Clamping jaw type manipulator for automobile part machining

Abstract

The invention discloses a clamping jaw type mechanical arm for automobile part machining, and relates to the technical field of mechanical arm equipment, the clamping jaw type mechanical arm comprises a mechanical arm body, and further comprises a driving mechanism arranged at one end of the mechanical arm body, a self-adaptive pressurization mechanism arranged outside the driving mechanism, and a pressure relief mechanism arranged at the top of the self-adaptive pressurization mechanism; through the driving mechanism, the self-adaptive pressurizing mechanism and the pressure relief mechanism, the mode of'clamping guiding, self-adaptive attaching and negative pressure adsorption 'is formed, so that the problems that existing conventional small and medium-sized clamping jaws cannot be matched with special-shaped parts and are poor in clamping attaching degree are solved, the traditional small and medium-sized clamping jaws mostly adopt finger tips in fixed shapes, only simple opening and closing actions can be achieved, and the clamping efficiency is greatly improved. When facing small and medium-sized special-shaped parts with complex curved surfaces, bosses and hollowed-out holes on the surfaces, the special-shaped part clamping device can only form local point contact or narrow surface contact and is prone to clamping deviation, slipping and the like, part damage caused by too large local stress is avoided, and clamping adaptability is greatly improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of mechanical arm devices, in particular to a clamping jaw type mechanical hand for automobile part machining. BACKGROUND

[0002] The clamping jaw type mechanical hand for automobile part machining is an automatic execution device specially designed for automobile part manufacturing scenes, is an important branch of industrial manipulators, and the core function is to realize accurate grabbing, carrying, positioning and clamping of various automobile parts through an end clamping jaw mechanism, and is widely applied to machining links such as CNC machine tool feeding, welding, assembly, detection and the like, so as to improve production efficiency, guarantee machining precision and protect operation safety.

[0003] In an automobile part machining production line, small and medium-sized clamping jaw type mechanical hands are widely applied to the grabbing, carrying and machine tool feeding of small and medium-sized automobile parts due to the characteristics of compact structure, moderate cost and strong adaptability, are one of the core equipment for realizing the automation of small and medium-sized part machining, can effectively replace manual repetitive carrying operation, improve production efficiency and operation safety, at present, the mainstream small and medium-sized clamping jaw type mechanical hands are mainly in the form of two-finger parallel clamping jaws and fixed finger end clamping jaws, the driving mode is mainly pneumatic or small electric, and the overall design is carried out around regular small and medium-sized automobile parts (such as standard cylindrical pins, regular square pads and flat flanges), so that stable clamping and accurate carrying of the parts can be realized, and the application is mature in the machining link of standardized small and medium-sized parts.

[0004] In the actual automobile part machining process, in addition to regular parts, there are also a large number of small and medium-sized irregular automobile parts, such as small steering knuckles, irregular chassis supports, small and medium-sized camshafts, small gearbox housings and irregular stamping reinforcement parts of vehicle bodies. Although such parts are light in weight and small in size, they generally have irregular contours, complex curved surfaces, local bosses, reinforcing ribs, hollow holes or intermittent clamping surfaces, and no continuous flat clamping area, and the shape characteristics are significantly different from those of regular parts. When the existing conventional small and medium-sized clamps are used to clamp the above-mentioned irregular parts, the clamping jaw end is fixed in shape due to the limitation of the structure design of the clamping mechanism, and only simple opening and closing actions can be realized, the irregular contour of the irregular part cannot be self-adapted, only local point contact or narrow surface contact can be formed between the clamping jaw and the part, and the effective clamping area is greatly reduced.

[0005] In view of the above problems, it is urgent to make innovative design on the basis of the original clamping jaw type mechanical hand for automobile part machining. SUMMARY

[0006] The present invention addresses the problem of overly simplistic solutions in existing technologies by providing a significantly different solution. Specifically, the present invention aims to provide a gripper-type robotic arm for processing automotive parts, thereby solving the problems mentioned in the background art. These problems arise because existing small and medium-sized grippers cannot adaptively conform to the irregular contours of small and medium-sized irregular automotive parts, resulting in insufficient effective contact area, leading to unstable gripping, easy slippage, easy damage to parts, low positioning accuracy, and weak adaptability to the processing needs of various types of irregular parts.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a gripper-type robotic arm for processing automotive parts, comprising a robotic arm body, and further comprising: The drive mechanism is located at one end of the robotic arm body; An adaptive boost mechanism located outside the drive mechanism; A pressure relief mechanism located on top of the adaptive boost mechanism; The drive mechanism includes a cylinder body disposed at one end of the robotic arm body, a slider connected to one end of the cylinder body, a housing provided on the outer wall of the slider, and clamping rods movably disposed on both sides of the housing; The adaptive pressurization mechanism includes an air cylinder connected to one side of the outer wall of the clamping rod. One end of the air cylinder is connected to a hose, and one end of the hose is provided with a suction head. Guide wheels are provided at the top and bottom of the outer wall of the suction head.

[0008] Preferably, connecting rods are provided on both sides of the outer wall of the outer shell, and one end of the connecting rod is connected to a connecting plate; A piston is movably installed on the inner wall of the air cylinder, and a bottom block is installed on the outer wall of the hose.

[0009] Preferably, a spring is provided on the outer wall of the bottom block, and one end of the spring is connected to the top block; One end of the suction head is provided with a suction port.

[0010] Preferably, the outer walls of the sliders are movably connected to connecting rods, and one end of each connecting rod is connected to the outer wall of the clamping rod. The inner wall of the outer casing is provided with a sliding rod; One end of the clamping rod is provided with a cavity, and the diameter of the cavity at one end of the clamping rod is adapted to the diameter of the slide rod.

[0011] Preferably, the pressure relief mechanism includes a relay pipe disposed at the top of the outer wall of the air cylinder, and one end of the relay pipe is connected to a bottom pipe; An electrically controlled air valve is connected to the top of the outer wall of the bottom pipe.

[0012] Preferably, one end of the piston passes through the connecting plate, and the other end of the piston is movably disposed on the inner wall of the air cylinder; The inner wall of the air cylinder is filled with gas.

[0013] Preferably, the flexible tube extends through the clamping rod, and one end of the flexible tube is connected to the suction head; The other end of the hose is connected to the inner wall of the air cylinder.

[0014] Preferably, the other side of the outer wall of the bottom block is connected to the outer wall of the clamping rod, and one side of the outer wall of the bottom block is connected to the top block by a spring.

[0015] Preferably, the guide wheel is inclinedly disposed at the top and bottom of the outer wall of the suction head; The suction head is made of a rigid material.

[0016] Preferably, the suction port is made of rubber, and the outer wall of the top block is connected to the suction head.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. By employing a drive mechanism, an adaptive boosting mechanism, and a depressurization mechanism, a "clamping guidance + adaptive fit + negative pressure adsorption" method is formed, thus solving the problems of existing conventional small and medium-sized grippers being unable to adapt to irregularly shaped parts and having poor clamping fit. Traditional small and medium-sized grippers mostly use fixed-shaped fingertips, which can only achieve simple opening and closing actions. When facing small and medium-sized irregularly shaped parts with complex curved surfaces, bosses, and hollow holes (such as small steering knuckles, irregularly shaped chassis brackets, etc.), only local point contact or narrow surface contact can be formed, which is prone to problems such as clamping offset and slippage. In contrast, this invention uses the cylinder body of the drive mechanism to drive the slider to move, and the connecting rod drives the clamping rod to achieve opposing clamping along the guide of the slider. The flexible guide formed by the guide wheel, spring, and top block of the adaptive boosting mechanism further enhances the gripping effect. In this structure, when the clamping rod approaches an irregularly shaped part, the guide wheel can roll along the outer wall of the part and guide it in real time. The spring and the top block undergo adaptive deformation, causing the suction head to precisely conform to the irregular contour of the part. At the same time, the air cylinder moves with the clamping rod, and the relatively stationary piston creates a negative pressure inside the air cylinder, which is transmitted to the suction head through the hose, allowing the suction port to tightly adhere to the surface of the part. The setting of multiple adaptive pressurization mechanisms can adapt to the clamping requirements of irregularly shaped parts of different shapes. The relay pipe, bottom pipe and electrically controlled air valve of the pressure relief mechanism can precisely control the release of negative pressure, complete the smooth release of the part, avoid the damage to the part caused by excessive local force, and greatly improve the clamping adaptability. There is no need to frequently change special clamping fixtures, which is suitable for processing various types of irregularly shaped parts, while improving the clamping positioning accuracy.

[0018] 2. By employing a dual reinforcement system of rigid clamping in the drive mechanism and negative pressure adsorption in the adaptive booster mechanism, this invention provides stable clamping for heavy small and medium-sized automotive parts. It solves the problems of insufficient clamping force and slippage / falling of traditional grippers for heavy parts, significantly improving the safety and reliability of the transportation process. Compared to traditional small and medium-sized grippers that rely on a single clamping force to fix heavy parts, which are prone to slippage and falling due to inertial forces during starting, stopping, and turning due to small contact area and uneven clamping force distribution, this invention uses the adsorption effect of multiple suction heads to evenly distribute the force, avoiding localized weak points. To prevent unstable clamping, the flexible structure composed of the bottom block, top block, and spring can compensate for slight vibrations during transportation, further improving clamping stability. The electrically controlled air valve of the pressure relief mechanism can achieve rapid and precise release of negative pressure, ensuring smooth release after the parts are transported to their destination. Throughout the clamping and transportation process, the dual protection of rigid clamping and negative pressure adsorption effectively prevents slippage, displacement, and falling of heavier parts, avoiding damage to parts, equipment collisions, and safety accidents. No manual assistance is required, improving the efficiency of automated transportation and reducing production line downtime caused by parts falling, ensuring the continuous and stable operation of the production line. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 This is a top view of the overall structure of the present invention.

[0021] Figure 3 This is a schematic diagram of the overall structure of the drive mechanism and the adaptive boosting mechanism of the present invention.

[0022] Figure 4 This is a partial structural cross-sectional view of the drive mechanism and adaptive boosting mechanism of the present invention.

[0023] Figure 5 This is a schematic diagram of the drive mechanism and adaptive boosting mechanism of the present invention; Figure 6 This is a schematic diagram of the adaptive boosting mechanism of the present invention; Figure 7 This is a top view of the adaptive booster mechanism of the present invention; Figure 8 This is a schematic diagram of the adaptive boosting mechanism and the pressure relief mechanism of the present invention; Figure 9 This is a partial structural schematic diagram of the adaptive boosting mechanism of the present invention; Figure 10 This is a top view of a portion of the adaptive booster mechanism of the present invention; Figure 11 This is a cross-sectional view of the internal structure of the adaptive booster mechanism of the present invention.

[0024] In the diagram: 1. Robotic arm body; 2. Drive mechanism; 201. Cylinder body; 202. Slider; 203. Housing; 204. Connecting rod; 205. Clamping rod; 206. Slide rod; 3. Adaptive pressurization mechanism; 301. Connecting rod; 302. Connecting plate; 303. Air cylinder; 304. Piston; 305. Hose; 306. Suction head; 307. Guide wheel; 308. Bottom block; 309. Top block; 310. Spring; 311. Suction port; 4. Pressure relief mechanism; 401. Relay pipe; 402. Bottom pipe; 403. Electrically controlled air valve. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Please see Figures 1 to 11 The present invention provides a technical solution: a gripper-type robotic arm for processing automotive parts, comprising a robotic arm body 1, and further comprising: The drive mechanism 2 is located at one end of the robotic arm body 1; An adaptive boost mechanism 3 is located outside the drive mechanism 2; The pressure relief mechanism 4 is located on top of the adaptive boost mechanism 3; The drive mechanism 2 includes a cylinder body 201 disposed at one end of the robotic arm body 1. A slider 202 is connected to one end of the cylinder body 201. A housing 203 is disposed on the outer wall of the slider 202. Clamping rods 205 are movably disposed on both sides of the housing 203. The adaptive boosting mechanism 3 includes an air cylinder 303 connected to one side of the outer wall of the clamping rod 205. One end of the air cylinder 303 is connected to a hose 305. One end of the hose 305 is provided with a suction head 306. Guide wheels 307 are provided at the top and bottom of the outer wall of the suction head 306.

[0027] In this embodiment, the drive mechanism 2, adaptive boosting mechanism 3, and depressurization mechanism 4 form a "clamping guidance + adaptive fit + negative pressure adsorption" method, thereby solving the problems of existing conventional small and medium-sized grippers being unable to adapt to irregularly shaped parts and having poor clamping fit. Traditional small and medium-sized grippers mostly use fixed-shaped fingertips, which can only achieve simple opening and closing actions. When facing small and medium-sized irregularly shaped parts with complex curved surfaces, bosses, and hollow holes (such as small steering knuckles, irregularly shaped chassis brackets, etc.), they can only form local point contact or narrow surface contact, which is prone to problems such as clamping offset and slippage. However, in this invention, the cylinder body 201 of the drive mechanism 2 drives the slider 202 to move, and the connecting rod 204 drives the clamping rod 205 to guide along the slide rod 206 to achieve opposing clamping. With the flexible guide structure formed by the guide wheel 307, spring 310, and top block 309 of the adaptive boosting mechanism 3, the clamping fit is improved. When the holding rod 205 approaches the irregular part, the guide wheel 307 can roll along the outer wall of the part and guide it in real time. The spring 310 and the top block 309 undergo adaptive deformation, driving the suction head 306 to accurately fit the irregular contour of the part. At the same time, the air cylinder 303 moves with the holding rod 205, and the piston 304 is relatively stationary, so that a negative pressure is formed inside the air cylinder 303. This negative pressure is transmitted to the suction head 306 through the hose 305, so that the suction port 311 tightly adsorbs the surface of the part. The setting of multiple sets of adaptive pressure boosting mechanisms 3 can adapt to the clamping requirements of irregular parts of different shapes. The relay pipe 401, bottom pipe 402 and electric control air valve 403 of the pressure relief mechanism 4 can accurately control the release of negative pressure, so as to complete the smooth release of the part and avoid damage to the part caused by excessive local force. It also greatly improves the clamping adaptability, eliminates the need to frequently change special clamping fixtures, adapts to processing scenarios of various irregular parts, and improves the clamping positioning accuracy.

[0028] Both sides of the outer wall of the outer casing 203 are provided with connecting rods 301, and one end of the connecting rod 301 is connected to a connecting plate 302; A piston 304 is movably installed on the inner wall of the air cylinder 303, and a bottom block 308 is installed on the outer wall of the hose 305.

[0029] In this embodiment, the dual reinforcement of rigid clamping by the drive mechanism 2 and negative pressure adsorption by the adaptive booster mechanism 3 provides stable clamping for heavy small and medium-sized automotive parts. This solves the problems of insufficient clamping force and easy slippage and fall of traditional grippers for heavy parts, significantly improving the safety and reliability of the transportation process. Compared with traditional small and medium-sized grippers that rely on a single clamping force to fix heavy parts, which are prone to slippage and fall due to inertial forces during starting, stopping, and turning due to small contact area and uneven clamping force distribution, this invention uses the adsorption effect of multiple suction heads 306 to evenly distribute the force and avoid local weak force. If the clamping is unstable, the flexible structure composed of the bottom block 308, the top block 309, and the spring 310 can compensate for slight vibrations during transportation, further improving clamping stability. The electrically controlled air valve 403 of the pressure relief mechanism 4 can realize the rapid and precise release of negative pressure, ensuring that the parts are smoothly released after transportation. During the entire clamping and transportation process, the double protection of rigid clamping and negative pressure adsorption effectively prevents the slippage, displacement, and fall of heavier parts, avoiding damage to parts, equipment collisions, and safety accidents. No manual assistance is required, improving the efficiency of automated transportation and reducing production line downtime caused by parts falling, ensuring the continuous and stable operation of the production line.

[0030] A spring 310 is provided on the outer wall of the bottom block 308, and one end of the spring 310 is connected to the top block 309. The suction head 306 has a suction port 311 at one end.

[0031] In this embodiment, the user drives the drive mechanism 2 to move by driving the robotic arm body 1. When it is necessary to clamp and transport the parts, the cylinder body 201 is activated. When the cylinder body 201 is activated, its output end will reciprocate. When the output end of the cylinder body 201 reciprocates, it will drive the slider 202 to reciprocate on the inner wall of the outer shell 203. When the slider 202 moves, it will drive the clamping rod 205 to reciprocate left and right through the connecting rod 204. The cavity at one end of the clamping rod 205 will clamp in opposite directions through the guide of the slide rod 206.

[0032] The outer wall of the slider 202 is movably connected to the connecting rod 204, and one end of the connecting rod 204 is connected to the outer wall of the clamping rod 205; A slide bar 206 is provided on the inner wall of the outer casing 203; One end of the clamping rod 205 is provided with a cavity, and the diameter of the cavity at one end of the clamping rod 205 is adapted to the diameter of the slide rod 206.

[0033] In this embodiment, when clamping irregularly shaped automotive parts, the clamping rod 205 may not be able to clamp the parts well due to the curved or inclined surface of the outer wall of the part. In this case, as the clamping rod 205 gradually approaches the part, it will move inward symmetrically. When the clamping rod 205 moves, since one end of the piston 304 is connected to the connecting plate 302, the air cylinder 303 and the suction head 306 will move synchronously. Then, when the suction port 311 at one end of the suction head 306 touches the outer wall of the part, the guide wheel 307 will press against the outer wall of the part as the clamping rod 205 moves.

[0034] The pressure relief mechanism 4 includes a relay pipe 401 disposed on the top of the outer wall of the air cylinder 303, and one end of the relay pipe 401 is connected to a bottom pipe 402; An electrically controlled air valve 403 is connected to the top of the outer wall of the bottom pipe 402.

[0035] In this embodiment, the guide wheel 307 rolls along the outer wall of the part. Since the guide wheel 307 and the suction head 306 are connected to the top block 309, and the top block 309 is connected to the bottom block 308 through the spring 310, the bottom block 308, the top block 309 and the spring 310 form a flexible and deformable structure, while the suction head 306 and the guide wheel 307 are rigid structures. This allows the guide wheel 307 to guide the suction head 306 when it rolls along the outer wall of the part, so that the suction head 306 is pressed against the outer wall of the part. At the same time, the spring 310 and the top block 309 are guided to bend by the guide wheel 307, and the hose 305 also deforms. Then, when the suction head 306 and the suction port 311 are pressed against the outer wall of the part.

[0036] One end of piston 304 passes through connecting plate 302, and the other end of piston 304 is movably disposed on the inner wall of air cylinder 303; Gas is provided on the inner wall of the air cylinder 303.

[0037] In this embodiment, as the air cylinder 303 moves, the piston 304 remains stationary, causing the gas inside the air cylinder 303 to form a negative pressure state. Since the air cylinder 303, hose 305, and suction head 306 are interconnected, after the suction port 311 at one end of the suction head 306 is pressed against the outer wall of the part, the negative pressure state formed by the air cylinder 303 and piston 304 will cause the suction head 306 and suction port 311 to tightly suck the outer wall of the part. The adaptive pressure boosting mechanism 3 is provided in multiple sets, which can handle many irregularly shaped parts. At the same time, the suction head 306 and suction port 311 suck the part.

[0038] The flexible tube 305 extends through the clamping rod 205, and one end of the flexible tube 305 is connected to the suction head 306; The other end of the hose 305 is connected to the inner wall of the air cylinder 303.

[0039] In this embodiment, the suction head 306 is connected to the top block 309, which in turn is connected to the bottom block 308 via a spring 310. The bottom block 308, the top block 309, and the spring 310 form a flexible and deformable structure, while the suction head 306 and the guide wheel 307 are rigid structures. This allows the guide wheel 307 to guide the suction head 306 as it rolls along the outer wall of the part, causing the suction head 306 to adhere tightly to the outer wall of the part. At the same time, the spring 310 and the top block 309 are guided by the guide wheel 307 to bend.

[0040] The other side of the outer wall of the bottom block 308 is connected to the outer wall of the clamping rod 205, and one side of the outer wall of the bottom block 308 is connected to the top block 309 through the spring 310.

[0041] In this embodiment, since the air cylinder 303, hose 305, and suction head 306 are interconnected, after the suction port 311 at one end of the suction head 306 is pressed against the outer wall of the part, the negative pressure state formed by the air cylinder 303 and piston 304 will cause the suction head 306 and suction port 311 to tightly suck the outer wall of the part. The adaptive pressure boosting mechanism 3 is provided in multiple sets, which can handle many irregularly shaped parts. At the same time, because the suction head 306 and suction port 311 suck the part, and there is also the clamping force formed by the clamping rod 205, the transportation of heavy and irregularly shaped automotive parts can be carried out very stably. After the transportation is completed, the user can drive the electronically controlled air valve 403 to discharge the gas, so that the negative pressure state of the suction head 306 and suction port 311 disappears, and control the clamping rod 205 to release, so that the part can be released for transfer.

[0042] The guide wheels 307 are inclinedly disposed on the top and bottom of the outer wall of the suction head 306; The suction head is made of rigid material 306.

[0043] In this embodiment, when the clamping rod 205 moves, since one end of the piston 304 is connected to the connecting plate 302, the air cylinder 303 and the suction head 306 move synchronously. Then, when the suction port 311 at one end of the suction head 306 touches the outer wall of the part, the guide wheel 307 will press against the outer wall of the part. As the clamping rod 205 moves, the guide wheel 307 will roll along the outer wall of the part. Since the guide wheel 307 and the suction head 306 are connected to the top block 309... Next, the top block 309 is connected to the bottom block 308 via the spring 310. The bottom block 308, the top block 309, and the spring 310 form a flexible and deformable structure, while the suction head 306 and the guide wheel 307 are rigid structures. When the guide wheel 307 rolls along the outer wall of the part, it guides the suction head 306, making the suction head 306 stick tightly to the outer wall of the part. At the same time, the spring 310 and the top block 309 are guided to bend by the guide wheel 307, and the hose 305 also deforms.

[0044] The suction port 311 is made of rubber, and the outer wall of the top block 309 is connected to the suction head 306.

[0045] In this embodiment, the bottom block 308, the top block 309, and the spring 310 form a flexible and deformable structure, while the suction head 306 and the guide wheel 307 are rigid structures. This allows the guide wheel 307 to guide the suction head 306 as it rolls along the outer wall of the part, causing the suction head 306 to adhere tightly to the outer wall of the part. At the same time, the spring 310 and the top block 309 are guided by the guide wheel 307 to bend.

[0046] Working principle: When using this type of gripper robot for processing automotive parts, the user first drives the drive mechanism 2 to move by driving the robot body 1. Then, when it is necessary to clamp and transport the parts, the cylinder body 201 is activated. When the cylinder body 201 is activated, its output end will reciprocate. When the output end of the cylinder body 201 reciprocates, it will drive the slider 202 to reciprocate on the inner wall of the outer shell 203. When the slider 202 moves, it will drive the clamping rod 205 to reciprocate left and right through the connecting rod 204. The cavity at one end of the clamping rod 205 will clamp in opposite directions through the guide of the slide rod 206. At this time, the clamping rod 205 can clamp and transport the automotive parts. When clamping irregularly shaped automotive parts, the clamping rod 205 may not be able to grip the part well due to the curved or inclined surface of the part's outer wall. In this case, as the clamping rod 205 gradually approaches the part, it will move symmetrically inward. During this movement, because one end of the piston 304 is connected to the connecting plate 302, the air pump 303 and the suction head 306 will move synchronously. Then, when the suction port 311 at one end of the suction head 306 touches the outer wall of the part, the guide wheel 307 will press against the outer wall. As the clamping rod 205 moves, the guide wheel 307 will move along the part... The outer wall rolls, and since the guide wheel 307 and the suction head 306 are connected to the top block 309, and the top block 309 is connected to the bottom block 308 through the spring 310, the bottom block 308, the top block 309 and the spring 310 form a flexible and deformable structure, while the suction head 306 and the guide wheel 307 are rigid structures. When the guide wheel 307 rolls along the outer wall of the part, it guides the suction head 306, so that the suction head 306 is close to the outer wall of the part. At the same time, the spring 310 and the top block 309 are guided to bend by the guide wheel 307, and the hose 305 also deforms. Then, when the suction head 306 and the suction port 311 are close to the outer wall of the part; As the air cylinder 303 moves, the piston 304 remains stationary, creating a negative pressure state inside the air cylinder 303. Since the air cylinder 303, hose 305, and suction head 306 are interconnected, after the suction port 311 at one end of the suction head 306 is pressed against the outer wall of the part, the negative pressure state created by the air cylinder 303 and piston 304 will cause the suction head 306 and suction port 311 to tightly suck the outer wall of the part. The adaptive pressure boosting mechanism 3 is set in multiple sets, which can handle many irregularly shaped parts. At the same time, because the suction head 306 and suction port 311 suck the part, and there is also the clamping force formed by the clamping rod 205, the transportation of heavy and irregularly shaped automotive parts can be carried out very stably. After transportation is completed, the user can drive the electronically controlled air valve 403 to discharge the gas, so that the negative pressure state of the suction head 306 and suction port 311 disappears, and control the clamping rod 205 to release, so that the part can be released for transfer.

[0047] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A gripper type robot for processing automobile parts, comprising a robot arm body (1), characterized in that, Also include: The driving mechanism (2) provided at one end of the mechanical arm body (1); The adaptive supercharging mechanism (3) provided outside the driving mechanism (2); The pressure relief mechanism (4) provided at the top of the adaptive supercharging mechanism (3); The driving mechanism (2) includes a cylinder body (201) provided at one end of the mechanical arm body (1), one end of the cylinder body (201) is connected with a sliding block (202), the outer wall of the sliding block (202) is provided with an outer shell (203), and the two sides of the outer shell (203) are movably provided with clamping rods (205); The adaptive supercharging mechanism (3) includes a gas cylinder (303) connected with one side of the outer wall of the clamping rod (205), one end of the gas cylinder (303) is connected with a hose (305), one end of the hose (305) is provided with a suction head (306), and the top and bottom of the outer wall of the suction head (306) are provided with guide wheels (307).

2. The jaw type mechanical hand for automobile part machining according to claim 1, wherein: The outer wall of the outer shell (203) is provided with a connecting rod (301) on both sides, and one end of the connecting rod (301) is connected with a connecting plate (302); The inner wall of the gas cylinder (303) is movably provided with a piston (304), and the outer wall of the hose (305) is provided with a bottom block (308).

3. The jaw type mechanical hand for automobile part machining according to claim 2, wherein: The outer wall of the bottom block (308) is provided with a spring (310), and one end of the spring (310) is connected with a top block (309); One end of the suction head (306) is provided with a suction port (311).

4. The jaw type mechanical hand for automobile part machining according to claim 1, wherein: The outer wall of the sliding block (202) is movably connected with a connecting rod (204), and one end of the connecting rod (204) is connected with the outer wall of the clamping rod (205); The inner wall of the outer shell (203) is provided with a sliding rod (206); One end of the clamping rod (205) is provided with a cavity, and the diameter of the cavity at one end of the clamping rod (205) is matched with the diameter of the sliding rod (206).

5. The jaw type mechanical hand for automobile part machining according to claim 1, wherein: The pressure relief mechanism (4) includes a relay pipe (401) provided at the top of the outer wall of the gas cylinder (303), and one end of the relay pipe (401) is connected with a bottom pipe (402); The top of the outer wall of the bottom pipe (402) is connected with an electric control gas valve (403).

6. The jaw type mechanical hand for automobile part machining according to claim 2, wherein: One end of the piston (304) penetrates through the connecting plate (302), and the other end of the piston (304) is movably arranged on the inner wall of the gas cylinder (303); The inner wall of the gas cylinder (303) is provided with gas.

7. The jaw type mechanical hand for automobile part machining according to claim 1, wherein: The hose (305) is through the clamping rod (205), one end of the hose (305) is connected with the suction head (306); The other end of the hose (305) is connected with the inner wall of the air cylinder (303).

8. The clamping jaw type mechanical hand for automobile part machining according to claim 3, characterized in that: The other side of the outer wall of the bottom block (308) is connected with the outer wall of the clamping rod (205), and one side of the outer wall of the bottom block (308) is connected with the top block (309) through the spring (310).

9. The clamping jaw type mechanical hand for automobile part machining according to claim 1, characterized in that: The guide wheel (307) is arranged in an inclined manner at the top and bottom of the outer wall of the suction head (306); The suction head (306) is made of hard material.

10. The clamping jaw type mechanical hand for automobile part machining according to claim 3, characterized in that: The material of the suction port (311) is rubber, and the outer wall of the top block (309) is connected with the suction head (306).

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