Rotary switching flexible grabbing device

Abstract

The utility model discloses a rotary switching flexible gripping device, which comprises a frame and two groups of gripping units, each group of gripping unit comprises a first gripping assembly, a second gripping assembly and a common gripping assembly, the first gripping assembly comprises a first rotary driving unit and a first pin cylinder connected to the rotary driving unit and used for gripping a first vehicle type, and the second gripping assembly comprises a second rotary driving unit and a second pin cylinder connected to the second rotary driving unit and used for gripping a second vehicle type. The second grabbing assembly comprises a rotary driving unit and a second pin cylinder connected to the rotary driving unit and used for grabbing the first vehicle type. The shared grabbing assembly comprises a rotary driving unit, a first pin cylinder and a second pin cylinder, wherein the first pin cylinder and the second pin cylinder are connected to the rotary driving unit and are perpendicular to each other. According to the utility model, the switching time of original different gripping devices is shortened, and the working time is saved.

Description

Technical Field

[0001] The utility model relates to the technical field of white body welding workshops, in particular to a rotary switching flexible grasping device. Background Art

[0002] In the current automobile white body welding process, there are a series of technical defects to be solved urgently. First of all, the grasping devices corresponding to each vehicle model are usually specially designed, which makes it difficult to make the grasping devices between different vehicle models universal, seriously restricting the flexibility of the production line. Secondly, in order to cope with the switching production of different vehicle models, each grasping device needs to be equipped with a quick-change device, which not only increases the complexity of the equipment, but also significantly improves the overall production cost. In addition, when switching between different vehicle models, the process of replacing the grasping device consumes valuable production man-hours, thus reducing the overall efficiency of the production line. At the same time, the structure of the traditional grasping device is relatively complex, usually including multiple components such as positioning blocks, pressing blocks, positioning pins and clamping cylinders. This design not only makes each unit appear cumbersome, but also is not conducive to the maintenance and optimization of the device. Finally, the various functional units of the existing grasping devices are often independently designed, resulting in a low overall integration degree of the device, which not only increases the volume of the device, but also affects its working efficiency and accuracy. These problems combined seriously restrict the further development and optimization of the automobile white body welding process. Therefore, it is urgent to develop a rotary switching flexible grasping device to overcome the above technical defects. Summary of the Invention

[0003] The technical problem to be solved by the utility model is to provide a rotary switching flexible grasping device and a white body welding workshop for the defects in the prior art. Through the rotary switching cooperation of the clamping pin cylinder, the common use of the same grasping device under the panel parts of different vehicle models is realized, avoiding the investment of additional grasping devices, especially the use of expensive accessories such as gun changers, shortening the switching time of the original different grasping devices, and saving working time.

[0004] The technical solution adopted by the present utility model to solve its technical problems is as follows: The present utility model provides a rotary switching flexible grasping device, which includes a frame. Two sets of grasping units are arranged symmetrically on the frame. Each set of grasping units includes a first grasping component that can only grasp the first vehicle model, a second grasping component that can only grasp the second vehicle model, and a common grasping component that can grasp and clamp both the first vehicle model and the second vehicle model. The first grasping component and the second grasping component are located on the same side of the frame, and the common grasping component and the first grasping component are located on different sides of the frame. The first grasping component includes a first rotary driving unit and a first pin cylinder connected to the rotary driving unit for grasping the first vehicle model. The second grasping component includes a rotary driving unit and a second pin cylinder connected to the rotary driving unit for grasping the first vehicle model. The common grasping component includes a rotary driving unit and a first pin cylinder and a second pin cylinder arranged perpendicular to each other and connected to the rotary driving unit.

[0005] In a preferred embodiment of the present utility model, the rotary driving unit includes a mounting seat, a cylinder is fixedly connected to the mounting seat, a connecting plate is hinged to the mounting seat, the connecting plate is hinged to the piston rod end of the cylinder, and the cylinder body end of the cylinder is hinged to the mounting seat.

[0006] In a preferred embodiment of the present utility model, an L-shaped structure for connecting the pin cylinder is provided on the connecting plate.

[0007] In a preferred embodiment of the present utility model, a limiting block for circumferentially limiting the connecting plate is provided on the mounting seat.

[0008] In a preferred embodiment of the present utility model, the limiting block is one or two.

[0009] In a preferred embodiment of the present utility model, the connecting plate is L-shaped or F-shaped.

[0010] In a preferred embodiment of the present utility model, a first pin cylinder or a second pin cylinder is connected to the L-shaped connecting plate.

[0011] In a preferred embodiment of the present utility model, a first pin cylinder and a second pin cylinder are connected to the F-shaped connecting plate.

[0012] In a preferred embodiment of the present utility model, a position detection switch and a plate position detection switch are provided on the frame.

[0013] The beneficial effects produced by the present utility model are as follows: The present utility model solves the problems of strong specificity, high cost, low efficiency, complex structure, etc. existing in the prior art, and provides an efficient, flexible and economical solution for the automotive body-in-white welding process. Through ingenious design, while improving production efficiency, this device significantly reduces production costs, optimizes the process flow, and improves production quality. Therefore, it has important practical value and broad application prospects. Specifically, first of all, through the rotational switching cooperation of the clamping pin cylinder, the present device realizes the sharing of the same gripping device under different vehicle model panels. This not only improves the versatility and flexibility of the device, but also avoids the investment in additional gripping devices, especially reducing the use of expensive accessories such as gun changers. This innovative design directly leads to a significant reduction in production costs. Secondly, this design greatly shortens the switching time of the original different gripping devices, thus saving precious working time. This improvement, combined with the design of the rotational drive unit, enables the vehicle model switching to be quickly completed through a simple rotational operation, thereby significantly improving the overall production efficiency. In addition, the structural design of the present invention is both simplified and highly integrated. By mirror-symmetrically arranging two groups of gripping units on the same frame, each group including gripping components dedicated to different vehicle models and shared gripping components, not only the space utilization rate is improved, but also the maintenance and operation are facilitated. This integrated design also reduces the long-term maintenance cost. More importantly, despite the simplified structure, this device does not sacrifice accuracy and safety. By setting limit blocks on the mounting seat, precise circumferential positioning of the connecting plate is achieved, ensuring precise positioning and operation at different workstations. At the same time, the in-place detection switches provided on the frame further improve the safety and reliability of the production process. Moreover, the flexible design of the L-shaped and F-shaped connecting plates enables the device to freely configure the pin cylinder according to the requirements of different vehicle models, which further enhances the adaptability of the device and enables it to better meet diverse production needs. Finally, this device can be directly applied to the body-in-white welding workshop, with good practicality and promotion value. It provides strong support for the intelligent and flexible production of the automotive manufacturing industry and is expected to have a wide impact in the industry. Brief Description of the Drawings

[0014] The following will further illustrate the present utility model in conjunction with the drawings. In the drawings:

[0015] Figure 1 is a schematic diagram of the present utility model;

[0016] Figure 2 is a schematic diagram of the present utility model;

[0017] Figure 3 is a schematic diagram of the position of the detection switch of the present utility model;

[0018] Figure 4 is a schematic diagram of the shared gripping component of the present utility model;

[0019] Figure 5 Schematic diagram of the first grasping component of the present utility model;

[0020] Figure 6 Schematic diagram of the pin cylinder of the present utility model. Detailed implementation manners

[0021] In order to make the objectives, technical solutions and advantages of the present utility model clearer and more understandable, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0022] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0023] As Figure 1-2 shown, the present utility model provides a rotary switching flexible grasping device, which includes a frame 1, and two groups of grasping units are arranged symmetrically on the frame 1. Each group of grasping units includes three main components: a first grasping component 2 that can only grasp the first vehicle model (such as vehicle model A), a second grasping component 3 that can only grasp the second vehicle model (such as vehicle model B), and a common grasping component 4 that can grasp and hold both the first vehicle model and the second vehicle model.

[0024] On the frame 1, the first grasping component 2 and the second grasping component 3 are located on the same side, while the common grasping component 4 is located on a different side from the first grasping component 2. This layout design not only ensures the compactness of the device but also ensures that the various components do not interfere with each other.

[0025] The first grasping component 2 includes a first rotary driving unit 5 and a first pin cylinder 6 connected thereto for grasping the first vehicle model. Similarly, the second grasping component 3 includes a rotary driving unit 5 and a second pin cylinder 7 connected thereto for grasping the second vehicle model. The common grasping component 4 includes a rotary driving unit 5 and a first pin cylinder 6 and a second pin cylinder 7 that are perpendicularly arranged and connected thereto. This design enables the common grasping component 4 to flexibly meet the requirements of different vehicle models.

[0026] As Figure 3-4As shown in the figure, the structure of the rotation drive unit 5 is a key innovation of the present utility model. It includes a mounting base 51, on which a cylinder 52 is fixedly connected. The mounting base 51 is hinged to a connecting plate 53, and the connecting plate 53 is also hinged to the piston rod end of the cylinder 52, while the cylinder body end of the cylinder 52 is hinged to the mounting base 51. This design enables the connecting plate 53 to rotate under the drive of the cylinder 52, thereby realizing the switching of different pin cylinders.

[0027] To improve the versatility and flexibility of the device, an L-shaped structure 54 for connecting the pin cylinder is provided on the connecting plate 53. This structure facilitates the installation and disassembly of the pin cylinder and improves the maintenance efficiency of the device.

[0028] To ensure the accuracy of rotational positioning, a limiting block 55 for circumferentially limiting the connecting plate 53 is provided on the mounting base 51. There are two limiting blocks 55, which are determined according to specific requirements. This design greatly improves the positioning accuracy and working stability of the device.

[0029] The connecting plate 53 can be designed as an L-shaped or F-shaped to adapt to different installation requirements. When using the L-shaped connecting plate 53, it can be connected to the first pin cylinder 6 or the second pin cylinder 7. When using the F-shaped connecting plate 53, it can be connected to both the first pin cylinder 6 and the second pin cylinder 7, further improving the flexibility of the device.

[0030] To ensure the safe operation of the device, a position detection switch 8 is provided on the frame 1. This switch can accurately detect the in-place state of the plate member and prevent damage caused by misoperation.

[0031] The working process of the present utility model is as follows: When the plate members of different vehicle models reach the working position, the PLC control system starts to control the telescopic cylinders of each unit to push the clamping pin cylinders to rotate and switch to match the corresponding vehicle models. When both the vehicle model detection switch 8 and the plate member in-place detection switch 9 receive induction signals simultaneously, the clamping pin cylinders of each unit start to extend the hooks to press the plate members. Subsequently, the robot arm drives the entire grasping device through the gun changer and drives the plate member to move to the corresponding position.

[0032] It should be particularly noted that the present utility model has been quickly switched to the working state matching the vehicle model through the PLC before grasping the plate member. It is strictly prohibited to switch the vehicle model grasping state during the debugging process with the plate member, which will cause damage to the cylinder and the plate member.

[0033] When the multi-vehicle model clamping pin cylinder unit structure of the present utility model works, the telescopic cylinder 1 pushes the clamping pin cylinder 8 and the clamping pin cylinder 5 on the connecting arm 7 to rotate around the hinge 3 to the limiting position. The telescopic cylinder 1 is equipped with a pneumatic cut-off protection device to ensure that the entire unit is very stable and guarantee a high repeat accuracy of positioning and clamping of the unit.

[0034] After the gripping plate reaches the placing position, the hook in the clamping pin cylinder retracts to release the plate, completing the entire working cycle.

[0035] In the present utility model, when the plates of different vehicle models reach the working position, the PLC control system starts to control the telescopic cylinders of each unit to push the clamping pin cylinder to rotate and switch to match the corresponding vehicle model. When the vehicle model detection switch 4 and the plate in-place detection switch 4 receive induction signals simultaneously, the hook of each unit's clamping pin cylinder starts to extend to press the plate, and the robot arm drives the plate to move to the corresponding position through the gun changer connecting the entire gripping device; before gripping the plate, it has quickly switched to the working state matching the vehicle model through the PLC. It is strictly prohibited to switch the vehicle model gripping state during the debugging process with the plate, which will cause damage to the cylinder and the plate.

[0036] Through the ingenious structural design and control strategy, the present utility model realizes the flexible gripping of plates of multiple vehicle models, greatly improving the flexibility and efficiency of the production line, while reducing the equipment investment cost and maintenance cost. This design is not only applicable to the existing automotive body-in-white welding production line but also provides strong support for the more intelligent and flexible automotive manufacturing in the future.

[0037] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is 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. Therefore, it should not be construed as a limitation to the present application. Unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0038] It should be noted that in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0039] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather will be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A rotary switching flexible grasping device, comprising a frame (1), characterized in that, Two sets of grasping units are symmetrically arranged on the frame (1) in a mirror image. Each set of grasping units includes a first grasping component (2) that can only grasp the first vehicle model, a second grasping component (3) that can only grasp the second vehicle model, and a common grasping component (4) that can grasp and hold both the first vehicle model and the second vehicle model. The first grasping component (2) and the second grasping component (3) are located on the same side of the frame (1), and the common grasping component (4) is located on a different side of the frame (1) from the first grasping component (2). The first grasping component (2) includes a first rotation drive unit (5) and a first pin cylinder (6) connected to the rotation drive unit (5) for grasping the first vehicle model. The second grasping component (3) includes a rotation drive unit (5) and a second pin cylinder (7) connected to the rotation drive unit (5) for grasping the second vehicle model. The common grasping component (4) includes a rotation drive unit (5) and a first pin cylinder (6) and a second pin cylinder (7) that are arranged perpendicular to each other and connected to the rotation drive unit (5).

2. The rotational switching flexible grasping device according to claim 1, characterized in that, The rotation drive unit (5) includes a mounting seat (51). The mounting seat (51) is fixedly connected with a cylinder (52). The mounting seat (51) is hinged with a connecting plate (53). The connecting plate (53) is hinged with the piston rod end of the cylinder (52). The cylinder body end of the cylinder (52) is hinged with the mounting seat (51).

3. The rotary switching flexible grasping device according to claim 2, characterized in that, An L-shaped structure (54) for connecting the pin cylinder is arranged on the connecting plate (53).

4. The rotary switching flexible grasping device according to claim 2, wherein A limiting block (55) for circumferentially limiting the connecting plate (53) is arranged on the mounting seat (51).

5. The rotary switching flexible grasping device according to claim 4, characterized in that, The limiting block (55) is one or two.

6. The rotary switching flexible grasping device according to claim 2, characterized in that, The connecting plate (53) is L-shaped or F-shaped.

7. The rotary switching flexible grasping device according to claim 6, characterized in that, The first pin cylinder (6) or the second pin cylinder (7) is connected to the L-shaped connecting plate (53).

8. The rotary switching flexible grasping device according to claim 6, characterized in that The first pin cylinder (6) and the second pin cylinder (7) are connected to the F-shaped connecting plate (53).

9. The rotational switching flexible grasping device according to claim 1, wherein: A position detection switch (8) and a panel position detection switch (9) are arranged on the frame (1).

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