Servo gripper device shared by multiple vehicle types
Through the design of a shared servo gripper device for multiple models, the problems of large land area, high cost and high failure frequency of welding and assembly workshop equipment are solved, and the equipment is compact and efficient adaptive grasping of multiple models is achieved, reducing investment costs and failure rates.
Patent Information
- Application Number
- CN202422351904.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-21
- Publication Date
- 2025-07-08
- Estimated Expiration
- 2034-09-21
AI Technical Summary
In the prior art, the robotic gripper equipment in the welding and assembly workshop covers a large area, has high investment costs, has a long switching time and a high frequency of failures, making it difficult to adapt to the demand for collinear production of multiple models.
A multi-model shared servo gripper device is designed. Through the combination of the first adjustment seat, servo motor, bidirectional screw and grab cylinder, the compact structure and flexible adjustment of the gripper are realized, and the length and width requirements of workpieces of different models are adapted.
It reduces the equipment footprint and investment costs, simplifies the adjustment process, significantly reduces the failure rate, and improves production efficiency.
Smart Images
Figure CN223071415U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of automatic grasping, in particular to a servo gripper device shared by multiple vehicle models. Background Technique
[0002] The co-line production of multiple vehicle models in the welding workshop is an inevitable means for each factory to improve production competitiveness. There are also differences in the process positioning holes of workpieces of different vehicle models. Therefore, different grippers need to be used for the robot grippers to grasp different workpieces. There are 5-6 mainstream production line shared vehicle models, and at least 3-4 models. That is, the number of grippers at each station is relatively large. The switching of numerous grippers between stations means that the welding production line must plan more space to store the switched grippers. As a result, the automatic production line also occupies a large area.
[0003] Current domestic application solutions: Each robot at each station is provided with a dedicated gripper for each vehicle model. The gripper is connected to the robot through a switching disk. There are quick plug connection devices for gas and electricity on the switching disk. One side of the switching disk is installed on the gripper, and the other side is installed on the robot. When producing a vehicle model, the robot receives the vehicle model signal input by the PLC and compares it with the tool number (identifying the vehicle model) on the gripper. If they are the same, no switching is required. If they are different, the robot executes the switching program to switch the gripper. The gripper is usually stored on a fixed gripper storage rack or a rotary table storage rack. Especially, the number of gripper robots used on the floor sub-assembly line, floor assembly line, side wall line, and door and hood line is relatively large. The equipment occupies a large area, has a high investment cost, and has a long subsequent integration time, long switching time, and a high frequency of switching failures.
[0004] Therefore, it is particularly important to urgently design a servo gripper device shared by multiple vehicle models to solve the above defects. Content of the Utility Model
[0005] In view of the deficiencies of the prior art, the utility model designs a servo gripper device shared by multiple vehicle models, which aims to solve the technical problems of large floor area, high investment cost, long subsequent integration time, long switching time and high frequency of switching failures of the existing welding gripper equipment.
[0006] To achieve the above object, the utility model provides the following technical solutions:
[0007] A servo gripper device shared by multiple vehicle models includes a mounting plate. A first adjusting seat is fixedly installed at the bottom of the mounting plate. A first servo motor is fixedly installed at the right end of the first adjusting seat. A first bidirectional lead screw is rotatably connected inside the first adjusting seat. First sliding tables are installed at both ends of the first bidirectional lead screw. Second adjusting seats are fixedly installed at the bottoms of the two first sliding tables. Second servo motors are fixedly installed at the rear ends of the two second adjusting seats. Second bidirectional lead screws are rotatably connected inside the two second adjusting seats. Second sliding tables are installed at both ends of the two second bidirectional lead screws. Gripping cylinders are fixedly installed on the outer sides of the two second sliding tables.
[0008] As a preferred solution of the present utility model, the four corners at the top of the mounting plate are fixedly installed with the first adjusting seat through bolts, and a mounting flange is fixedly connected to the center of the top of the mounting plate.
[0009] As a preferred solution of the present utility model, the right end of the first bidirectional lead screw is fixedly connected to the driving end of the first servo motor through a first coupling, and the middle of the inner side of the first sliding table is threadedly connected to the first bidirectional lead screw through a first lead screw nut.
[0010] As a preferred solution of the present utility model, the two ends of the first sliding table are slidably connected to the first adjusting seat through a first slide rail. A first sensing block is fixedly installed on the front surface of the first sliding table. First position sensors adapted to the first sensing block are installed at the left and right ends of the front surface of the first adjusting seat. The bottom of the first sliding table is fixedly connected to the second adjusting seat through a connecting plate.
[0011] As a preferred solution of the present utility model, the rear end of the second bidirectional lead screw is fixedly connected to the driving end of the second servo motor through a second coupling, and the middle of the inner side of the second sliding table is threadedly connected to the second bidirectional lead screw through a second lead screw nut.
[0012] As a preferred solution of the present utility model, the two ends of the second sliding table are slidably connected to the second adjusting seat through a second slide rail. A second sensing block is fixedly installed on the top of the second sliding table. Second position sensors adapted to the second sensing block are installed at the front and rear ends of the top of the second adjusting seat.
[0013] As a preferred solution of the present utility model, a fixing plate is fixedly installed on the outer side of the second sliding table. The gripping cylinder is fixedly connected to the fixing plate through a fixing sleeve. A rubber protective sleeve is fixedly connected to the driving end of the gripping cylinder, and a bottom support is fixedly connected to the bottom end of the rubber protective sleeve.
[0014] Compared with the prior art, the beneficial effects of the present utility model are:
[0015] In the present utility model, through the cooperative design of the first adjustment seat, the first servo motor, the first bidirectional lead screw, the first slide table, the second adjustment seat, the second servo motor, the second bidirectional lead screw, the second slide table and the grasping cylinder, the overall structure is compact and occupies a small area, thereby reducing the investment cost. When grasping workpieces of different vehicle models, it can be adjusted accordingly according to the length and width of the workpieces of different vehicle models, and at the same time, the adjustment is simple and fast, greatly reducing the failure rate. Brief Description of the Drawings
[0016] Figure 1 It is a schematic diagram of the overall structure of the present utility model;
[0017] Figure 2 It is a schematic diagram of the internal structure of the first adjustment seat of the present utility model;
[0018] Figure 3 It is a schematic diagram of the internal structure of the second adjustment seat of the present utility model.
[0019] In the figure: 1. mounting plate; 101. mounting flange; 2. first adjustment seat; 3. first servo motor; 4. first bidirectional lead screw; 401. first coupling; 5. first slide table; 501. first slide rail; 502. first induction block; 503. first position sensor; 504. connecting plate; 6. second adjustment seat; 7. second servo motor; 8. second bidirectional lead screw; 801. second coupling; 9. second slide table; 901. second slide rail; 902. second induction block; 903. second position sensor; 904. fixing plate; 10. grasping cylinder; 1001. fixing sleeve; 1002. rubber protective sleeve; 1003. bottom support. Specific Embodiments
[0020] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the embodiments of the present utility model. Obviously, the described embodiments are only some of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0021] Embodiment:
[0022] Please refer to Figures 1-3 , the present utility model provides a technical solution:
[0023] A servo gripper device shared by multiple vehicle models includes a mounting plate 1. A first adjustment seat 2 is fixedly installed at the bottom of the mounting plate 1. A first servo motor 3 is fixedly installed at the right end of the first adjustment seat 2. A first double - lead screw 4 is rotatably connected inside the first adjustment seat 2. First slide tables 5 are installed at both ends of the first double - lead screw 4. Second adjustment seats 6 are fixedly installed at the bottoms of the two first slide tables 5. Second servo motors 7 are fixedly installed at the rear ends of the two second adjustment seats 6. Second double - lead screws 8 are rotatably connected inside the two second adjustment seats 6. Second slide tables 9 are installed at both ends of the two second double - lead screws 8. Gripping cylinders 10 are fixedly installed on the outer sides of the two second slide tables 9.
[0024] First, at the four corners of the top of the mounting plate 1, it is fixedly installed with the first adjustment seat 2 through bolts. A mounting flange 101 is fixedly connected to the center of the top of the mounting plate 1. After fixedly installing the mounting plate 1 on the first adjustment seat 2, the entire device is fixedly installed on the robotic arm in the factory through the mounting flange 101, so as to perform the gripping and handling work on the workpiece.
[0025] Furthermore, the right end of the first double - lead screw 4 is fixedly connected to the driving end of the first servo motor 3 through a first coupling 401. The middle part inside the first slide table 5 is threadedly connected to the first double - lead screw 4 through a first lead screw nut. When gripping workpieces of different vehicle models, start the first servo motor 3. Driven by the first coupling 401, the first double - lead screw 4 rotates. Driven by the first lead screw nut, the two first slide tables 5 move synchronously, so as to adjust the position of the gripping cylinder 10 according to the length of the workpiece.
[0026] Then, the two ends of the first slide table 5 are slidably connected to the first adjustment seat 2 through first slide rails 501. The connection of the first slide rails 501 enables the first slide table 5 to move stably. A first induction block 502 is fixedly installed on the front of the first slide table 5. First position sensors 503 adapted to the first induction block 502 are installed at the left and right ends of the front of the first adjustment seat 2. The bottom of the first slide table 5 is fixedly connected to the second adjustment seat 6 through a connecting plate 504. Before adjusting the positions of the two first slide tables 5, first adjust the two first slide tables 5 to the maximum spacing, so that the first induction block 502 reaches the first position sensor 503 and stop the continuous drive of the first servo motor 3, so as to adjust the lateral spacing of the gripping cylinder 10 to the maximum.
[0027] Further, the rear end of the second bidirectional lead screw 8 is fixedly connected to the driving end of the second servo motor 7 through a second coupling 801. The middle parts inside the second sliding tables 9 are all threadedly connected to the second bidirectional lead screw 8 through second lead screw nuts. When grasping workpieces of different vehicle models, the second servo motor 7 is started, and under the connection of the second coupling 801, it drives the second bidirectional lead screw 8 to rotate. Under the connection of the second lead screw nuts, the two groups of second sliding tables 9 are synchronously driven to move, so as to correspondingly adjust the position of the grasping cylinder 10 according to the width of the workpiece.
[0028] Secondly, both ends of the second sliding table 9 are slidably connected to the second adjusting seat 6 through second slide rails 901. Under the connection of the second slide rails 901, the second sliding table 9 can move stably. A second induction block 902 is fixedly installed on the top of the second sliding table 9, and second position sensors 903 adapted to the second induction block 902 are installed at the front and rear ends of the top of the second adjusting seat 6. After the lateral spacing of the grasping cylinder 10 is adjusted to the maximum, the spacing between the two second sliding tables 9 on the same group of second adjusting seats 6 is adjusted to the maximum, so that when the second induction block 902 reaches the second position sensor 903, the driving of the second servo motor 7 is stopped, and thus the longitudinal distance of the grasping cylinder 10 is also adjusted to the maximum. When grasping the workpiece, the position of the grasping cylinder 10 can be correspondingly adjusted according to the length and width of the workpiece.
[0029] Finally, a fixing plate 904 is fixedly installed on the outside of the second sliding table 9. The grasping cylinder 10 is fixedly connected to the fixing plate 904 through a fixing sleeve 1001. A rubber protective sleeve 1002 is fixedly connected to the driving end of the grasping cylinder 10, and a bottom support 1003 is fixedly connected to the bottom end of the rubber protective sleeve 1002. The grasping cylinder 10 is fixedly installed on the fixing plate 904 through the fixing sleeve 1001, so that corresponding adjustment can be made when the second sliding table 9 moves. When grasping workpieces of different vehicle models, first adjust the position of the grasping cylinder 10 according to the length and width of the workpiece, so that the rubber protective sleeves 1002 on the driving ends of multiple groups of grasping cylinders 10 respectively fit the outside of the workpiece. While ensuring the grasping effect through the rubber protective sleeve 1002, it can avoid abrasion on the outside of the workpiece. At the same time, after grasping, the bottom of the workpiece is supported by the bottom support 1003, so as to stably grasp the workpiece.
[0030] In this embodiment, the implementation scenario is specifically as follows: After the mounting plate 1 is fixedly installed on the first adjusting seat 2, the entire device is fixedly installed on the robotic arm in the factory through the mounting flange 101. When grasping workpieces of different vehicle models, the first servo motor 3 is started to drive the first bidirectional lead screw 4 to rotate under the connection of the first coupling 401. Under the connection of the first lead screw nut, two groups of first sliding tables 5 are synchronously driven to move. First, the two groups of first sliding tables 5 are adjusted to the longest spacing, so that the lateral spacing of the grasping cylinders 10 is adjusted to the maximum. The second servo motor 7 is started to drive the second bidirectional lead screw 8 to rotate under the connection of the second coupling 801. Under the connection of the second lead screw nut, two groups of second sliding tables 9 are synchronously driven to move, and the spacing between the two groups of second sliding tables 9 on the same group of second adjusting seats 6 is adjusted to the maximum, so that the longitudinal distance of the grasping cylinders 10 is also adjusted to the maximum. Subsequently, when grasping workpieces of different vehicle models, the position of the grasping cylinders 10 can be adjusted accordingly according to the length and width of the workpieces. When grasping the workpieces, the position of the grasping cylinders 10 is first adjusted so that the rubber protective sleeves 1002 on the driving ends of the multiple groups of grasping cylinders 10 respectively fit the outer sides of the workpieces. While ensuring the grasping effect through the rubber protective sleeves 1002, it can avoid abrasion on the outer sides of the workpieces. At the same time, after grasping, the bottom of the workpiece is supported by the bottom support 1003, so as to stably grasp the workpiece. The entire operation process is simple and convenient. Compared with the existing welding gripper device, the present utility model has a compact overall structure and a small floor area by design, thus reducing the investment cost. It can be adjusted accordingly according to the length and width of workpieces of different vehicle models, and the adjustment is simple and fast, greatly reducing the failure rate.
[0031] Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.
Claims
1. A servo gripper device shared by multiple vehicle models, comprising a mounting plate (1), characterized in that: A first adjusting base (2) is fixedly installed at the bottom of the mounting plate (1). A first servo motor (3) is fixedly installed at the right end of the first adjusting base (2). A first double-headed lead screw (4) is rotatably connected inside the first adjusting base (2). First sliding platforms (5) are installed at both ends of the first double-headed lead screw (4). Second adjusting bases (6) are fixedly installed at the bottoms of the two first sliding platforms (5). Second servo motors (7) are fixedly installed at the rear ends of the two second adjusting bases (6). Second double-headed lead screws (8) are rotatably connected inside the two second adjusting bases (6). Second sliding platforms (9) are installed at both ends of the two second double-headed lead screws (8). Gripping cylinders (10) are fixedly installed on the outer sides of the two second sliding platforms (9).
2. The multi-vehicle shared servo gripper device according to claim 1, wherein: The four corners at the top of the mounting plate (1) are fixedly installed with the first adjusting base (2) through bolts. An installation flange (101) is fixedly connected to the center of the top of the mounting plate (1).
3. The multi-vehicle shared servo gripper device according to claim 1, characterized in that: The right end of the first double-headed lead screw (4) is fixedly connected to the driving end of the first servo motor (3) through a first coupling (401). The middle part inside the first sliding platform (5) is threadedly connected to the first double-headed lead screw (4) through a first lead screw nut.
4. The multi-vehicle shared servo gripper device according to claim 1, characterized in that: Both ends of the first sliding platform (5) are slidably connected to the first adjusting base (2) through a first slide rail (501). A first induction block (502) is fixedly installed on the front surface of the first sliding platform (5). First position sensors (503) adapted to the first induction block (502) are installed at the left and right ends on the front surface of the first adjusting base (2). The bottom of the first sliding platform (5) is fixedly connected to the second adjusting base (6) through a connecting plate (504).
5. The multi-vehicle shared servo gripper device according to claim 1, wherein: The rear end of the second double-headed lead screw (8) is fixedly connected to the driving end of the second servo motor (7) through a second coupling (801). The middle parts inside the second sliding platforms (9) are threadedly connected to the second double-headed lead screw (8) through second lead screw nuts.
6. The multi-vehicle shared servo gripper device according to claim 1, characterized in that: Both ends of the second sliding platform (9) are slidably connected to the second adjusting base (6) through a second slide rail (901). A second induction block (902) is fixedly installed on the top of the second sliding platform (9). Second position sensors (903) adapted to the second induction block (902) are installed at the front and rear ends on the top of the second adjusting base (6).
7. A multi-vehicle shared servo gripper device according to claim 1, characterized in that: A fixing plate (904) is fixedly installed on the outer side of the second sliding platform (9). The gripping cylinder (10) is fixedly connected to the fixing plate (904) through a fixing sleeve (1001). A rubber protective sleeve (1002) is fixedly connected to the driving end of the gripping cylinder (10). A bottom support (1003) is fixedly connected to the bottom end of the rubber protective sleeve (1002).