Gripping device of carrying equipment and carrying equipment

Abstract

The utility model relates to the technical field of vehicle production equipment, in particular to a grabbing device of carrying equipment and the carrying equipment, and aims to solve the problem that the existing carrying equipment cannot meet the carrying requirements of different vehicle types and different parts. In order to achieve the purpose, the grabbing device of the carrying equipment comprises a multi-axis moving module which is installed on a fixed frame and comprises a plurality of sliding connection assemblies which are sequentially connected in a sliding mode; the grabbing assembly is installed on the multi-axis moving module and can grab the workpiece; and the rotary connecting assembly is installed between the grabbing assembly and the multi-axis moving module or installed between any two sets of sliding connecting assemblies, and the position and the angle of the grabbing assembly can be adjusted so that different workpieces can be grabbed. Through the arrangement, different parts can be carried without switching equipment, so that the compatibility and the utilization rate of carrying equipment are improved, the carrying efficiency is effectively improved, and the space and the cost are saved.

Description

Technical Field

[0001] The utility model relates to the technical field of vehicle production equipment, and particularly provides a gripping device for a handling device and the handling device. Background Art

[0002] In order to meet the diverse needs of consumers for vehicle models, while reducing R & D costs and improving production efficiency, each vehicle enterprise has adopted a platform-based and modular production mode, making the types of parts develop in the direction of serialization and generalization to achieve the co-line production of multiple vehicle models.

[0003] During the vehicle assembly process, customized tooling equipment and handling equipment are required for different vehicle models and parts to handle and transfer each sub-assembly or part, so as to ensure that each production node on the automated assembly line can match the body structure plan.

[0004] However, customizing dedicated handling equipment for each vehicle model and each part will greatly increase the number of equipment in the workshop and occupy a large amount of space, resulting in low utilization rate and production efficiency of the equipment, that is, the existing handling equipment cannot meet the handling requirements of different vehicle models and different parts.

[0005] Therefore, a new technical solution is needed in this field to solve the above problems. Summary of the Utility Model

[0006] The utility model aims to solve the above technical problems, that is, to solve the problem that the existing handling equipment cannot meet the handling requirements of different vehicle models and different parts.

[0007] In a first aspect, the utility model provides a gripping device for a handling device, which is used in the field of body assembly. The gripping device is installed on a fixed frame of the handling device. The gripping device includes: a multi-axis moving module, which is installed on the fixed frame and includes multiple sets of sliding connection components that are sequentially slidably connected; a gripping component, which is installed on the multi-axis moving module and can grip a workpiece; a rotary connection component, which is installed between the gripping component and the multi-axis moving module, or the rotary connection component is installed between any two sets of the sliding connection components, and can adjust the position and angle of the gripping component to grip different workpieces.

[0008] In the preferred technical solution of the above-mentioned grasping device, the multi-axis movement module includes a first sliding connection component and a second sliding connection component; the fixed part of the first sliding connection component is fixedly connected to the fixed frame, the fixed part of the rotary connection component is fixedly connected to the sliding part of the first sliding connection component, the fixed part of the second sliding connection component is fixedly connected to the rotary part of the rotary connection component, and the grasping component is fixedly connected to the sliding part of the second sliding connection component; the sliding direction of the first sliding connection component is perpendicular to the rotary plane of the rotary connection component, and the sliding direction of the second sliding connection component is parallel to the rotary plane of the rotary connection component.

[0009] In the preferred technical solution of the above-mentioned grasping device, the first sliding connection component includes a first slide table and a first driving motor, a first lead screw and a first slider installed on the first slide table. The first slide table is installed on the fixed frame. The first driving motor is drivingly connected to the first lead screw. The first lead screw is in threaded cooperation with the first slider. The first slider is slidably connected to the first slide table. The fixed part of the rotary connection component is fixedly connected to the first slider. The second sliding connection component includes a second slide table and a second driving motor, a second lead screw and a second slider installed on the second slide table. The second slide table is fixedly connected to the rotary part of the rotary connection component. The second driving motor is drivingly connected to the second lead screw. The second lead screw is in threaded cooperation with the second slider. The second slider is slidably connected to the second slide table. The grasping component is fixedly connected to the second slider.

[0010] In the preferred technical solution of the above-mentioned grasping device, the rotary connection component includes a connection seat, a third driving motor and a rotary member. The connection seat is fixedly connected to the first slider. The third driving motor is fixedly connected to the connection seat. The rotary member is pivotally connected to the connection seat. The third driving motor is drivingly connected to the rotary member. The second slide table is fixedly connected to the rotary member.

[0011] In the preferred technical solution of the above-mentioned grasping device, the grasping component includes a fixed seat and a driving device, a rotating arm, a first clamping member and a second clamping member installed on the fixed seat. The fixed seat is fixedly connected to the sliding part of the second sliding connection component. The rotating arm is directly or indirectly pivotally connected to the fixed seat. The first end of the rotating arm is drivingly connected to the driving device. The second end of the rotating arm is fixedly connected to the first clamping member. The second clamping member is fixedly connected to the fixed seat. The rotating arm can rotate under the drive of the driving device to drive the first clamping member to be combined with and separated from the second clamping member.

[0012] In the preferred technical solution of the above-mentioned grasping device, the driving device is set as a driving cylinder, the cylinder body of the driving cylinder is installed on the fixed seat, and the piston rod of the driving cylinder is drivingly connected to the first end of the rotating arm.

[0013] In the preferred technical solution of the above-mentioned grasping device, the grasping assembly is set as a vacuum suction cup assembly and / or an electromagnetic suction cup assembly.

[0014] In a second aspect, the present invention provides a handling device, which includes a robotic arm, a vision positioning device, the above-mentioned grasping device and a fixed frame. The fixed frame is installed on the robotic arm and can move under the drive of the robotic arm. The grasping device and the vision positioning device are both installed on the fixed frame. The vision positioning device is electrically connected to the controller of the handling device, can identify and position the grasping points on the workpiece, and transmit the position information of the grasping points to the controller.

[0015] In the preferred technical solution of the above-mentioned handling device, multiple grasping devices are provided, and / or the handling device further includes a multi-axis moving grasping device, and the multi-axis moving grasping device includes the multi-axis moving module and the grasping assembly.

[0016] In the preferred technical solution of the above-mentioned handling device, the handling device further includes a first positioning component and a second positioning component. The first positioning component includes a connecting bracket and a first positioning pin. The connecting bracket is fixed on the fixed frame, and the first positioning pin is fixed on the connecting bracket. The second positioning component includes a two-axis moving module and a second positioning pin. The two-axis moving module is installed on the fixed frame, and the second positioning pin is installed on the two-axis moving module to move relative to the fixed frame, and / or the second positioning pin is made of a flexible material, and a sealed cavity is formed inside it. By inflating and deflating the sealed cavity, the cross-sectional radius of the second positioning pin can be adjusted.

[0017] In the case of adopting the above technical solution, the grasping device of the present utility model is installed on the fixed frame of the handling equipment, and includes: a multi-axis moving module, which is installed on the fixed frame and includes a plurality of sets of sliding connection components that are sequentially slidably connected; a grasping component, which is installed on the multi-axis moving module and can grasp the workpiece; a rotary connection component, which is installed between the grasping component and the multi-axis moving module, or the rotary connection component is installed between any two sets of sliding connection components, and can adjust the position and angle of the grasping component to grasp different workpieces. Through such a setting, on the one hand, multiple axial adjustments can be implemented on the grasping device to accurately control the position coordinates of the grasping device to adapt to the grasping positions and sizes of different vehicle models and different parts; on the other hand, the grasping component can also be rotated through the rotary connection component to adjust the grasping angle of the grasping component to adapt to the shape characteristics of different vehicle models and different parts, so that the grasping component fits better with the surface contour of the parts; thus, the grasping requirements of different parts on multiple vehicle models can be met, there is no need to switch between different handling equipment, the compatibility and utilization rate of the handling equipment are improved, the handling efficiency is increased, and at the same time, space and operating costs are saved.

[0018] Further, the multi-axis moving module of the present utility model includes a first sliding connection component and a second sliding connection component; the fixed part of the first sliding connection component is fixedly connected to the fixed frame, the fixed part of the rotary connection component is fixedly connected to the sliding part of the first sliding connection component, the fixed part of the second sliding connection component is fixedly connected to the rotating part of the rotary connection component, and the grasping component is fixedly connected to the sliding part of the second sliding connection component; the sliding direction of the first sliding connection component is perpendicular to the rotation plane of the rotary connection component, and the sliding direction of the second sliding connection component is parallel to the rotation plane of the rotary connection component. Through such a setting, while meeting the adjustment of the position and angle of the grasping component, the equipment structure is simplified to the greatest extent and the equipment cost is controlled.

[0019] Further, the first sliding connection component of the present utility model includes a first sliding table, and a first driving motor, a first lead screw, and a first slider mounted on the first sliding table. The first sliding table is mounted on a fixed frame. The first driving motor is drivingly connected to the first lead screw. The first lead screw is in threaded cooperation with the first slider. The first slider is slidably connected to the first sliding table. The fixed part of the rotary connection component is fixedly connected to the first slider. The second sliding connection component includes a second sliding table, and a second driving motor, a second lead screw, and a second slider mounted on the second sliding table. The second sliding table is fixedly connected to the rotary part of the rotary connection component. The second driving motor is drivingly connected to the second lead screw. The second lead screw is in threaded cooperation with the second slider. The second slider is slidably connected to the second sliding table. The grasping component is fixedly connected to the second slider. With such an arrangement, the structures of the two sliding connection components are simple, the costs are controllable, and the technical maturity is high, ensuring the flexibility and stability when the grasping component adjusts its position.

[0020] Still further, the rotary connection component of the present utility model includes a connection seat, a third driving motor, and a rotary member. The connection seat is fixedly connected to the first slider. The third driving motor is fixedly connected to the connection seat. The rotary member is pivotally connected to the connection seat. The third driving motor is drivingly connected to the rotary member. The second sliding table is fixedly connected to the rotary member. With such an arrangement, the structure of the rotary connection component is simple, the cost is controllable, and the technical maturity is high, ensuring the flexibility and stability when the grasping component adjusts its angle.

[0021] Still further, the grasping component of the present utility model includes a fixed seat, and a driving device, a rotating arm, a first clamping member, and a second clamping member mounted on the fixed seat. The fixed seat is fixedly connected to the sliding part of the second sliding connection component. The rotating arm is directly or indirectly pivotally connected to the fixed seat. The first end of the rotating arm is drivingly connected to the driving device. The second end of the rotating arm is fixedly connected to the first clamping member. The second clamping member is fixedly connected to the fixed seat. The rotating arm can rotate under the drive of the driving device to drive the first clamping member to engage with and disengage from the second clamping member. With such an arrangement, it can ensure the stable clamping of the workpiece by the grasping component, making it not easy for the workpiece to fall off.

[0022] Still further, the driving device of the present utility model is arranged as a driving cylinder. The cylinder body of the driving cylinder is mounted on the fixed seat. The piston rod of the driving cylinder is drivingly connected to the first end of the rotating arm. With such an arrangement, the structure of the driving device is simple and easy to maintain. At the same time, it has the advantages of large thrust and fast response speed, making the clamping faster and more powerful.

[0023] Furthermore, the grasping assembly of the present utility model is arranged as a vacuum suction cup assembly and / or an electromagnetic suction cup assembly. Through such an arrangement, the method of single-sided adsorption helps to protect the surface of the workpiece from damage and prevent the workpiece from deforming due to excessive clamping force of the clamping member, and is applicable to grasping appearance parts.

[0024] In addition, the handling equipment further provided by the present utility model on the basis of the above-mentioned grasping device includes a robotic arm, a vision positioning device, and the above-mentioned grasping device and a fixed frame. The fixed frame is installed on the robotic arm and can move under the drive of the robotic arm. The grasping device and the vision positioning device are both installed on the fixed frame. The vision positioning device is electrically connected to the controller of the handling equipment, can identify and position the grasping points on the workpiece, and transmit the position information of the grasping points to the controller. Due to the adoption of the above-mentioned grasping device, the technical effects possessed by the above-mentioned grasping device are further achieved. Compared with the handling equipment before improvement, the handling equipment of the present utility model can identify and position according to the characteristics such as the shape and size of different workpieces, and adjust the position and angle of the grasping device according to the positioning information, so that the handling equipment can be adaptively adjusted according to different workpieces, saving the process of switching equipment, improving the compatibility and utilization rate of the equipment, enhancing the handling efficiency, and simultaneously saving space and operating costs.

[0025] Furthermore, multiple grasping devices are arranged in the present utility model, and / or the handling equipment further includes a multi-axis moving grasping device, and the multi-axis moving grasping device includes a multi-axis moving module and a grasping assembly. Through such an arrangement, on the one hand, multi-point grasping and fixing of the workpiece by multiple grasping points are realized, ensuring the stability of the workpiece after positioning and improving the assembly accuracy of the vehicle body; on the other hand, the flexibility of the combination of the grasping devices on the handling equipment is improved, so as to reasonably configure the grasping devices according to different vehicle models and different parts.

[0026] Furthermore, the handling equipment of the present utility model further includes a first positioning assembly and a second positioning assembly. The first positioning assembly includes a connecting bracket and a first positioning pin. The connecting bracket is fixed on the fixed frame, and the first positioning pin is fixed on the connecting bracket. The second positioning assembly includes a double-axis moving module and a second positioning pin. The double-axis moving module is installed on the fixed frame, and the second positioning pin is installed on the double-axis moving module to move relative to the fixed frame, and / or the second positioning pin is made of a flexible material, and a sealed cavity is formed inside it. The cross-sectional radius of the second positioning pin can be adjusted by inflating and deflating the sealed cavity. Through such an arrangement, on the one hand, by using the fixed first positioning assembly in cooperation with the movable second positioning assembly, the six-degree-of-freedom limit of the workpiece in space can be realized to ensure the accurate grasping of the workpiece by the grasping device; on the other hand, the second positioning pin can be adapted to the limiting holes with different apertures on the workpiece, avoiding the occurrence of play and affecting the positioning accuracy. Description of the Drawings

[0027] The preferred embodiments of the present utility model will be described below with reference to the accompanying drawings, in which:

[0028] Figure 1 is a schematic structural diagram of the handling device of the present utility model;

[0029] Figure 2 is an assembly schematic diagram of the grasping device and the first positioning component of the present utility model;

[0030] Figure 3 is a schematic structural diagram of the grasping device of the present utility model;

[0031] Figure 4 is a schematic structural diagram of the second positioning component of the present utility model.

[0032] List of reference numerals:

[0033] 1. Grasping device; 11. First sliding connection component; 111. First sliding table; 112. First driving motor; 113. First slider; 114. Coupling; 12. Second sliding connection component; 121. Second sliding table; 122. Second driving motor; 123. Second slider; 13. Rotating connection component; 131. Connection seat; 132. Rotating member; 133. Third driving motor; 14. Grasping component; 141. First clamping member; 142. Second clamping member; 143. Fixed seat; 144. Driving device; 145. Rotating arm; 2. Fixed frame; 3. Visual positioning device; 4. First positioning component; 41. First positioning pin; 42. Connection bracket; 5. Second positioning component; 51. Biaxial moving module; 52. Second positioning pin; 6. Multi-axis moving grasping device. Specific embodiments

[0034] The preferred embodiments of the present utility model will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present utility model and are not intended to limit the protection scope of the present utility model.

[0035] It should be noted that in the description of the present utility model, the terms indicating directions or positional relationships such as "inner", "outer", "upper", "lower", "top", "bottom", etc. are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0036] In addition, it should be noted that in the description of the present utility model, unless otherwise clearly specified and defined, the terms "arrangement", "connection", and "installation" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0037] Based on the problem pointed out in the background art that the existing handling equipment cannot meet the handling requirements of different vehicle models and different components, the present utility model provides a gripping device and a handling equipment of a handling device. By arranging a combination of a multi-axis movement component and a rotary connection component on a fixed frame to drive the gripping component to move and rotate, the position and angle of the gripping component are adjusted, and a vision positioning device is combined to identify and position the gripping points on different workpieces to control the gripping component to perform adaptive adjustment, so as to meet the gripping requirements of different workpieces and improve the compatibility and utilization rate of the handling equipment.

[0038] Specifically, as Figures 1 to 4 shown, the gripping device 1 of the present utility model is installed on the fixed frame 2 of the handling equipment, and includes: a multi-axis movement module, which is installed on the fixed frame 2 and includes a plurality of sets of sliding connection components that are sequentially slidably connected; a gripping component 14, which is installed on the multi-axis movement module and can grip the workpiece; a rotary connection component 13, which is installed between the gripping component 14 and the multi-axis movement module, or the rotary connection component 13 is installed between any two sets of sliding connection components, and can adjust the position and angle of the gripping component 14 to grip different workpieces.

[0039] Exemplarily, the handling equipment includes a flexible manipulator and a fixed frame 2 and a plurality of gripping devices 1 installed on the mechanical wall. The plurality of gripping devices 1 are distributed on one side or both sides of the fixed frame 2. When it is necessary to handle a workpiece (such as a vehicle body door or a side panel, etc.), the manipulator will drive the fixed frame 2 and the gripping devices 1 to move near the workpiece, and the workpiece is fixed by clamping or adsorbing the gripping positions on the workpiece by the plurality of gripping devices 1, and then the manipulator is controlled to move to transport the workpiece to the target station.

[0040] It should be noted that in practical applications, those skilled in the art can flexibly combine the grasping device 1 according to the shape, size, etc. of the workpiece. For example, a structure combining a set of sliding connection components and a rotary connection component 13 can be adopted to realize the single-axis movement and rotation of the grasping component 14; a structure combining two sets of sliding connection components and a rotary connection component 13 connected perpendicular to each other can also be adopted to realize the two-axis movement and rotation of the grasping component 14; a structure combining three sets of sliding connection components and a rotary connection component 13 connected perpendicular to each other can also be adopted to realize the three-axis movement and rotation of the grasping component 14. Such flexible adjustment and change do not deviate from the principle and scope of the present invention and should all be defined within the protection scope of the present invention.

[0041] Preferably, the grasping device 1 of the present invention adopts a structural form combining two-axis movement and rotation. Specifically, the multi-axis movement module includes a first sliding connection component 11 and a second sliding connection component 12; the fixed part of the first sliding connection component 11 is fixedly connected to the fixed frame 2, the fixed part of the rotary connection component 13 is fixedly connected to the sliding part of the first sliding connection component 11, the fixed part of the second sliding connection component 12 is fixedly connected to the rotary part of the rotary connection component 13, and the grasping component 14 is fixedly connected to the sliding part of the second sliding connection component 12; the sliding direction of the first sliding connection component 11 is perpendicular to the rotation plane of the rotary connection component 13, and the sliding direction of the second sliding connection component 12 is parallel to the rotation plane of the rotary connection component 13.

[0042] Thus, the movable connection between the grasping component 14 and the fixed frame 2 is realized by using the multi-axis movement module and the rotary connection component 13. On the one hand, the grasping device 1 can be adjusted in multiple axial directions to accurately control the position coordinates of the grasping device 1 to adapt to the grasping positions and sizes of different vehicle models and different parts; on the other hand, the grasping component 14 can also be rotated by the rotary connection component 13 to adjust the grasping angle of the grasping component 14 to adapt to the shape characteristics of different vehicle models and different parts, so that the grasping component 14 fits better with the surface contour of the parts; thus, the grasping requirements of different parts on multiple vehicle models can be met, there is no need to switch between different handling devices, the compatibility and utilization rate of the handling device are improved, the handling efficiency is increased, and at the same time, space and operating costs are saved.

[0043] Preferably, as Figure 2 and Figure 3As shown in the figure, the first sliding connection component 11 of the present utility model includes a first sliding table 111, a first driving motor 112, a first lead screw, and a first slider 113 mounted on the first sliding table 111. The first sliding table 111 is mounted on the fixed frame 2. The first driving motor 112 is drivingly connected to the first lead screw. The first lead screw is in threaded cooperation with the first slider 113. The first slider 113 is slidably connected to the first sliding table 111. The fixed part of the rotary connection component 13 is fixedly connected to the first slider 113. The second sliding connection component 12 includes a second sliding table 121, a second driving motor 122, a second lead screw, and a second slider 123 mounted on the second sliding table 121. The second sliding table 121 is fixedly connected to the rotary part of the rotary connection component 13. The second driving motor 122 is drivingly connected to the second lead screw. The second lead screw is in threaded cooperation with the second slider 123. The second slider 123 is slidably connected to the second sliding table 121. The grasping component 14 is fixedly connected to the second slider 123.

[0044] Exemplarily, the structures of the two groups of sliding connection components are similar, but there are slight differences in the effective stroke of movement and the load-bearing capacity. On the premise of meeting the movement stroke and load-bearing capacity, the second sliding connection component 12 can appropriately reduce the structural size, which is beneficial to the miniaturization of the equipment.

[0045] Both of them use a driving motor to drive the rotation of the lead screw, and convert the rotational motion into a linear motion through a lead screw-nut mechanism. Among them, the nut is fixed on the slider. Thus, under the drive of the lead screw, the nut can drive the slider to move along the axial direction of the lead screw. It should be noted that a slide rail is also provided on the sliding table, which can limit the sliding of the slider to ensure the smoothness and stability of the slider during the movement.

[0046] In addition, the driving motor and the lead screw can be directly connected or connected through a transmission mechanism. The present utility model preferably sets a parallel shaft coupling to drive-connect the driving motor and the lead screw, so that the output shaft of the driving motor can be arranged parallel to the lead screw. Compared with the coaxial arrangement, the overall length of the sliding connection component is controlled, the structure of the sliding connection component is more compact, the occupied space is small, and it is beneficial to the miniaturization of the equipment.

[0047] Such a setting makes the structures of the two groups of sliding connection components simple, the cost controllable, and the technical maturity high, ensuring the flexibility and stability when adjusting the position of the grasping component 14.

[0048] It should be noted that in practical applications, those skilled in the art can also set the sliding connection component into other structural forms, such as cylinders, driving motors plus rack and pinion mechanisms, etc. Such flexible adjustments and changes do not deviate from the principle and scope of the present utility model and should all be limited within the protection scope of the present utility model.

[0049] Preferably, asFigure 2 As shown, the rotary connection assembly 13 of the present utility model includes a connection seat 131, a third driving motor 133, and a rotary member 132. The connection seat 131 is fixedly connected to the first slider 113, the third driving motor 133 is fixedly connected to the connection seat 131, the rotary member 132 is pivotally connected to the connection seat 131, the third driving motor 133 is drivingly connected to the rotary member 132, and the second slide table 121 is fixedly connected to the rotary member 132.

[0050] Similar to the sliding connection assembly, a parallel shaft coupling 114 is also provided on the rotary connection assembly 13, so that the rotary member 132 and the third driving motor do not need to be coaxially arranged to adapt to the overall layout of the grasping device 1. Furthermore, the structure of the rotary connection assembly 13 is simple, the cost is controllable, and the technical maturity is high, ensuring the flexibility and stability when the grasping assembly 14 rotates.

[0051] Preferably, as Figure 2 and Figure 3 shown, the grasping assembly 14 of the present utility model includes a fixed seat 143, and a driving device 144, a rotating arm 145, a first clamping member 141, and a second clamping member 142 installed on the fixed seat 143. The fixed seat 143 is fixedly connected to the sliding part of the second sliding connection assembly 12. The rotating arm 145 is directly or indirectly pivotally connected to the fixed seat 143. The first end of the rotating arm 145 is drivingly connected to the driving device 144, the second end of the rotating arm 145 is fixedly connected to the first clamping member 141, the second clamping member 142 is fixedly connected to the fixed seat 143, and the rotating arm 145 can rotate under the drive of the driving device 144 to drive the first clamping member 141 and the second clamping member 142 to be combined and separated.

[0052] Exemplarily, the first clamping member 141 and the second clamping member 142 form a clamping mechanism to grasp the workpiece by clamping. Such a structure can ensure the stable clamping of the workpiece and prevent the workpiece from falling easily. In addition, since excessive clamping force may cause deformation or scratching of the workpiece, it is usually used for grasping the internal structural parts of the vehicle body.

[0053] Preferably, as Figure 3 shown, the driving device 144 of the present utility model is set as a driving cylinder. The cylinder body of the driving cylinder is installed on the fixed seat 143, and the piston rod of the driving cylinder is drivingly connected to the first end of the rotating arm 145.

[0054] The driving cylinder has a simple structure and is easy to maintain. At the same time, it also has the advantages of large thrust and fast response speed, making the clamping faster and more powerful.

[0055] In addition, those skilled in the art can also flexibly set the driving device 144 as a driving motor or the like, as long as it can drive the rotating arm 145, and specific limitations are not made herein in this case.

[0056] Preferably, the grasping assembly 14 of the present utility model is set as a vacuum chuck assembly and / or an electromagnetic chuck assembly.

[0057] Exemplarily, different from the clamping mechanism, the vacuum chuck assembly or the electromagnetic chuck assembly adopts a single-sided adsorption method to grasp from one side of the workpiece, which helps to protect the surface of the workpiece from damage while ensuring stable grasping and prevent the workpiece from deforming due to excessive clamping force. This grasping method is usually used for grasping the body exterior parts.

[0058] In addition, as Figure 1 shown, the handling device further provided by the present utility model on the basis of the above-mentioned grasping device 1 includes a robotic arm, a visual positioning device 3, and the above-mentioned grasping device 1 and a fixed frame 2. The fixed frame 2 is installed on the robotic arm and can move under the drive of the robotic arm. The grasping device 1 and the visual positioning device 3 are both installed on the fixed frame 2. The visual positioning device 3 is electrically connected to the controller of the handling device, can identify and position the grasping points on the workpiece, and transmit the position information of the grasping points to the controller. Due to the adoption of the above-mentioned grasping device 1, the technical effects possessed by the above-mentioned grasping device 1 are further achieved. Compared with the handling device before improvement, the handling device of the present utility model can identify and position according to the characteristics such as the shape and size of different workpieces, and adjust the position and angle of the grasping device 1 according to the positioning information, so that the handling device can perform adaptive adjustment according to different workpieces, eliminating the process of switching equipment, improving the compatibility and utilization rate of the equipment, enhancing the handling efficiency, and saving space and operating costs at the same time.

[0059] Exemplarily, the visual positioning device 3 can be set as a high-definition camera device or a laser or infrared detection device, etc. In this case, a laser galvanometer stereo camera is preferably adopted. By connecting with the controller, it analyzes the structure on the surface of the workpiece, so as to accurately identify and position the grasping points on the workpiece, so that the controller can perform adaptive adjustment on the grasping device 1 according to the positioning information to achieve fast and accurate grasping.

[0060] In another preferred embodiment, model data of different vehicle models and different parts can also be preset in the memory, and the controller adjusts the grasping device 1 to the corresponding position by reading the model data of different parts.

[0061] Preferably, as Figure 1As shown, multiple grasping devices 1 of the present utility model are provided, and / or the handling device further includes a multi-axis moving grasping device 6, and the multi-axis moving grasping device 6 includes a multi-axis moving module and a grasping component 14.

[0062] Exemplarily, multiple grasping devices 1 are arranged in a matrix on one side of the fixed frame 2, realizing the grasping and fixing of workpieces at multiple grasping points, ensuring the stability of the workpiece after positioning, improving the assembly accuracy of the vehicle body. In some embodiments, multiple grasping devices 1 can also be installed on both sides of the fixed frame 2 to simultaneously grasp and handle one or more workpieces.

[0063] In addition, according to different grasping tasks, engineers can flexibly configure and combine the multi-axis moving module and the rotary connection component 13 on the handling device. For example, after the handling device has the above-mentioned grasping device 1, a single-axis moving grasping device 1, a two-axis moving grasping device 1, a three-axis moving grasping device 1, etc. can also be configured simultaneously.

[0064] Preferably, as Figure 1 、 Figure 2 and Figure 4 shown, the handling device of the present utility model further includes a first positioning component 4 and a second positioning component 5. The first positioning component 4 includes a connection bracket 42 and a first positioning pin 41. The connection bracket 42 is fixed on the fixed frame 2, and the first positioning pin 41 is fixed on the connection bracket 42. The second positioning component 5 includes a two-axis moving module 51 and a second positioning pin 52. The two-axis moving module 51 is installed on the fixed frame 2, and the second positioning pin 52 is installed on the two-axis moving module to move relative to the fixed frame 2.

[0065] The connection bracket 42 is fixed and immovable. The two-axis moving module 51 includes a first sliding connection component 11 and a second sliding connection component 12, such that the first positioning pin 41 is a fixed positioning pin, also known as the main positioning pin, and the second positioning pin 52 is a movable positioning pin, also known as the auxiliary positioning pin. By cooperating the fixed main positioning pin with the auxiliary positioning pin and adjusting the position of the auxiliary positioning pin to adapt to the positional relationship between the main and auxiliary positioning holes on different workpieces, the six degrees of freedom of the workpiece in space are limited, ensuring the accurate grasping of the workpiece and guaranteeing the assembly accuracy of the workpiece.

[0066] Preferably, as Figure 4 shown, the second positioning pin 52 of the present utility model is made of a flexible material, and a sealed cavity is formed inside it. By inflating and deflating the sealed cavity, the cross-sectional radius of the second positioning pin 52 can be adjusted.

[0067] Due to the limitations of safety regulations and process standards during product development, the diameters of the auxiliary positioning holes on different vehicle models and different workpieces are different. The expansion type positioning pin of the present invention can be adapted to and pressed against the positioning holes with different diameters on the workpiece, avoiding the occurrence of play and affecting the positioning accuracy.

[0068] So far, the technical solution of the present utility model has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present utility model is obviously not limited to these specific embodiments. Without departing from the principle of the present utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present utility model.

Claims

1. A gripping device for a handling device, used in the field of vehicle body assembly, wherein the gripping device is mounted on a fixed frame of the handling device, and is characterized in that: The grabbing device comprises: A multi-axis moving module, which is mounted on the fixed frame and includes a plurality of sliding connection components that are slidably connected in sequence; A grabbing assembly, which is mounted on the multi-axis moving module and is capable of grabbing a workpiece; A rotating connection component is installed between the grabbing component and the multi-axis moving module, or the rotating connection component is installed between any two groups of the sliding connection components, and can adjust the position and angle of the grabbing component to grab different workpieces.

2. The gripping device according to claim 1, characterized in that: The multi-axis moving module comprises a first sliding connection component and a second sliding connection component; The fixed portion of the first sliding connection assembly is fixedly connected to the fixed frame, the fixed portion of the rotating connection assembly is fixedly connected to the sliding portion of the first sliding connection assembly, the fixed portion of the second sliding connection assembly is fixedly connected to the rotating portion of the rotating connection assembly, and the grabbing assembly is fixedly connected to the sliding portion of the second sliding connection assembly; The sliding direction of the first sliding connection component is perpendicular to the rotation plane of the rotation connection component, and the sliding direction of the second sliding connection component is parallel to the rotation plane of the rotation connection component.

3. The gripping device according to claim 2, characterized in that: The first sliding connection assembly includes a first slide and a first driving motor, a first screw rod and a first slider mounted on the first slide, the first slide is mounted on the fixed frame, the first driving motor is drivingly connected to the first screw rod, the first screw rod is threadedly matched with the first slider, and the first slider is slidably connected to the first slide; The fixing portion of the rotating connection assembly is fixedly connected to the first sliding block; The second sliding connection assembly includes a second slide and a second drive motor, a second screw rod and a second slider mounted on the second slide, the second slide is fixedly connected to the rotating portion of the rotating connection assembly, the second drive motor is drivingly connected to the second screw rod, the second screw rod is threadedly matched with the second slider, and the second slider is slidably connected to the second slide; The grabbing assembly is fixedly connected to the second sliding block.

4. The gripping device according to claim 3, characterized in that: The rotating connection assembly includes a connecting seat, a third driving motor and a rotating member, the connecting seat is fixedly connected to the first sliding block, the third driving motor is fixedly connected to the connecting seat, the rotating member is pivotally connected to the connecting seat, the third driving motor is drivingly connected to the rotating member, and the second slide is fixedly connected to the rotating member.

5. The gripping device according to claim 2, characterized in that: The grabbing assembly includes a fixed seat and a driving device, a rotating arm, a first clamping member and a second clamping member installed on the fixed seat, the fixed seat is fixedly connected to the sliding portion of the second sliding connection assembly, the rotating arm is directly or indirectly pivotally connected to the fixed seat, and the first end of the rotating arm is drivingly connected to the driving device, the second end of the rotating arm is fixedly connected to the first clamping member, the second clamping member is fixedly connected to the fixed seat, and the rotating arm can rotate under the drive of the driving device to drive the first clamping member to combine and separate with the second clamping member.

6. The gripping device according to claim 5, characterized in that: The driving device is configured as a driving cylinder, a cylinder body of the driving cylinder is mounted on the fixing seat, and a piston rod of the driving cylinder is drivingly connected to the first end of the rotating arm.

7. The gripping device according to claim 1, characterized in that: The grabbing assembly is configured as a vacuum suction cup assembly and / or an electromagnetic suction cup assembly.

8. A handling device, characterized in that: The handling equipment includes a robotic arm, a visual positioning device, and a gripping device and a fixed frame as described in any one of claims 1 to 7, wherein the fixed frame is installed on the robotic arm and can move under the drive of the robotic arm, and the gripping device and the visual positioning device are both installed on the fixed frame. The visual positioning device is electrically connected to the controller of the handling equipment, and can identify and locate the gripping points on the workpiece, and transmit the position information of the gripping points to the controller.

9. The handling equipment according to claim 8, characterized in that: The grabbing device is provided with multiple units, and / or The handling equipment further comprises a multi-axis movable grasping device, and the multi-axis movable grasping device comprises the multi-axis movable module and the grasping assembly.

10. The handling equipment according to claim 9, characterized in that: The handling equipment further comprises a first positioning assembly and a second positioning assembly, wherein the first positioning assembly comprises a connecting bracket and a first positioning pin, wherein the connecting bracket is fixed to the fixed frame, wherein the first positioning pin is fixed to the connecting bracket, wherein the second positioning assembly comprises a biaxial moving module and a second positioning pin, wherein the biaxial moving module is mounted on the fixed frame, wherein the second positioning pin is mounted on the biaxial moving module to move relative to the fixed frame, and / or The second positioning pin is made of a flexible material, and a sealed cavity is formed inside the second positioning pin. The cross-sectional radius of the second positioning pin can be adjusted by inflating and deflating the sealed cavity.

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