Multi-vehicle-type flexible servo gripper

Abstract

The utility model relates to a multi-vehicle-type flexible servo gripper which comprises a welding frame of a T-shaped structure, and the welding frame is provided with a main support and a side support perpendicular to the main support. A first electric cylinder assembly, a second electric cylinder assembly, a first electric hook pin assembly and a second electric hook pin assembly are symmetrically arranged on the main support. An electric cylinder assembly III and an electric hook pin assembly III are mounted on the side bracket; wherein the electric hook pin assembly is provided with a movable hook and an air cylinder, the movable hook is driven by the air cylinder, and the movable hook is matched with an auxiliary hole in the plate. By arranging the welding frame of the T-shaped structure and the multiple electric cylinder assemblies, the purpose that one gripper is compatible with different vehicle types to adapt to plates of different lengths and widths is achieved by switching the positions of electric cylinder sliding blocks through program control, multi-vehicle-type switching of the clamp can be achieved through the technology, cost is low, and cost can be saved to a large extent; the problem that the line body cannot be integrated into more vehicle types or the integration cost is too high is solved, the use efficiency of the line body is improved, and the vehicle manufacturing cost is reduced.

Description

Technical Field

[0001] The utility model relates to the field of flexible grippers for body-in-white welding lines, in particular to a flexible servo gripper for multiple vehicle types. Background Art

[0002] Flexible production technology for body-in-white (BIW) welding lines is relatively mature, enabling flexible production of a wide range of vehicle models. However, currently, OEMs rely on changing grippers to produce different models. This approach presents several challenges. Space constraints limit the number of compatible models, and the high cost of production prevents flexible production of a wider range of vehicle types.

[0003] Implementing flexible production within the body-in-white welding line can significantly reduce production costs for automakers. Theoretically, the more models a line can produce, the lower the production costs. While flexible production is already relatively mature in existing technology, existing flexible production solutions, which use a gun changer to switch grippers, limit the number of models that can be accommodated within the line to three to six, effectively limiting the number of models that can be accommodated. This significantly impacts the efficiency of the welding line and increases vehicle manufacturing costs. Utility Model Content

[0004] The purpose of the utility model is to provide a flexible servo gripper for multiple vehicle types, aiming to overcome the defects of the existing technology and solve the problem that the line body cannot be integrated into more vehicle types or the integration cost is too high.

[0005] To this end, the utility model proposes a multi-vehicle flexible servo gripper, including a T-shaped welding frame, the welding frame having a main bracket and a side bracket perpendicular thereto; electric cylinder assembly 1 and electric cylinder assembly 2 are symmetrically arranged on the main bracket, and electric hook pin assembly 1 and electric hook pin assembly 2 are correspondingly provided on the electric cylinder assembly 1 and the electric cylinder assembly 2; electric cylinder assembly 3 is installed on the side bracket, and electric hook pin assembly 3 is installed on the electric cylinder assembly 3; wherein, the electric hook pin assembly 1, the electric hook pin assembly 2 and the electric hook pin assembly 3 have the same structure, are all provided with a movable hook and a cylinder, and the movable hook is driven by the cylinder, and the movable hook cooperates with the process hole on the plate; the distance between the electric hook pin assembly 1 and the electric hook pin assembly 2 is adjusted by controlling the electric cylinder assembly 1 and the electric cylinder assembly 2 to adapt to plates of different lengths, and the position of the electric hook pin assembly 3 is adjusted by controlling the electric cylinder assembly 3 to adapt to plates of different widths.

[0006] As a preferred technical solution of the present application, the electric hook pin assembly is also provided with a sliding guide seat, a T-shaped joint and a swivel pin. The movable hook is movably connected to the cylinder rod of the cylinder through the T-shaped joint. At the same time, the middle part of the movable hook has an inclined waist-shaped hole. The swivel pin on the sliding guide seat passes through the waist-shaped hole, so that the movable hook is movably connected to the sliding guide seat.

[0007] As a preferred technical solution of the present application, a positioning pin is fixed to the front end of the sliding guide seat, and the positioning pin has a groove for accommodating the movable hook.

[0008] As a preferred technical solution of the present application, the welding frame includes a T-shaped bracket and three electric cylinder mounting plates; the three electric cylinder mounting plates are correspondingly installed on the T-shaped bracket, and the electric cylinder assembly one, the electric cylinder assembly two, and the electric cylinder assembly three are correspondingly installed on the three electric cylinder mounting plates.

[0009] As a preferred technical solution of the present application, the welding frame further includes three anti-collision bars, which are correspondingly installed on the outside of the three electric cylinder mounting plates.

[0010] As a preferred technical solution of the present application, the welding frame further includes a manipulator connector, which is fixedly connected to the back of the T-shaped bracket and is used in conjunction with a multi-axis manipulator.

[0011] As a preferred technical solution of the present application, the welding frame further includes a valve island, which is also mounted on the T-shaped bracket and connected to the cylinder.

[0012] As a preferred technical solution of the present application, an electric cylinder assembly four is further provided between the electric cylinder assembly three and the electric hook pin assembly three, and the electric cylinder assembly four and the electric cylinder assembly three are arranged perpendicular to each other and perpendicular to the plane where the welding frame is located to adjust the moving depth of the movable hook.

[0013] As a preferred technical solution of the present application, a proximity switch is also installed on the electric hook pin assembly 1, the electric hook pin assembly 2 and the electric hook pin assembly 3, and is located on one side of the movable hook.

[0014] As a preferred technical solution of the present application, the electric cylinder assembly 1, the electric cylinder assembly 2 and the electric cylinder assembly 3 have the same structure and all include a motor, a guide rail slider and an L-shaped connector 1. The electric hook pin assembly 1 is installed on the L-shaped connector 1 by bolts, and the L-shaped connector 1 is installed on the guide rail slider and is driven by the motor.

[0015] The multi-vehicle flexible servo gripper provided by the utility model realizes compatibility of one gripper with different vehicle models by setting a T-shaped welding frame and multiple electric cylinder assemblies, and switching the position of the electric cylinder slider through program control to adapt to panels of different lengths and widths. This technology can realize multi-vehicle switching of the clamp, and has low cost, which can save costs to a great extent; it solves the problem that the line body cannot be integrated into more vehicle models or the integration cost is too high, improves the utilization efficiency of the line body, and reduces the cost of vehicle manufacturing.

[0016] In the preferred embodiment of the present invention, an electric cylinder assembly and a plurality of proximity switches are arranged perpendicular to the welding frame to determine the vehicle type corresponding to the panel and adjust the moving depth of the movable hook to adapt to the situation where the height of the process holes on the panel are inconsistent.

[0017] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings that constitute part of this application are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0019] Figure 1 This is a structural diagram of the flexible servo gripper for multiple vehicle types according to the present invention;

[0020] Figure 2 This is a structural diagram of the welding frame in the multi-vehicle flexible servo gripper of the utility model;

[0021] Figure 3 This is a structural diagram of the electric cylinder assembly in the multi-vehicle flexible servo gripper of the utility model;

[0022] Figure 4 This is a structural diagram of the electric hook pin assembly in the multi-vehicle flexible servo gripper of the utility model;

[0023] Figure 5 This is a schematic diagram of the structure of a plate grasped by the multi-vehicle flexible servo gripper of the present invention;

[0024] Explanation of the accompanying drawings: 1. Welding frame; 2. Electric cylinder assembly 1; 3. Electric hook pin assembly 1; 4. Electric cylinder assembly 2; 5. Electric hook pin assembly 2; 6. Electric cylinder assembly 3; 7. Electric cylinder assembly 4; 8. Electric hook pin assembly 3; 9. Plate; 11. T-shaped bracket; 12. Manipulator connector; 13. Electric cylinder mounting plate; 14. Anti-collision bar; 15. Valve island; 21. Motor; 22. Guide rail slider; 23. L-shaped connector 1; 24. Proximity switch; 31. Cylinder; 32. L-shaped connector 2; 33. T-shaped connector; 34. Locating pin; 35. Movable hook; 36. Sliding guide seat; 37. Turn pin. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] like Figures 1 to 4 As shown, the multi-type flexible servo gripper of the present invention includes a T-shaped welding frame 1, which has a main bracket and a side bracket perpendicular to it; the main bracket of the welding frame 1 is equipped with an electric cylinder assembly 2 and an electric cylinder assembly 4, and is symmetrically arranged, and the electric cylinder assembly 2 and the electric cylinder assembly 4 are correspondingly provided with an electric hook pin assembly 3 and an electric hook pin assembly 2 5; the side bracket of the welding frame 1 is equipped with an electric cylinder assembly 3 6, and the electric hook pin assembly 3 8 is installed on the electric cylinder assembly 3 6.

[0027] Among them, the three electric hook pin assemblies are all provided with a positioning pin 34 and a movable hook 35, and are driven by the cylinder 31. The positioning pin 34 and the movable hook 35 cooperate with the process holes on the grasped plate. By controlling the electric cylinder assembly 1 2 and the electric cylinder assembly 2 4, the distance between the electric hook pin assembly 1 3 and the electric hook pin assembly 2 5 is adjusted to adapt to plates of different lengths. By controlling the electric cylinder assembly 3 6, the position of the electric hook pin assembly 3 8 is adjusted to adapt to plates of different widths.

[0028] Specifically, if Figure 2 As shown, the welding frame 1 includes a T-shaped bracket 11 consisting of a main bracket and a side bracket, and also includes a manipulator connector 12, three electric cylinder mounting plates 13, three anti-collision bars 14 and a valve island 15; the manipulator connector 12 is fixedly connected to the back of the T-shaped bracket 11 for use with a multi-axis manipulator; the three electric cylinder mounting plates 13 are correspondingly installed on the T-shaped bracket 11, and the electric cylinder assembly 1 2 and the electric cylinder assembly 2 4, and the electric cylinder assembly 3 6 are correspondingly installed on the three electric cylinder mounting plates 13; the three anti-collision bars 14 are correspondingly installed on the outside of the three electric cylinder mounting plates 13 to protect the electric cylinder assemblies; the valve island 15 is also installed on the T-shaped bracket 11 to drive the electric hook pin assembly.

[0029] like Figure 3As shown, electric cylinder assembly 1 (2), electric cylinder assembly 2 (4), and electric cylinder assembly 3 (6) have the same structure, including a motor 21, a guide rail slider 22, and an L-shaped connector 1 (23). Electric hook pin assembly 1 (3) is bolted to L-shaped connector 1 (23), which is in turn mounted on guide rail slider 22 and driven by motor 21 to achieve position adjustment. Electric cylinder assembly 2 (4), electric cylinder assembly 3 (6), and electric cylinder assembly 4 (7) have the same structure and function as electric cylinder assembly 1 (2).

[0030] like Figure 4 As shown, the electric hook pin assembly 3 includes a cylinder 31, an L-shaped connector 2 32, a sliding guide seat 36, a T-shaped joint 33, a positioning pin 34 and a movable hook 35; the cylinder 31 and the sliding guide seat 36 are installed at both ends of the L-shaped connector 2 32, and the L-shaped connector 2 32 is fixedly connected to the L-shaped connector 1 23 on the electric cylinder assembly 2, the positioning pin 34 is fixed to the front end of the sliding guide seat 36, and the positioning pin 34 has a groove to accommodate the movable hook 35, and the movable hook 35 is also arranged in the sliding guide seat 36.

[0031] Among them, the movable hook 35 is movably connected to the cylinder rod of the cylinder 31 through a T-joint 33. At the same time, there is a waist-shaped hole arranged obliquely in the middle of the movable hook 35. The rotating pin 37 on the sliding guide seat 36 passes through the waist-shaped hole, so that the movable hook 35 is movably connected to the sliding guide seat 36. During the process of the cylinder 31 driving the movable hook 35 to move forward, it moves a certain distance toward the back of the movable hook 35, which plays an avoidance role to a certain extent, preventing the hook body at the front end of the movable hook 35 from colliding with the plate 9.

[0032] In one embodiment, an electric cylinder assembly 4 7 is provided between the electric cylinder assembly 3 6 and the electric hook pin assembly 3 8 . The electric cylinder assembly 4 7 and the electric cylinder assembly 3 6 are arranged perpendicular to each other and perpendicular to the plane of the welding frame 1 . Furthermore, a proximity switch 24 is installed on the guide rail sliders 22 of the electric hook pin assemblies 1 3 , 2 5 , and 3 8 , located on one side of the movable hook 35 .

[0033] Multiple proximity switches 24 can measure the height difference at different locations on the panel 9. Since the height difference varies between panels 9 of different vehicle types, the combined signals from these proximity switches can be used to identify the specific model of panel 9. The depth of the electric hook pin assembly 3 8 is then adjusted by the electric cylinder assembly 4 7, allowing the flexible servo gripper to adapt to different types of panel gripping. The height of the electric hook pin assembly 3 8 is adjusted by controlling the electric cylinder assembly 4 7 to accommodate the uneven heights of the process holes on the panel.

[0034] There are three process holes suitable for hooking on the plate 9. The gripper matches the position of the electric cylinder gripper hooking pin according to the hole position of different plates. The position constraints of the process holes are as follows: Figure 5As shown, its size constraints can be set according to user needs to ensure compatibility with all vehicle models within the set range and realize switching of grippers of multiple models.

[0035] This enables arbitrary switching of more car models, and the cost is low. It can also meet the flexible production needs of welding lines. In theory, it can greatly increase the number of car models that can be integrated into the production of a line.

[0036] The working principle and working process of the multi-vehicle flexible servo gripper of the utility model are briefly described below.

[0037] 1. The innovation of the present invention is to add a servo electric cylinder mechanism unit and apply the function of the servo motor to drive the lead screw to drive the slider to stop at any position to realize the positioning of multiple models using the same unit, so as to meet the flexible production of more models. In theory, as long as the white body welding process does not change much, this invention can be introduced once and completed for sharing by all models, greatly improving the utilization efficiency of the line.

[0038] 2. Considering the cost, this design can solve the sharing of grippers at one time only after the initial import of the line body. For the construction of new line bodies or the transformation of line bodies, the cost can be greatly reduced.

[0039] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A flexible servo gripper for multiple models, characterized in that: include: A T-shaped welding frame (1), the welding frame (1) having a main support and a side support perpendicular thereto; an electric cylinder assembly 1 (2) and an electric cylinder assembly 2 (4) are symmetrically arranged on the main support, and an electric hook pin assembly 1 (3) and an electric hook pin assembly 2 (5) are correspondingly arranged on the electric cylinder assembly 1 (2) and the electric cylinder assembly 2 (4); an electric cylinder assembly 3 (6) is mounted on the side support, and an electric hook pin assembly 3 (8) is mounted on the electric cylinder assembly 3 (6); The electric hook pin assembly 1 (3), the electric hook pin assembly 2 (5) and the electric hook pin assembly 3 (8) have the same structure and are all provided with a movable hook (35) and a cylinder (31), and the movable hook (35) is driven by the cylinder (31), and the movable hook (35) cooperates with the process hole on the plate (9); the distance between the electric hook pin assembly 1 (3) and the electric hook pin assembly 2 (5) is adjusted by controlling the electric cylinder assembly 1 (2) and the electric cylinder assembly 2 (4) to adapt to plates of different lengths, and the position of the electric hook pin assembly 3 (8) is adjusted by controlling the electric cylinder assembly 3 (6) to adapt to plates of different widths.

2. The multi-type flexible servo gripper according to claim 1 is characterized in that: The electric hook pin assembly (3) is further provided with a sliding guide seat (36), a T-shaped joint (33) and a rotating pin (37). The movable hook (35) is movably connected to the cylinder rod of the cylinder (31) through the T-shaped joint (33). At the same time, the middle part of the movable hook (35) has a waist-shaped hole arranged obliquely. The rotating pin (37) on the sliding guide seat (36) passes through the waist-shaped hole, so that the movable hook (35) is movably connected to the sliding guide seat (36).

3. The multi-type flexible servo gripper according to claim 2 is characterized in that: A positioning pin (34) is fixed to the front end of the sliding guide seat (36), and the positioning pin (34) has a groove for accommodating the movable hook (35).

4. The multi-type flexible servo gripper according to claim 1 is characterized in that: The welding frame (1) includes a T-shaped bracket (11) and three electric cylinder mounting plates (13); the three electric cylinder mounting plates (13) are correspondingly mounted on the T-shaped bracket (11), and the electric cylinder assembly 1 (2), the electric cylinder assembly 2 (4), and the electric cylinder assembly 3 (6) are correspondingly mounted on the three electric cylinder mounting plates (13).

5. The multi-type flexible servo gripper according to claim 4 is characterized in that: The welding frame (1) further comprises three anti-collision bars (14), which are correspondingly mounted on the outsides of the three electric cylinder mounting plates (13).

6. The multi-type flexible servo gripper according to claim 4 is characterized in that: The welding frame (1) further comprises a manipulator connector (12), wherein the manipulator connector (12) is fixedly connected to the back of the T-shaped bracket (11) and is used in conjunction with a multi-axis manipulator.

7. The multi-type flexible servo gripper according to claim 4 is characterized in that: The welding frame (1) further comprises a valve island (15), which is also mounted on the T-shaped bracket (11) and connected to the cylinder (31).

8. The multi-type flexible servo gripper according to claim 1, characterized in that: An electric cylinder assembly four (7) is further provided between the electric cylinder assembly three (6) and the electric hook pin assembly three (8), and the electric cylinder assembly four (7) and the electric cylinder assembly three (6) are arranged perpendicular to each other and perpendicular to the plane where the welding frame (1) is located, so as to adjust the moving depth of the movable hook (35).

9. The multi-type flexible servo gripper according to claim 8, characterized in that: The electric hook pin assembly 1 (3), the electric hook pin assembly 2 (5) and the electric hook pin assembly 3 (8) are also equipped with a proximity switch (24), which is located on one side of the movable hook (35).

10. The multi-type flexible servo gripper according to claim 1, characterized in that: The electric cylinder assembly 1 (2), the electric cylinder assembly 2 (4) and the electric cylinder assembly 3 (6) have the same structure and all include a motor (21), a guide rail slider (22) and an L-shaped connecting piece 1 (23). The electric hook pin assembly 1 (3) is mounted on the L-shaped connecting piece 1 (23) by means of bolts, and the L-shaped connecting piece 1 (23) is mounted on the guide rail slider (22) and driven by the motor (21).

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