Robot gripper with multi-model fender automatic assembling function

Abstract

The utility model discloses a robot gripper with a multi-model fender automatic assembling function, and belongs to the technical field of automatic assembling. According to the technical scheme, the device comprises a connecting frame used for being connected with an industrial robot, the section of the connecting frame is in an L shape, and an adjustable screw tightening mechanism and a fender grabbing mechanism are arranged on the connecting frame. The mudguard gripper has the beneficial effects that the mudguard gripper can automatically grab a mudguard, has an automatic tightening and mounting function, replaces manual work and improves the assembly efficiency. A servo motor on the gripper drives a sliding table to change the pitch of the screw tightening mechanism, and tightening of different hole pitches is compatible. The mudguard grabbing mechanism can move up and down and is compatible with assembly and use of different vehicle types.

Description

Technical Field

[0001] The utility model relates to a robot gripper with the automatic assembly function of multi - model mudguards, belonging to the technical field of automatic assembly. Background Technique

[0002] The mudguard of an automobile brake disc is used to prevent sundries such as sediment, rainwater, and stones from splashing onto the brake disc, thereby maintaining the performance of the brake disc and ensuring driving safety. In addition, the mudguard of the brake disc can reduce the erosion and wear of sundries on the brake disc and extend the service life of the brake disc. The existing installation of the mudguard adopts the manual taking and manual installation method, which has a large working intensity, is time - consuming and laborious, and has a low installation efficiency. Content of the Utility Model

[0003] In order to solve the defects existing in the prior art, the purpose of the utility model is to provide a robot gripper with the automatic assembly function of multi - model mudguards, which can replace manual labor, improve the assembly efficiency, and reduce the working intensity and labor cost.

[0004] The technical solution of the utility model is: a robot gripper with the automatic assembly function of multi - model mudguards, including a connecting frame for connecting an industrial robot. The cross - section of the connecting frame is L - shaped, and an adjustable screw - tightening mechanism and a mudguard gripping mechanism are arranged on the connecting frame.

[0005] The adjustable screw - tightening mechanism includes a slide table fixed on the connecting frame. Two slide seats are slidably connected to the slide table. A tightening shaft is arranged on the slide seat, and a tightening head with a magnetic adsorption function is arranged at the bottom of the tightening shaft. Driving nuts with reverse threads are fixed on the two slide seats. A lead screw passes through and is threadedly connected to the driving nuts. The lead screw is connected to a servo motor, and both the tightening shaft and the servo motor are connected to a PLC control system.

[0006] The mudguard gripping mechanism includes a bracket fixedly connected to the connecting frame. A linear guide rail and a cylinder a are installed on the bracket. An installation plate is slidably connected to the linear guide rail. A guide rail clamp for positioning on the linear guide rail is arranged on the installation plate. A rocker arm is rotatably connected to the installation plate through a rotating shaft. The output end of a cylinder b is rotatably connected to the rocker arm. The cylinder barrel of the cylinder b is rotatably connected to the installation plate. A pressing block cooperating with a support block is arranged at the end of the rocker arm. The support block is fixed on the installation plate. A proximity sensor connected to the PLC control system is arranged on the support block. The PLC control system is connected to control the cylinder a, the guide rail clamp, and the cylinder b.

[0007] The installation plate is slidably connected to the linear guide rail through a slider.

[0008] Both ends of the rotating shaft are located on a rotating shaft installation plate, and the rotating shaft installation plate is fixed on both sides of the installation plate.

[0009] The servo motor is fixed at the end of the slide table.

[0010] The beneficial effects of the present utility model are as follows: This gripper can automatically grasp the mudguard and has an automatic tightening and installation function, replacing manual labor and improving the assembly efficiency. The servo motor on the gripper drives the slide table to vary the distance of the screw tightening mechanism, compatible with tightening of different hole pitches. The mudguard grasping mechanism can move up and down, compatible with the assembly of different vehicle models. Description of the Drawings

[0011] Figure 1 is a perspective view of the present utility model;

[0012] Figure 2 is a side view of the present utility model;

[0013] Figure 3 is a front view of the present utility model;

[0014] Figure 4 is a rear view of the present utility model;

[0015] Figure 5 is a top view of the present utility model.

[0016] The reference numerals in the drawings are as follows: 1. connecting frame, 2. slide table, 3. slide seat, 4. tightening shaft, 5. tightening head, 6. servo motor, 7. bracket, 8. linear guide rail, 9. cylinder a, 10. mounting plate, 11. rocker arm, 12. rotating shaft, 13. rotating shaft mounting plate, 14. supporting block, 15. pressing block, 16. cylinder b, 17. guide rail clamp. Detailed Embodiment

[0017] The following further describes the present utility model in conjunction with the attached Figures 1-5 drawings:

[0018] A robot gripper with an automatic assembly function for multi-model mudguards includes a connecting frame 1 for connecting an industrial robot. The cross-section of the connecting frame 1 is L-shaped. The connecting frame 1 is provided with an adjustable screw tightening mechanism and a mudguard grasping mechanism. The mudguard grasping mechanism grasps the mudguard, and the robot drives this gripper to move to the assembly position. After moving into place, the adjustable screw tightening mechanism tightens the screws on it and assembles them to the designated position.

[0019] The adjustable screw tightening mechanism includes a sliding table 2 fixed on the connecting frame 1. Two sliding seats 3 are slidably connected to the sliding table 2. A tightening shaft 4 is provided on the sliding seat 3. A tightening head 5 with a magnetic attraction function is provided at the bottom of the tightening shaft 4. Driving nuts with reverse threads are fixed on the two sliding seats 3. A lead screw penetrates and is threadedly connected to the driving nuts. The lead screw is connected to a servo motor 6, and the servo motor 6 is fixed at the end of the sliding table 2. Both the tightening shaft 4 and the servo motor 6 are connected to the PLC control system. The servo motor 6 drives the two tightening shafts 4 to move synchronously relatively or towards each other by driving the sliding seats 3, so that the distance between the tightening shafts 4 matches the hole pitch. The robot first drives the tightening head 5 to the screw storage place, the tightening head 5 sucks the screw, and then the robot drives it to the screw tightening place for tightening. The PLC control system is used to control the start and stop of the tightening shaft 4 and the servo motor 6.

[0020] The fender grabbing mechanism includes a bracket 7 fixedly connected to the connecting frame 1, a linear guide 8 and a cylinder a9 are installed on the bracket 7, a mounting plate 10 is slidably connected to the linear guide 8 through a slider, a guide clamp 17 for positioning on the linear guide 8 is provided on the mounting plate 10, a rocker arm 11 is rotatably connected to the mounting plate 10 through a rotating shaft 12, both ends of the rotating shaft 12 are located on a rotating shaft mounting plate 13, the rotating shaft mounting plate 13 is fixed on both sides of the mounting plate 10, the output end of the cylinder b16 is rotatably connected to the rocker arm 11, the cylinder barrel of the cylinder b16 is rotatably connected to the mounting plate 10, a pressure block 15 cooperating with a support block 14 is provided at the end of the rocker arm 11, the support block 14 is fixed on the mounting plate 10, a proximity sensor connected to the PLC control system is provided on the support block 14, and the PLC control system is connected to control the cylinder a9, the guide clamp 17 and the cylinder b16. Before clamping the fender, the robot moves the mounting plate 10 to the set position above the fender and stops, and the part of the fender to be clamped is in line with the linear guide rail 8. Different fenders have different shapes, so the set stop positions are also different. The support block 14 and the pressure block 15 are in a separated state, and the cylinder a9 drives the mounting plate 10 and the rocker arm 11 to move along the linear guide rail 8, that is, the support block 14 and the pressure block 15 in the open state are moved to the part of the fender to be clamped. After moving into place, the support block 14 will support the fender and approach the sensor. The sensor sends a signal to the PLC control system, and the PLC control system sends a stop command to the cylinder a9, and sends a brake command to the rail clamp 17. The cylinder a9 stops running, and the rail clamp 17 acts to fix the mounting plate 10 and the rocker arm 11 on the linear guide 8 to ensure the accuracy of the fender clamping position. When clamping, the cylinder b16 acts to drive the rocker arm 11 to rotate, and the rocker arm 11 drives the pressure block 15 at the end to move. The pressure block 15 cooperates with the support block 14 to clamp the fender between the two. The robot drives the gripper to move as a whole to the assembly position, and the tightening head 5 is against the screw hole. The tightening shaft tightening head 5 screws the screw on it into the screw hole. After tightening, the pressure block 15 separates from the support block 14 to loosen the fender. At the same time, the robot drives the gripper to move up as a whole, leaving the tightening assembly station and entering the next work cycle.

[0021] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A robot gripper with the function of automatic assembly of multiple types of fenders, characterized in that: It comprises a connecting frame (1) for connecting an industrial robot, the connecting frame (1) having an L-shaped cross section, and an adjustable screw tightening mechanism and a fender grabbing mechanism being provided on the connecting frame (1).

2. The robot gripper with the function of automatic assembly of multiple types of fenders according to claim 1 is characterized in that: The adjustable screw tightening mechanism comprises a slide (2) fixed on a connecting frame (1), two slide seats (3) are slidably connected to the slide (2), a tightening shaft (4) is provided on the slide seat (3), a tightening head (5) with a magnetic attraction function is provided at the bottom of the tightening shaft (4), driving nuts with reverse threads are fixed on the two slide seats (3), a lead screw passes through and is threadedly connected to the driving nuts, the lead screw is connected to a servo motor (6), and the tightening shaft (4) and the servo motor (6) are both connected to a PLC control system.

3. The robot gripper with the function of automatic assembly of multiple types of fenders according to claim 1 is characterized in that: The fender grabbing mechanism comprises a bracket (7) fixedly connected to a connecting frame (1), a linear guide rail (8) and a cylinder a (9) being mounted on the bracket (7), a mounting plate (10) being slidably connected to the linear guide rail (8), a guide rail clamp (17) for positioning on the linear guide rail (8) being disposed on the mounting plate (10), a rocker arm (11) being rotatably connected to the mounting plate (10) via a rotating shaft (12), an output end of the cylinder b (16) being rotatably connected to the rocker arm (11), a cylinder barrel of the cylinder b (16) being rotatably connected to the mounting plate (10), a pressing block (15) cooperating with a support block (14) being disposed at the end of the rocker arm (11), the support block (14) being fixed on the mounting plate (10), a proximity sensor being disposed on the support block (14) being connected to a PLC control system, and the PLC control system being connected to control the cylinder a (9), the guide rail clamp (17) and the cylinder b (16).

4. The robot gripper with the function of automatic assembly of multiple types of fenders according to claim 3 is characterized in that: The mounting plate (10) is slidably connected to the linear guide rail (8) via a sliding block.

5. The robot gripper with the function of automatic assembly of multiple types of fenders according to claim 3 is characterized in that: The two ends of the rotating shaft (12) are located on the rotating shaft mounting plate (13), and the rotating shaft mounting plate (13) is fixed on both sides of the mounting plate (10).

6. The robot gripper with the function of automatic assembly of multiple types of fenders according to claim 2 is characterized in that: The servo motor (6) is fixed at the end of the slide table (2).

Images