodiment of the positioning and grabbing device for the intelligent welding type special-shaped sheet metal part. Figure 7 A structural schematic view from another angle.

[0035] Figure 9 A structural schematic view of an embodiment of the positioning and grabbing device for the intelligent welding type special-shaped sheet metal part. Figure 8 An enlarged view of structure at B in FIG. 6.

[0036] Figure 10 A connection state schematic view of the first slider and the second slider in an embodiment of the positioning and grabbing device for the intelligent welding type special-shaped sheet metal part.

[0037] Figure 11 An exploded view of the elastic extension mechanism in an embodiment of the positioning and grabbing device for the intelligent welding type special-shaped sheet metal part.

[0038] Fig. 1, transmission line; 2, swing arm; 3, first motor; 4, vertical shaft; 401, protruding part; 5, sleeve shaft; 501, groove; 6, air cylinder; 7, guide rail; 8, movable seat; 9, assembly plate; 10, limiting wheel; 11, driven arm; 1101, strip-shaped through groove; 12, clamping piece; 13, first cross arm; 14, first sliding block; 15, second sliding block; 16, guide cylinder; 17, telescopic rod; 1701, boss; 18, spring; 19, transmission plate; 1901, inclined groove; 20, connecting arm; 21, first column body; 22, second column body; 23, threaded sleeve; 24, first vertical arm; 25, second vertical arm; 26, second cross arm; 27, second motor; 28, bidirectional screw. DETAILED DESCRIPTION

[0039] 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 work fall within the scope of protection of the present application.

[0040] In addition, the elements in the present application are referred to as "fixed to" or "provided on" another element, which can be directly on another element or can have a middle element. When an element is considered to be "connected" to another element, it can be directly connected to another element or can have a middle element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not the only implementation.

[0041] Please refer to Figures 1-11 In the embodiments of the present application, a positioning and grabbing device for intelligent welding type special-shaped sheet metal parts is arranged on the side of the transmission line 1 to form a material transfer station, which comprises:

[0042] The swing arm 2 is connected with the power mechanism arranged on the side of the transmission line 1, and the swing arm 2 can be driven by the power mechanism to perform swing and lifting actions. The swing arm 2 is fixedly connected with two first cross arms 13 and two second cross arms 26.

[0043] The limiting wheels 10 are arranged below the two first cross arms 13, and the limiting wheels 10 are connected with the first sliding blocks 14 slidingly fitted on the first cross arms 13 through the elastic extension mechanisms. The first cross arms 13 are also slidingly fitted with the second sliding blocks 15 connected with the elastic extension mechanisms. The second cross arms 26 are provided with threaded drive mechanisms for driving the first sliding blocks 14 to drive the limiting wheels 10 to move along the width direction of the transmission line 1, so that the limiting wheels 10 can be close to the sheet metal parts.

[0044] The clamping pieces 12 are symmetrically movably arranged on the second cross arm 26, and are connected with the second sliding block 15 through a transmission mechanism. When the limiting wheel 10 contacts the sheet metal part, the first sliding block 14 and the second sliding block 15 slide relative to each other, the transmission mechanism is triggered, and the clamping pieces 12 can be driven to move along the length direction of the transmission line 1 to clamp the sheet metal part.

[0045] It should be noted that, in the attached Figure 1 In the state shown, the swing arm 2 has swung to the upper side of the transmission line 1, i.e. is about to enter the grabbing process. The first cross arm 13 is parallel to the width direction of the transmission line 1, and the second cross arm 26 is parallel to the length direction of the transmission line 1.

[0046] In the working process, when the sheet metal part reaches the material transfer station, the power mechanism drives the swing arm 2 to swing to the upper side of the transmission line 1, and then drives the swing arm 2 to descend until the limiting wheel 10 and the clamping pieces 12 are at the same height as the sheet metal part.

[0047] Subsequently, the threaded drive mechanism works to drive the first sliding block 14 to slide on the first cross arm 13 towards the middle part of the first cross arm 13. Correspondingly, the first sliding block 14 drives the second sliding block 15 to slide together through the elastic extension mechanism, and the second sliding block 15 drives the limiting wheel 10 to move towards the sheet metal part. Thus, the limiting wheel 10 will act on the side of the sheet metal part. At this time, if the sheet metal part exists deviation in the width direction of the transmission line 1, the limiting wheel 10 can rectify the sheet metal part to realize the deviation rectification function.

[0048] After the limiting wheel 10 acts on the sheet metal part, the first sliding block 14 and the second sliding block 15 will move relative to each other, the elastic extension mechanism is triggered to drive the transmission mechanism to move, and the transmission mechanism starts to drive the clamping pieces 12 to move towards the sheet metal part along the length direction of the transmission line 1. Finally, the clamping pieces 12 complete the clamping of the sheet metal part.

[0049] After the clamping process is completed, the power mechanism first drives the swing arm 2 to rise until the sheet metal part is separated from the transmission line 1, and then drives the swing arm 2 to swing to make the sheet metal part reach the welding station for release. Therefore, in the specific implementation, the welding station is generally located beside the transmission line 1, and details are not described herein.

[0050] Further, the power mechanism drives the swing arm 2 to perform swing and lifting actions, so as to meet the flexible transfer of the sheet metal from the conveying line 1 to the welding station, and the limiting wheel 10 and the clamping piece 12 are arranged below the swing arm 2. The limiting wheel 10 can correct the deviation of the sheet metal in the width direction of the conveying line 1, realize the automatic deviation correction function, ensure the adaptability of the clamping piece 12 and the acting position of the sheet metal, so as to ensure the clamping stability. In addition, it effectively avoids the problem that the clamping piece 12 directly acts on the sheet metal when the sheet metal deviates, and then causes the decorative corners which are relatively weak on the sheet metal to be unevenly stressed, and the decorative corners are bent and deformed, which affects the appearance quality of the product. At the same time, it also avoids the case that the damaged part of the sheet metal may change the overall size and shape of the sheet metal, and ensures the positioning accuracy of the sheet metal in the subsequent welding and other processing processes.

[0051] Specifically, the movement of the limiting wheel 10 and the clamping piece 12 is driven by the threaded drive mechanism, and the movement of the two is realized in sequence through the elastic extension mechanism and the transmission mechanism, that is, the limiting wheel 10 first acts on the sheet metal to correct the deviation of the sheet metal in the width direction of the conveying line 1, and then the clamping piece 12 performs clamping operation on the sheet metal through the relative movement between the first sliding block 14 and the second sliding block 15. Therefore, through the interlocking cooperation of the mechanical mechanism, the movement of the limiting wheel 10 and the clamping piece 12 has strict sequence logic, so that the whole grabbing and transferring process of the sheet metal can be reliably completed.

[0052] Please refer to Figure 7 , the threaded drive mechanism includes a bidirectional screw rod 28 rotatably installed between two second cross arms 26 and two threaded sleeves 23 symmetrically arranged on the bidirectional screw rod 28 and threadedly connected with the bidirectional screw rod 28. The threaded sleeves 23 are fixedly connected with the first sliding block 14 through a connecting arm 20, and the connecting arm 20 is also connected with the transmission mechanism. The second cross arm 26 is also provided with a second motor 27, and the output end of the second motor 27 is connected with the bidirectional screw rod 28.

[0053] In detail, in operation, the second motor 27 drives the bidirectional screw rod 28 to rotate forward, and the two threaded sleeves 23 are in threaded cooperation with the bidirectional screw rod 28, and then the two threaded sleeves 23 move towards each other, and the threaded sleeves 23 drive the first sliding block 14 to slide on the first horizontal arm 13 towards the center of the first horizontal arm 13 through the connecting arm 20, and the first sliding block 14 drives the second sliding block 15 to slide through the elastic telescopic mechanism, until the limiting wheel 10 acts on the sheet metal frame, and the position deviation correction of the sheet metal part is completed, and then the bidirectional screw rod 28 continues to rotate forward, the second sliding block 15 is stationary, the first sliding block 14 moves relative to the second sliding block 15, the transmission mechanism is triggered, and the clamping part 12 starts to clamp the sheet metal part, so that the movement of the limiting wheel 10 and the clamping part 12 is realized through the threaded cooperation between the bidirectional screw rod 28 and the threaded sleeves 23 during the whole process of grabbing the sheet metal part, and the threaded cooperation has the characteristics of high precision and self-locking, so that the clamping process can be effectively and stably carried out, and the clamping effect is improved.

[0054] Please refer again to Figure 9 and Figure 11 , the elastic telescopic mechanism comprises telescopic rods 17 and guide cylinders 16 fixedly connected with the first sliding block 14 and the second sliding block 15 respectively, the guide cylinder 16 is in sliding fit with the telescopic rod 17; the guide cylinder 16 is provided with a spring 18 sleeved on the outer periphery of the telescopic rod 17, one end of the spring 18 is connected with the inner wall of the guide cylinder 16, and the other end is connected with a boss 1701 fixed to the end of the telescopic rod 17 away from the first sliding block 14, the guide cylinder 16 is fixedly connected with an assembly plate 9 through a first vertical arm 24, and the limiting wheel 10 is rotatably installed on the assembly plate 9.

[0055] It should be emphasized that the first horizontal arm 13 is provided with a guide groove adapted to the first sliding block 14 and the second sliding block 15 along the length direction of the first horizontal arm 13, the first sliding block 14 and the second sliding block 15 are slidingly embedded in the guide groove, and the guide groove is provided with lubricating grease, in operation, the friction between the first sliding block 14, the second sliding block 15 and the first horizontal arm 13 is small, so that the spring 18 is not compressed when the first sliding block 14 starts to slide, the first sliding block 14 pulls the second sliding block 15 to slide through the telescopic rod 17 and the guide cylinder 16, in this process, the first sliding block 14 and the second sliding block 15 remain relatively stationary and do not move relative to each other, so that the transmission mechanism is not triggered, and the clamping part 12 has not started to clamp the sheet metal part;

[0056] When the limiting wheel 10 contacts the sheet metal, if the sheet metal is offset in the width direction of the transmission line 1, the limiting wheel 10 will force the sheet metal to return to the right position. Subsequently, the limiting wheel 10 cannot move further, that is, the second slider 15 and the guide cylinder 16 remain stationary, and the first slider 14 continues to slide, and will move relative to the second slider 15. At this time, the transmission mechanism is triggered, and the clamping member 12 begins to move toward the sheet metal to clamp the sheet metal.

[0057] Please refer again Figure 5 、 Figure 7 、 Figure 10 as well as Figure 11 The transmission mechanism includes a transmission plate 19 slidably connected to the second slider 15. The transmission plate 19 is connected to the clamping member 12 via a follower structure. A sliding fit assembly is provided between the connecting arm 20 and the transmission plate 19. The sliding fit assembly enables the transmission plate 19 to move relative to the second slider 15 along the length of the transmission line 1. The follower structure includes a driven arm 11 located between and slidably connected to the two second cross arms 26. The clamping member 12 is fixed below the driven arm 11 via two second vertical arms 25.

[0058] The driven arm 11 is provided with a strip-shaped through-slot 1101, and a second column 22 adapted to the strip-shaped through-slot 1101 is fixed to the transmission plate 19. The second column 22 passes through the strip-shaped through-slot 1101 and is slidably connected to the transmission plate 19. The sliding fit assembly includes a first column 21 fixed to the connecting arm 20, and an inclined groove 1901 adapted to the first column 21 is provided on the transmission plate 19. The first column 21 is inserted into the inclined groove 1901 and is slidably connected to the transmission plate 19.

[0059] It should be noted that when the first slider 14 slides toward the center of the first cross arm 13 and the first slider 14 and the second slider 15 move relative to each other, the first column 21 slides along the inclined groove 1901 and prompts the transmission plate 19 to move on the second slider 15 toward the swing arm 2.

[0060] Specifically, during the clamping process, the limiting wheel 10 approaches the sheet metal part, the first slider 14 and the second slider 15 are relatively static and synchronously active, the second cylinder 22 slides in the strip-shaped through slot 1101, and after the limiting wheel 10 completes the shaping of the sheet metal part, the first slider 14 and the second slider 15 move relatively, the first cylinder 21 slides with the transmission plate 19 through the inclined slot 1901, the transmission plate 19 is displaced and moves towards the swing arm 2 on the second slider 15, correspondingly, the second cylinder 22 drives the driven arm 11 to slide on the second cross arm 26, and the clamping piece 12 approaches the sheet metal part that has completed the deviation correction and clamps the sheet metal part.

[0061] Please refer again to Figure 3 and Figure 6 , the power mechanism includes a first motor 3 installed on the side of the transmission line 1, a vertical shaft 4 connected to the output end of the first motor 3, and a sleeve shaft 5 slidably sleeved with the vertical shaft 4, and the sleeve shaft 5 is fixed with the swing arm 2; a synchronous transmission structure is arranged between the vertical shaft 4 and the sleeve shaft 5; the synchronous transmission structure includes two protruding portions 401 formed on the outer wall of the vertical shaft 4 and two recesses 501 arranged on the inner wall of the sleeve shaft 5, and the protruding portions 401 and the recesses 501 are both arranged in a strip shape, are adapted to each other, and are parallel to the central axes of the vertical shaft 4 and the sleeve shaft 5.

[0062] The sleeve shaft 5 is also connected with a height adjusting structure arranged on the side of the transmission line 1, and the height adjusting structure is used to drive the relative sliding of the vertical shaft 4 and the sleeve shaft 5. The height adjusting structure includes a guide rail 7 fixed on the side of the transmission line 1 and a movable seat 8 slidably sleeved on the guide rail 7, the movable seat 8 is rotationally connected with the sleeve shaft 5, and the side of the transmission line 1 is also rotationally installed with a pneumatic cylinder 6, and the movable end of the pneumatic cylinder 6 is rotationally connected with the movable seat 8.

[0063] When the sheet metal part is transferred between the transmission line 1 and the welding station, the first motor 3 works to drive the rotation of the vertical shaft 4, the vertical shaft 4 can drive the synchronous rotation of the sleeve shaft 5 through the protruding portions 401 and the recesses 501, then the sleeve shaft 5 can drive the swing of the swing arm 2, so as to realize the change of the orientation of the sheet metal part, and secondly, the pneumatic cylinder 6 works to push or pull the movable seat 8 to slide up or down on the guide rail 7, correspondingly, the movable seat 8 drives the sleeve shaft 5 to slide up or down on the vertical shaft 4, therefore, the height of the swing arm 2 is adjustable to facilitate the taking and placing of the sheet metal part.

[0064] As another embodiment of the present invention, a sheet metal processing device is also proposed, including the positioning and grasping device for the intelligent welding type special-shaped sheet metal parts.

[0065] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0066] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. An intelligent welding type special-shaped sheet metal positioning and grasping device, which is installed on the side of the transmission line to form a material transfer station; It is characterized by: include: A swing arm is connected to a power mechanism provided on the side of the transmission line. The swing arm can be driven by the power mechanism to perform swinging and lifting movements. The swing arm is fixedly connected to two first cross arms and two second cross arms. A plurality of limiting wheels are provided under the two first transverse arms. The limiting wheels are connected to a first slider slidably engaged on the first transverse arm through an elastic telescopic mechanism. A second slider connected to the elastic telescopic mechanism is also slidably engaged on the first transverse arm. A threaded driving mechanism is provided on the second transverse arm for driving the first slider to drive the limiting wheels to move along the width direction of the transmission line, so that the limiting wheels can approach the sheet metal part. There are two clamping parts symmetrically arranged on the second cross arm. The clamping parts are connected to the second slider through a transmission mechanism. When the limiting wheel contacts the sheet metal part, the first slider and the second slider slide relative to each other, and the transmission mechanism is triggered, which can drive the clamping parts to move along the length direction of the transmission line to perform a clamping action on the sheet metal part.

2. The positioning and grasping device for intelligent welded special-shaped sheet metal parts according to claim 1, characterized in that: The threaded drive mechanism includes a bidirectional screw rod rotatably installed between the two second cross arms and two threaded sleeves symmetrically arranged on the bidirectional screw rod and threadedly connected to the bidirectional screw rod. The threaded sleeve is fixedly connected to the first slider through a connecting arm, and the connecting arm is also connected to the transmission mechanism. A second motor is also installed on the second cross arm, and the output end of the second motor is connected to the bidirectional screw rod.

3. The positioning and grasping device for intelligent welding special-shaped sheet metal parts according to claim 1, characterized in that: The elastic telescopic mechanism comprises a telescopic rod and a guide cylinder respectively fixedly connected to the first slider and the second slider, and the guide cylinder is slidably fitted with the telescopic rod; In which, a spring is provided in the guide cylinder and is sleeved on the outer circumference of the telescopic rod. One end of the spring is connected to the inner wall of the guide cylinder, and the other end is connected to a boss fixed to the end of the telescopic rod away from the first slider. The guide cylinder is fixedly connected to an assembly plate through a first vertical arm, and the limiting wheel is rotatably mounted on the assembly plate.

4. The positioning and grasping device for intelligent welding special-shaped sheet metal parts according to claim 2, characterized in that: The transmission mechanism includes a transmission plate slidably connected to the second slider, the transmission plate is connected to the clamping member through a follower structure, and a sliding fit component is provided between the connecting arm and the transmission plate, and the sliding fit component can cause the transmission plate to move relative to the second slider along the length direction of the transmission line.

5. The positioning and grasping device for intelligent welded special-shaped sheet metal parts according to claim 4, characterized in that: The follower structure includes a follower arm located between the two second transverse arms and slidably connected to the two second transverse arms, and the clamping member is fixed below the follower arm through two second vertical arms; Wherein, a strip-shaped through-slot is provided on the driven arm, and a second column adapted to the strip-shaped through-slot is fixed on the transmission plate. The second column passes through the strip-shaped through-slot and is slidably connected to the transmission plate.

6. The positioning and grasping device for intelligently welded special-shaped sheet metal parts according to claim 5, characterized in that: The sliding fit assembly includes a first column fixed to the connecting arm, the transmission plate is provided with an inclined groove adapted to the first column, the first column is inserted into the inclined groove and is slidably connected to the transmission plate; When the first slider slides toward the center of the first cross arm and the first slider moves relative to the second slider, the first column slides along the inclined groove and causes the transmission plate to move on the second slider toward the swing arm.

7. The positioning and grasping device for intelligently welded special-shaped sheet metal parts according to claim 1, characterized in that: The power mechanism includes a first motor installed on the side of the transmission line, a vertical shaft connected to the output end of the first motor, and a sleeve shaft slidingly engaged with the vertical shaft, and the sleeve shaft is fixed to the swing arm; A synchronous transmission structure is provided between the vertical shaft and the sleeve shaft. The sleeve shaft is also connected to a height adjustment structure provided on the side of the transmission line. The height adjustment structure is used to drive the vertical shaft and the sleeve shaft to slide relative to each other.

8. The positioning and grasping device for intelligent welded special-shaped sheet metal parts according to claim 7, characterized in that: The synchronous conduction structure includes two protrusions formed on the outer wall of the vertical shaft and two grooves provided on the inner wall of the sleeve shaft. The protrusions and the grooves are both arranged in a strip shape, adapted to each other, and parallel to the central axis of the vertical shaft and the sleeve shaft.

9. The positioning and grasping device for intelligent welded special-shaped sheet metal parts according to claim 7, characterized in that: The height adjustment structure includes a guide rail fixed to the side of the transmission line and a movable seat slidably engaged on the guide rail. The movable seat is rotatably connected to the sleeve shaft. A cylinder is also rotatably installed on the side of the transmission line, and the movable end of the cylinder is rotatably connected to the movable seat.

10. A sheet metal processing equipment, characterized in that, It comprises a positioning and grasping device for an intelligent welded special-shaped sheet metal part as described in any one of claims 1 to 9.

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