Gripper mechanism and welding system
By designing a gripper mechanism including a first positioning assembly, a second positioning assembly and a clamping assembly, the problem of large differences in positioning of workpieces of different models in the prior art is solved, accurate positioning and efficient grasping of workpieces are achieved, and production costs and fixture floor space are reduced.
Patent Information
- Application Number
- CN202422166081.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-03
- Publication Date
- 2025-06-17
- Estimated Expiration
- 2034-09-03
AI Technical Summary
In the existing automobile body white production lines, the gripper mechanism design leads to large differences in the shape and process positioning holes of workpieces of different models, resulting in high production costs and large floor space for fixtures.
A gripping mechanism is designed, including a first positioning assembly, a second positioning assembly and a clamping assembly. The first positioning assembly drives the pin cylinder to move in the vertical direction through the moving parts to achieve preliminary positioning; the second positioning assembly switches the positioning pin through the switching parts to achieve accurate positioning according to different models; the clamping assembly clamps the workpiece through the clamping parts to ensure accurate positioning.
Accurate positioning and grasping of workpieces of different models is achieved, reducing production costs and reducing the footprint of fixtures.
Smart Images
Figure CN222986937U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of body manufacturing, and particularly to a gripper mechanism and a welding system. Background Art
[0002] In the production and manufacturing process of automobile body in white, most of the production line bodies adopt the flexible production line method, that is, an automated line body can produce multiple vehicle models by switching corresponding equipment, which can reduce costs and production cycles.
[0003] There are significant differences in the outer shapes and process positioning holes of workpieces of different series of vehicle models. The conventional gripper mechanism for the front panel of the body in white is a special fixture for different vehicle models, which increases the production cost and the floor space occupied by the fixtures for each vehicle model. Summary of the Utility Model
[0004] In view of this, this application provides a gripper mechanism and a welding system, aiming to solve one of the technical problems in the prior art.
[0005] To achieve the above object, the technical solution adopted in this application is as follows:
[0006] In a first aspect, an embodiment of this application provides a gripper mechanism, including:
[0007] A first positioning component, including a moving part and a pin cylinder, the moving part drives the pin cylinder to move along a first direction and a second direction, and the first direction and the second direction are perpendicular;
[0008] A second positioning component, spaced from the first positioning component along the first direction, the second positioning component includes at least one positioning pin and a switching part, and the positioning pin and the switching part are connected;
[0009] A clamping component, spaced from the first positioning component and the second positioning component, and the clamping component is used to clamp the workpiece.
[0010] In one of the embodiments of the first aspect, the moving part includes:
[0011] A servo module, the servo module is connected to the fixed frame, and the output end of the servo module moves along the first direction;
[0012] A first guiding module, the first guiding module is connected to the output end of the servo module, the pin cylinder is connected to the output end of the first guiding module, and the output end of the first guiding module moves along the second direction.
[0013] In one of the embodiments of the first aspect, the switching part includes:
[0014] The first driving module, which is connected to the fixed frame, and the output end of the first driving module moves along the second direction;
[0015] The mounting plate, which is arranged and hinged with the driving module along the first direction;
[0016] The pressing arm, which is respectively hinged with the output end of the first driving module and the mounting plate.
[0017] In one embodiment of the first aspect, the second positioning component includes a first positioning pin and a second positioning pin, and the first positioning pin and the second positioning pin are arranged at intervals on the side of the pressing arm away from the first driving module.
[0018] In one embodiment of the first aspect, the output end of the first driving module drives the pressing arm to rotate relative to the mounting plate to a first position or a second position, so that the first positioning pin is connected to the workpiece, or the second positioning pin is connected to the workpiece.
[0019] In one embodiment of the first aspect, the second positioning component further includes:
[0020] The second guiding module, which is connected to the fixed frame, and the output end of the second guiding module is connected to the mounting plate to drive the mounting plate, the pressing arm and the positioning pin to move along the second direction.
[0021] In one embodiment of the first aspect, the clamping component includes a clamping member, and the clamping member includes:
[0022] The clamping jaw, which includes a first sub-clamping jaw and a second sub-clamping jaw, the first sub-clamping jaw includes a movable part and a fixed part, the movable part and the fixed part are hinged, and a sliding groove is formed on the movable part;
[0023] The sliding rod, which is inserted into the sliding groove and slides in the sliding groove;
[0024] The second driving module, the output end of which is connected to the fixed part and drives the movable part to move, so that the clamping jaw is in a closed state or a released state.
[0025] In one embodiment of the first aspect, the sliding groove is arc-shaped, and the concave side of the sliding groove faces the second sub-clamping jaw.
[0026] In one embodiment of the first aspect, the clamping component further includes:
[0027] The third guiding module is connected to the fixed frame, and the third guiding module drives the second sub-jaw and the second driving module to move the sliding rod along the second direction.
[0028] In a second aspect, an embodiment of the present application further provides a welding system, including the gripper mechanism in any of the above embodiments.
[0029] Compared with the prior art, the beneficial effect of the present application is that the present application provides a gripper mechanism, including a first positioning component, a second positioning component and a clamping component. The first positioning component includes a moving part and a pin cylinder. The moving part drives the pin cylinder to move along a first direction and a second direction, and the first direction and the second direction are perpendicular. By using the first positioning component, a preliminary positioning connection is formed between the pin cylinder and the workpiece.
[0030] The second positioning component is arranged at an interval from the first positioning component along the first direction. The second positioning component includes at least one positioning pin and a switching part. The positioning pin and the switching part are connected. After the first positioning component forms a preliminary positioning connection with the workpiece, according to different vehicle models, the switching part is used to switch the positioning pin corresponding to the vehicle model to be connected with the workpiece, so as to achieve accurate positioning of the workpiece.
[0031] The clamping component is arranged at an interval from the first positioning component and the second positioning component. The clamping component is used to clamp the workpiece. After the positioning is completed, the clamping component is used to clamp the workpiece to realize the grasping of workpieces of different vehicle models. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.
[0033] Figure 1 Shows a schematic structural diagram of a gripper mechanism in some embodiments of the present application;
[0034] Figure 2 Shows a schematic structural diagram of a first positioning component in some embodiments of the present application;
[0035] Figure 3 Shows a schematic structural diagram of a second positioning component in some embodiments of the present application;
[0036] Figure 4 Shows a schematic structural diagram of a clamping component in some embodiments of the present application;
[0037] Figure 5 Shows a schematic structural diagram of a clamping member in some embodiments of the present application.
[0038] Description of main component symbols: 100 - gripper mechanism;
[0039] 110 - first positioning component; 111 - pin cylinder; 1111 - positioning post; 112 - moving part; 1121 - servo module; 11211 - servo motor; 11212 - slider; 11213 - slide rail; 1122 - first guiding module; 113 - scale part;
[0040] 120 - second positioning component; 121 - first positioning pin; 122 - second positioning pin; 123 - switching part; 1231 - first driving module; 1232 - mounting plate; 1233 - pressing arm; 124 - second guiding module;
[0041] 130 - clamping component; 131 - clamping part; 1311 - jaw; 13111 - first sub - jaw; 13112 - movable part; 13113 - fixed part; 13114 - second sub - jaw; 13115 - chute; 1312 - slide bar; 1313 - second driving module; 1314 - third guiding module; 1315 - guiding block; 1316 - limiting block;
[0042] 140 - fixed frame; D1 - first direction; D2 - second direction. Detailed implementation manners
[0043] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present application and should not be construed as limiting the present application.
[0044] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.
[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" means two or more unless otherwise specifically defined.
[0046] In this application, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0047] In this application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.
[0048] As Figure 1 shown, an embodiment of this application provides a gripper mechanism 100, which is mainly used for gripping the front panel workpieces of different vehicle models.
[0049] The gripper mechanism 100 includes a first positioning component 110, a second positioning component 120, and a clamping component 130.
[0050] Among them, as Figure 1 shown, the first positioning component 110 includes a moving member 112 and a pin cylinder 111. The moving member 112 drives the pin cylinder 111 to move along a first direction D1 and a second direction D2. By using the first positioning component 110, a preliminary positioning connection is formed between the pin cylinder 111 and the workpiece.
[0051] The second positioning component 120 is spaced from the first positioning component 110 along the first direction D1. The second positioning component 120 includes at least one positioning pin and a switching member 123. The positioning pin and the switching member 123 are connected. After a preliminary positioning connection is formed between the first positioning component 110 and the workpiece, according to different vehicle models, the switching member 123 is used to switch the positioning pin corresponding to the vehicle model to be connected with the workpiece, so as to achieve accurate positioning of the workpiece.
[0052] The clamping assembly 130 is arranged at intervals along with the first positioning assembly and the second positioning assembly. The clamping member 131 is used for clamping the workpiece. After positioning is completed, the clamping assembly 130 is used to clamp the workpiece to realize the grasping of workpieces of different vehicle models.
[0053] It should be noted that the fixed frame 140 is generally rectangular. The workpiece is arranged at a relative interval from the fixed frame 140. The first direction D1 is the length direction of the fixed frame 140, and the second direction D2 is the direction of approaching or departing from the workpiece. The first direction D1 and the second direction D2 are perpendicular.
[0054] In some embodiments, the moving member 112 includes a servo module 1121 and a first guiding module 1122.
[0055] Please refer to Figure 2 , the servo module 1121 is connected to the fixed frame 140, and the output end of the servo module 1121 moves along the first direction D1.
[0056] In this embodiment, the servo module 1121 includes a servo motor 11211, a slider 11212, and a slide rail 11213. The slide rail 11213 is fixed on the fixed frame 140 along the first direction D1. The servo motor 11211 pushes the slider 11212 to move on the slide rail 11213.
[0057] It can be understood that the servo motor 11211 realizes precise control of position and speed through a feedback mechanism (such as an encoder), and the control accuracy is higher than that of a cylinder. The cylinder is convenient for maintenance and has a low cost. In the subsequent guiding module and driving module, a motor or a cylinder can be used as the driving source, which can be selected according to actual needs. In this embodiment, a cylinder is preferably used.
[0058] The first guiding module 1122 is connected to the output end of the servo module 1121. The pin cylinder 111 is connected to the output end of the first guiding module 1122. The output end of the first guiding module 1122 moves along the second direction D2.
[0059] The pin cylinder 111 has a positioning post 1111. The volume of the positioning post 1111 is small and is connected to the small positioning hole on the workpiece, which plays a role in quickly and accurately aligning the positioning holes, improving the installation accuracy, and simplifying the assembly process.
[0060] In addition, after the positioning post 1111 is docked with the positioning hole of the workpiece, it can also form a clamping connection with the workpiece to clamp the workpiece and reduce the load pressure on the clamping part robot.
[0061] Such as Figure 2As shown, the first positioning component 110 further includes a scale member 113. The scale member 113 is connected to the slider 11212 and moves with the slider 11212 to identify the positions of workpieces of different vehicle models, facilitating the quick and accurate docking of the positioning posts 1111 with the workpieces.
[0062] In some embodiments, the switching member 123 includes a first driving module 1231, a mounting plate 1232, and a pressing arm 1233.
[0063] As Figure 3 shown, the first driving module 1231 is connected to the fixed frame 140. The output end of the first driving module 1231 moves along the second direction D2. The mounting plate 1232 is arranged and hinged to the driving module along the first direction D1. The pressing arm 1233 is respectively hinged to the output end of the first driving module 1231 and the mounting plate 1232.
[0064] In this embodiment, the first driving module 1231 uses a cylinder as the driving source. The second positioning component 120 includes a first positioning pin 121 and a second positioning pin 122. The first positioning pin 121 and the second positioning pin 122 are arranged at intervals on the side of the pressing arm 1233 away from the first driving module 1231. The output end of the first driving module 1231 drives the pressing arm 1233 to rotate relative to the mounting plate 1232 to the first position or the second position, so that the first positioning pin 121 is connected to the workpiece, or the second positioning pin 122 is connected to the workpiece.
[0065] Specifically, as Figure 3 shown, when the output end of the first driving module 1231 retracts, the pressing arm 1233 tilts to the left, driving the first positioning pin 121 to move left and downward. The second positioning pin 122 faces the workpiece and is connected to the workpiece in alignment; when the output end of the first driving module 1231 extends forward, the pressing arm 1233 tilts to the right, driving the second positioning pin 122 to move right and downward. The first positioning pin 121 faces the workpiece and is connected to the workpiece in alignment. The first positioning pin 121 and the second positioning pin 122 correspond to workpieces of two vehicle models. Such a structure makes the structure of the second positioning component 120 simpler, more reliable and lower in cost.
[0066] It should be understood that when the first driving module 1231 uses a motor, due to the characteristic that the motor can easily program complex motion trajectories through the controller, the pressing arm 1233 can have more rotation points. For example, the motor controls the pressing arm 1233 to rotate 20° and stop once, and the rotation angle range is 0° to 100°. The motor controls the pressing arm 1233 to pause at 0°, 20°, 40°, 60°, 80°, and 100° respectively. Six positioning pins can be correspondingly set, and each positioning pin is connected to the workpiece in the rotation order. In this way, the second positioning component 120 can be applicable to the positioning of workpieces of more vehicle models.
[0067] In some embodiments, the second positioning assembly 120 further includes a second guiding module 124.
[0068] As Figure 3 shown, the second guiding module 124 is connected to the fixed frame 140, and the output end of the second guiding module 124 is connected to the mounting plate 1232 to drive the mounting plate 1232, the pressing arm 1233 and the positioning pin to move along the second direction D2, so as to drive the positioning pin to move closer to or away from the workpiece, thereby improving the positioning efficiency of the second positioning assembly 120.
[0069] In some embodiments, the clamping assembly 130 includes a clamping member 131, and the clamping member 131 includes a clamping jaw 1311, a sliding rod 1312 and a second driving module 1313.
[0070] As Figure 4 and Figure 5 shown, the clamping jaw 1311 includes a first sub-clamping jaw 13111 and a second sub-clamping jaw 13114. The first sub-clamping jaw 13111 includes a movable part 13112 and a fixed part 13113. The movable part 13112 and the fixed part 13113 are hinged. A chute 13115 is formed on the movable part 13112. The sliding rod 1312 is inserted into the chute 13115 and slides in the chute 13115. The output end of the second driving module 1313 is connected to the fixed part 13113 and drives the movable part 13112 to move, so that the clamping jaw 1311 is in a closed state or a released state.
[0071] In some embodiments, the chute 13115 is arc-shaped or obliquely linear. As Figure 4 and 5 shown, by providing the arc-shaped or obliquely linear chute 13115, the second sub-clamping jaw 13114 has two-direction movement components in the second direction D2 and the first direction D1. In this way, when the clamping jaw 1311 opens, the clamping jaw 1311 can be reset linearly without first disengaging from the workpiece downward or upward and then resetting linearly, thereby improving the working efficiency of the clamping jaw 1311.
[0072] As Figure 5 shown, when the chute 13115 is arc-shaped, the concave side of the chute 13115 faces the second sub-clamping jaw 13114.
[0073] When the chute 13115 is obliquely linear, the top end of the chute 13115 is arranged away from the second sub-clamping jaw 13114.
[0074] In some embodiments, as Figure 4 shown, the clamping assembly 130 further includes a third guiding module 1314, a guiding block 1315 and a limiting block 1316.
[0075] The third guiding module 1314 is connected to the fixed frame 140, and the third guiding module 1314 drives the second sub-jaw 13114, the second driving module 1313, and the slider 11212 to move along the second direction D2.
[0076] Specifically, the output end of the third guiding module 1314 is connected to the guiding block 1315, and the limiting block 1316 is connected to the fixed frame 140. The second sub-jaw 13114 and the sliding rod 1312 are fixed to the end of the limiting block 1316 away from the third guiding module 1314, and the output end of the third guiding module 1314 drives the second driving module, the first sub-jaw 13111, and the guiding block 1315 to move along the second direction D2.
[0077] The working process of the jaw 1311 is that after the end of the second sub-jaw 13114 contacts the workpiece, it is fixed, and the first sub-jaw 13111 moves. Specifically:
[0078] As Figure 4 shown, when the output end of the second driving module 1313 extends forward, since the fixed part 13113 is hinged to the movable part 13112, the second sub-jaw 13114 moves in the direction closer to the first sub-jaw 13111. The first sub-jaw 13111 and the sliding rod 1312 are fixed, and the output end of the third guiding module 1314 drives the guiding block 1315 and the second sub-jaw 13114 downward, so that the ends of the first sub-jaw 13111 and the second sub-jaw 13114 abut, and the jaw 1311 closes.
[0079] When the output end of the second driving module 1313 retracts, since the fixed part 13113 is hinged to the movable part 13112, the second sub-jaw 13114 moves in the direction away from the first sub-jaw 13111. The first sub-jaw 13111 and the sliding rod 1312 are fixed, and the output end of the third guiding module 1314 drives the guiding block 1315 and the second sub-jaw 13114 upward, so that the ends of the first sub-jaw 13111 and the second sub-jaw 13114 are separated, and the jaw 1311 opens.
[0080] The present application also provides a welding system, including the gripper mechanism 100 in any of the above embodiments. Therefore, it has all the beneficial effects of the gripper mechanism 100 in any of the above embodiments, and will not be elaborated here one by one.
[0081] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.
[0082] Although the embodiments of this application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting this application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.
Claims
1. A gripper mechanism, characterized in that: It includes a fixed frame and the following components arranged on the fixed frame: A first positioning assembly includes a moving member and a pin cylinder, wherein the moving member drives the pin cylinder to move along a first direction and a second direction, wherein the first direction is perpendicular to the second direction; A second positioning assembly is spaced apart from the first positioning assembly along the first direction, the second positioning assembly comprises at least one positioning pin and a switching member, the positioning pin is connected to the switching member; A clamping assembly is arranged at intervals with the first positioning assembly and the second positioning assembly, and the clamping assembly is used for clamping a workpiece.
2. The gripper mechanism according to claim 1, characterized in that: The moving part comprises: A servo module, wherein the servo module is connected to the fixed frame, and an output end of the servo module moves along the first direction; The first guide module is connected to the output end of the servo module, the pin cylinder is connected to the output end of the first guide module, and the output end of the first guide module moves along the second direction.
3. The gripper mechanism according to claim 1, characterized in that: The switching element comprises: A first driving module, wherein the first driving module is connected to the fixed frame, and an output end of the first driving module moves along the second direction; A mounting plate, wherein the mounting plate and the driving module are arranged and hinged along the first direction; A pressure arm is hinged to the output end of the first driving module and the mounting plate respectively.
4. The gripper mechanism according to claim 3, characterized in that: The second positioning assembly includes a first positioning pin and a second positioning pin, and the first positioning pin and the second positioning pin are arranged at a distance from each other on a side of the pressure arm away from the first driving module.
5. The gripper mechanism according to claim 4, characterized in that: The output end of the first driving module drives the pressing arm to rotate to a first position or a second position relative to the mounting plate, so that the first positioning pin is connected to the workpiece, or the second positioning pin is connected to the workpiece.
6. The gripper mechanism according to claim 4, characterized in that: The second positioning component also includes: A second guide module, wherein the second guide module is connected to the fixed frame, and an output end of the second guide module is connected to the mounting plate to drive the mounting plate, the pressure arm and the positioning pin to move along the second direction.
7. The gripping mechanism according to any one of claims 1 to 6, characterized in that: The clamping assembly comprises a clamping member, and the clamping member comprises: A clamping jaw, wherein the clamping jaw comprises a first sub-jaw and a second sub-jaw, the first sub-jaw comprises a movable portion and a fixed portion, the movable portion and the fixed portion are hinged, and a sliding groove is provided on the movable portion; A slide bar, the slide bar is passed through the slide groove and slides in the slide groove; A second driving module, wherein an output end of the second driving module is connected to the fixed part and drives the movable part to move so that the clamping jaws are in a closed state or a released state.
8. The gripper mechanism according to claim 7, characterized in that: The slide groove is arc-shaped, and the concave side of the slide groove faces the second sub-clamping jaw.
9. The gripper mechanism according to claim 7, characterized in that: The clamping assembly also includes: A third guide module is connected to the fixed frame, and drives the second sub-clamp and the second driving module to move along the second direction.
10. A welding system, characterized in that: The invention comprises the gripping mechanism according to any one of claims 1 to 9.