Flexible gripper for automobile welding production line

Abstract

The utility model provides an automobile welding production line flexible gripper which comprises a support, a sliding assembly, a mechanical arm, a servo electric cylinder and a valve terminal assembly. The support is of an L-shaped structure, a sliding assembly is fixed to the bottom of the transverse edge of the L-shaped support, a mechanical arm is fixed to the outer side of the vertical edge of the L-shaped support, a servo electric cylinder is fixed to the lower side outside the vertical edge of the L-shaped support, and a valve terminal assembly is fixed to the front side of the transverse edge of the L-shaped support. A clamping jaw I is fixed to the lower end of a sliding arm of the sliding assembly. A clamping jaw II is fixed to the end of a push rod of the servo electric cylinder. A clamping head and a proximity switch are fixed at the end of the mechanical arm; the valve terminal assembly is connected with the high-pressure air source, the clamping jaw I, the clamping jaw II and the clamping head through pipelines. The flexible gripper for the automobile welding production line has the advantages that welded parts of different models and specifications can be gripped through one gripper, manufacturing and production cost is saved, and production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to automobile welding production line gripper technology, especially to an automobile welding production line flexible gripper. BACKGROUND

[0002] At present, automobile welding production line mostly adopts robot to realize the transmission of the welded part between the storage place and each station, and the basic operation of transmission is to pick up the welded part from the storage place or the station. Usually, the welded part is picked up by setting mechanical gripper on the robot, the gripper is special gripper, that is, the position of the clamping jaw and the clamping cylinder of each gripper is fixed, one gripper corresponds to one welded part. Therefore, the switching disc is specially set on the transmission robot to realize the conversion of the gripper. Taking automobile door as an example, in order to ensure that the door is in horizontal position during picking up, three-point clamping mode is usually adopted to pick up, that is, two through holes near the door window of the door are selected as two clamping points, and the middle section of the bottom of the door is selected as another clamping point (see Figure 1 , in the figure, a, b and c are clamping points); when clamping, two clamping jaws of the gripper clamp two through hole clamping points respectively, and the clamping cylinder clamps the bottom of the door, thereby realizing the clamping of the door (see Figure 2 , in the figure, A is the door, B is the switching disc, and C is the clamping cylinder). When another type of door needs to be picked up, because the distribution of the three clamping points is not the same, the corresponding gripper must be converted through the switching disc to be able to pick up.

[0003] Obviously, the existing automobile welding production line gripper has the problem that one set of gripper can only pick up one type of welded part, which leads to repeated production of the gripper, increases the production cost, and the like. SUMMARY

[0004] In order to solve the problem that one set of gripper can only pick up one type of welded part in the existing automobile welding production line gripper, which leads to repeated production of the gripper, increases the production cost, and the like, the utility model provides an automobile welding production line flexible gripper.

[0005] The utility model discloses an automobile welding production line flexible gripper, including, support, sliding assembly, mechanical arm, servo cylinder and valve island subassembly, the support is L shape structure, and the sliding assembly is fixed in the bottom of the horizontal edge of L shape support, and the mechanical arm is fixed on the vertical edge outside of L shape support, and the servo cylinder is fixed on the vertical edge outside downside of L shape support, and the valve island subassembly is fixed on the front side of the horizontal edge of L shape support, the clamping jaw I is fixed in the sliding arm lower end of sliding assembly, the clamping jaw II is fixed in the end of servo cylinder push rod, and the clamping head and proximity switch are fixed on the end of mechanical arm, wherein, the valve island subassembly is connected with high pressure gas source and clamping jaw I, clamping jaw II and clamping head pipeline respectively.

[0006] Preferably, the clamping jaws I and II are pin-type clamping cylinders.

[0007] Preferably, the clamping head is a clamping cylinder.

[0008] The beneficial technical effect of the flexible gripper of the automobile welding production line of the utility model is that a set of grippers can be used to grip welded parts of different models and specifications, thereby saving manufacturing and production costs and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Attachment Figure 1 A three-dimensional schematic diagram of a car door;

[0010] Attachment Figure 2 A three-dimensional schematic diagram of a conventional gripper grabbing a car door;

[0011] Attachment Figure 3 This is a three-dimensional schematic diagram of the flexible gripper of the automobile welding production line of the utility model;

[0012] Attachment Figure 4 This is a partial schematic diagram of the flexible gripper of the automobile welding production line of the utility model from another angle;

[0013] Attachment Figure 5 This is a three-dimensional schematic diagram of the initial state of the flexible gripper of the utility model grasping a car door;

[0014] Attachment Figure 6 The figure is a three-dimensional schematic diagram of the flexible gripper of the utility model grasping a car door.

[0015] In the figure, 1 is the bracket, 2 is the sliding assembly, 2-1 is the clamping claw I; 3 is the robotic arm, 3-1 is the clamping head, 3-2 is the proximity switch; 4 is the servo cylinder, 4-1 is the clamping claw II; 5 is the valve island assembly; A is the car door.

[0016] The flexible gripper for automobile welding production line of the present invention will be further described below with reference to the accompanying drawings and specific implementation methods. DETAILED DESCRIPTION

[0017] See attached Figure 2 、 3The present invention relates to a flexible gripper for an automotive welding production line, comprising a bracket 1, a sliding assembly 2, a robotic arm 3, a servo electric cylinder 4, and a valve island assembly 5. The bracket is L-shaped, with the sliding assembly fixed to the bottom of the horizontal side of the L-shaped bracket, the robotic arm fixed to the outside of the vertical side of the L-shaped bracket, the servo electric cylinder fixed to the lower outside of the vertical side of the L-shaped bracket, and the valve island assembly fixed to the front of the horizontal side of the L-shaped bracket. A clamping jaw 1 2-1 is fixed to the lower end of the sliding arm of the sliding assembly; a clamping jaw 2 4-1 is fixed to the end of the servo electric cylinder push rod; a clamping head 3-1 and a proximity switch 3-2 are fixed to the end of the robotic arm. The valve island assembly is connected to a high-pressure gas source and pipelines for clamping jaws 1, 2, and the clamping head, respectively. The present invention employs a sliding assembly as an adjustment mechanism in the X-direction and a servo electric cylinder as an adjustment mechanism in the Y-direction. After clamping jaws 1 and 2 are positioned, the robotic arm is used to clamp the third clamping point. In fact, the flexible gripper of this utility model is installed on the large robot on the production line. It is a "hand" of the large robot and is responsible for grabbing the workpieces that the large robot needs to move or transport. Therefore, in actual operation, it is necessary to first install the flexible gripper of this utility model on the large robot, and then conduct simulation training and trajectory debugging on the large robot together with the flexible gripper of this utility model. Figure 1 Taking the car door shown as an example, during simulation training and trajectory debugging, gripping point a is used as the base point and gripper I is used as the reference chuck. The large robot moves gripper I to above gripping point a and inserts gripper I into the hole of gripping point a; then, the large robot cooperates with the sliding assembly of the flexible gripper of the present invention to perform horizontal movement and move gripper II to above gripping point b; at this time, if gripping point a and gripping point b are in the same horizontal plane, the servo electric cylinder of the flexible gripper of the present invention does not perform any operation; otherwise, the servo electric cylinder will drive gripper II to move vertically to adjust the Y-direction position of gripper II; then, gripper II is inserted into the hole of gripping point b (see attached Figure 5 ); At this time, the robot arm moves to the clamping point C according to the set trajectory, and the proximity switch sends a signal to the valve island assembly, which simultaneously drives the clamping claws I, II and the clamping head to clamp the car door, thereby completing the grasping of the car door (see Appendix Figure 6 After simulation training and trajectory debugging, the flexible gripper of this utility model will complete the grasping of automobile doors according to the above steps during actual production. If additional parts need to be grasped, the flexible gripper only needs to undergo simulation training and trajectory debugging again. The flexible gripper of this utility model in an automotive welding production line can grasp parts of different models and specifications with a single set of grippers, saving manufacturing and production costs and improving production efficiency.

[0018] As one of the preferred technical solutions, the clamping jaws I and II are pin-type clamping cylinders, and the clamping head is a clamping cylinder. The use of pneumatic clamping can ensure sufficient clamping force, fast clamping action, and easy control and adjustment.

[0019] Obviously, the beneficial technical effect of the flexible gripper of the automobile welding production line of the utility model is that a set of grippers can be used to grab welded parts of different models and specifications, saving manufacturing and production costs and improving production efficiency.

Claims

1. A flexible gripper for an automobile welding production line, characterized in that: The flexible gripper includes a bracket, a sliding assembly, a robotic arm, a servo electric cylinder and a valve island assembly; the bracket is an L-shaped structure, with a sliding assembly fixed at the bottom of the horizontal side of the L-shaped bracket, a robotic arm fixed on the outside of the vertical side of the L-shaped bracket, a servo electric cylinder fixed on the outer lower side of the vertical side of the L-shaped bracket, and a valve island assembly fixed on the front side of the horizontal side of the L-shaped bracket; a clamping jaw I is fixed at the lower end of the sliding arm of the sliding assembly; a clamping jaw II is fixed at the end of the servo electric cylinder push rod; a clamping head and a proximity switch are fixed at the end of the robotic arm; wherein the valve island assembly is respectively connected to the high-pressure gas source and the clamping jaw I, clamping jaw II and clamping head pipelines.

2. The flexible gripper for automobile welding production line according to claim 1 is characterized in that: The clamping jaws I and II are pin-type clamping cylinders.

3. The flexible gripper for automobile welding production line according to claim 1 or 2, characterized in that: The clamping head is a clamping cylinder.

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