Flexible carrying gripper for body-in-white welding door cover inner plate

Abstract

The utility model provides a flexible carrying gripper for a body-in-white welding door cover inner plate, which is used for carrying workpieces and comprises a first positioning and clamping assembly, a second positioning and clamping assembly, a first clamping assembly, a second clamping assembly, a third clamping assembly and a frame, and the first positioning and clamping assembly and the second positioning and clamping assembly are mounted on the lower end face of the frame. The sliding device is used for positioning and clamping a workpiece, and the sliding device moves in the Y direction and the Z direction to position and clamp multiple vehicle types; the positioning and clamping device has the advantages that a two-positioning and five-clamping mode is adopted, the first positioning and clamping assembly and the second positioning and clamping assembly are installed on the lower end face of the frame to position and clamp a workpiece, and the sliding device moves in the Y direction and the Z direction to position and clamp multiple vehicle types; the first clamping assembly and the second clamping assembly are installed on the lower end face of the frame and used for clamping a workpiece.

Description

TECHNICAL FIELD

[0001] The utility model relates to flexible handling gripper technical field especially relates to a white car body welding door cover inner plate flexible handling gripper. BACKGROUND

[0002] For the rapid development of new energy vehicles, common platform production is a trend of automobile production, and more flexibility of related equipment is a problem that production equipment manufacturers need to solve urgently.

[0003] The prior art retrieved is as follows:

[0004] Application 1: Integrated flexible grabbing platform system (CN108705517A) The present application relates to the field of robot industrial automation, and discloses an integrated flexible grabbing platform system, which comprises a flexible grabbing platform, a control center, a teaching machine and an upper computer, a flexible robot gripper can be controlled by a programming control system, a positioning and clamping unit installed on the robot gripper is changed into a new type of flexible gripper with a linear motor, and a modular design is adopted, the number of compression mechanisms or positioning mechanisms connected on the flexible grabbing platform is increased or reduced according to needs to meet the requirements of the workstations under different processing conditions. The present application can realize the expansion and change of the freedom degree of multidimensional movement of the gripper by increasing the Z-axis rotating assembly or the X-axis translating assembly, and finally realizes the movement in X, Y and Z directions, realizes the compression and positioning ability in a wide range, and greatly increases the flexibility and accessibility of the flexible grabbing platform through the combined use of multiple compression and positioning mechanisms.

[0005] Application 2: A multi-vehicle flexible gripper (CN115092687A) The present application relates to the field of gripper, and discloses a multi-vehicle flexible gripper, which comprises a main frame, a first clamping mechanism, a second clamping mechanism, a third clamping mechanism, a clamping device, a positioning mechanism, a product detection piece, a motion control valve group and a remote controller. The first clamping mechanism, the second clamping mechanism and the third clamping mechanism each comprise a three-axis servo motion mechanism provided with a first clamping unit; the clamping device comprises a two-axis servo motion mechanism provided with a second clamping unit. The above-mentioned multi-vehicle flexible gripper realizes flexible clamping and fixing through three three-axis clamping mechanisms and one two-axis clamping mechanism, the positioning mechanism precisely positions the workpiece, and the product detection piece, the motion control valve group and the detection device cooperate to automatically control the different profile of different workpieces, which embodies high flexibility, and a set of equipment can be used for positioning and clamping of multiple vehicle types without frequent replacement of corresponding grippers, so that the clamping and positioning requirements of multiple vehicle types are met.

[0006] Application 3: A multi-vehicle flexible gripper mechanism (CN213136778U) The utility model provides a multi-vehicle flexible gripper mechanism, comprising: a gripper frame, comprising a first cross beam, a second cross beam and a third cross beam arranged on the same horizontal plane; a first clamping device, two of which are symmetrically arranged and fixedly arranged at the two ends of the first cross beam for clamping the wide edge of the vehicle part; a positioning device, two of which are symmetrically arranged and located below the two ends of the second cross beam for positioning and clamping the vehicle part, and the second cross beam is provided with a first driving device for driving the positioning device to move along the length direction of the second cross beam; a second clamping device arranged below the third cross beam for clamping the long edge of the vehicle part, and the third cross beam is provided with a second driving device for driving the second clamping device to move along the length direction of the third cross beam. The gripper mechanism can meet the clamping needs of different vehicle types, the clamping device clamps and positions accurately, and the multi-vehicle production demand is quickly realized.

[0007] Application 4: A flexible gripper and its control system (CN118682796A) The application discloses a flexible gripper and its control system, and belongs to the technical field of robot grippers. The flexible gripper comprises a frame, a connector and a plurality of gripper modules; the frame is formed by a plurality of upper linear actuators; the frame is provided with the connector, which can be connected with a robot; the upper linear actuators can be connected with each other and arranged and expanded along the X-axis and / or Y-axis directions; each gripper module comprises one or more lower linear actuators, a clamping and grabbing device and a plurality of adapter structures. The control system comprises a flexible gripper controller, a field teaching management terminal and a servo positioning module; the flexible gripper controller comprises a logic controller module, a servo bus communication module, a bus adapter scanner module and a bus server module. The application solves the technical problems that the structure of the traditional flexible gripper is complex, the equipment is heavy, the control technology is complex, and the frame and the gripping unit are not convenient to expand.

[0008] Such technologies have the common shortcoming that they are only suitable for common handling of similar vehicle types, and for vehicle types with large differences, additional handling grippers need to be added, thereby increasing the cost investment of the factory. Utility model content

[0009] In order to overcome the above-mentioned problems in the prior art, the utility model provides a flexible handling gripper for a body-in-white welding door cover inner plate.

[0010] The utility model discloses a body -in -white welding door cover inner plate flexible handling gripper for handling work piece, including positioning clamping assembly no.

[0011] On this basis, the positioning clamping assembly one includes positioning clamping mechanism, positioning clamping Z direction moving mechanism and positioning clamping Y direction moving mechanism, the positioning clamping mechanism is installed to the side of positioning clamping Z direction moving mechanism, and the positioning clamping Z direction moving mechanism is installed to the lower end surface of positioning clamping Y direction moving mechanism.

[0012] On this basis, the positioning clamping mechanism includes positioning pin, support block, hook pin, gasket, connecting block one, shell, cover plate one, cover plate two, pivot, joint, connecting shaft and cylinder one and is formed, the positioning pin is connected with the shell through connecting block one, the joint front end is connected with hook pin through connecting shaft, the joint is connected with cylinder one piston rod, the hook pin is provided with U type groove, and the cylinder one is connected with the shell, the pivot passes through the U type groove on the shell and hook pin, the hook pin is connected with the shell through cover plate one, cover plate two and pivot, is fixed simultaneously, the support block is adjusted with connecting block one through gasket and is connected.

[0013] On this basis, the positioning clamping Z direction moving mechanism and positioning clamping Y direction moving mechanism structure are same, the positioning clamping Z direction moving mechanism includes linear module one, connecting plate one, servo motor one, connecting seat one, cylinder two, connecting support one, connecting plate two, gasket one and limit block, the upper end surface of linear module one is connected with the frame, the servo motor one is installed at the rear end of linear module one, the movable end of linear module one is installed connecting plate one, the lower end surface of connecting plate is connected with the upper end surface of connecting seat one, the side of connecting seat one is connected with the side of connecting plate two, the side of connecting plate two is connected with the side of cylinder two, the lower end surface of cylinder two is connected with the upper end surface of connecting support one, the side of connecting support one is connected with connecting plate two through gasket one, connecting plate two is connected with positioning clamping mechanism, the lower end surface of connecting support is installed two limit blocks, and the lower end surface of limit block is connected with connecting plate two.

[0014] On this basis, the clamping assembly X, Y, Z to the moving mechanism and the first clamping mechanism are composed of clamping assembly, the clamping assembly X, Y, Z to the moving mechanism is connected with the frame, the first clamping mechanism is connected with the clamping assembly X, Y, Z to the moving mechanism.

[0015] On this basis, the clamping assembly X, Y, Z to the moving mechanism includes linear module two, servo motor two, connecting plate three, connecting support two, linear module three, servo motor three, connecting plate four, connecting support three, linear module four, servo motor four, connecting plate five, connecting plate six, connecting plate seven, L connecting block and connecting plate eight, the fixed end of the linear module two is connected with the frame, the tail end of the linear module two is connected with the servo motor two, the movable end of the linear module two is connected with the connecting plate three, the connecting plate three is connected with the connecting support two, the connecting support two is connected with the linear module three, the tail end of the linear module three is connected with the servo motor three, the movable end of the linear module three is connected with the connecting plate four, the connecting plate four is connected with the connecting support three, the connecting support three is connected with the linear module four, the tail end of the linear module four is connected with the servo motor four, the movable end of the linear module four is connected with the connecting plate five, the connecting plate five is connected with two connecting plate six, the connecting plate six is connected with the connecting plate seven, the connecting plate seven is connected with the L connecting block, and the L connecting block is connected with the connecting plate eight.

[0016] On this basis, the first clamping mechanism is connected with the connecting plate eight, and the first clamping mechanism includes pressure arm one, connecting block three, gasket two, mounting seat one, pressure block one, pressure block two, mounting seat two, gasket three, connecting block four, pressure arm two, servo motor five, servo motor six and cylinder body, the pressure arm one is connected with the rotating shaft on the cylinder body, the upper end surface of the pressure arm one is connected with the lower end surface of the connecting block three, the mounting seat one is connected with the connecting block three through the gasket two adjustment, the upper end surface of the mounting seat one is connected with the pressure block one, the pressure arm two is connected with the rotating shaft on the cylinder body, the lower end surface of the pressure arm two is connected with the upper end surface of the connecting block four, the mounting seat two is connected with the connecting block four through the gasket three adjustment, the lower end surface of the mounting seat two is connected with the pressure block two, the servo motor five and the servo motor six are connected with the cylinder body, the cylinder body is connected with the connecting plate eight, the pressure block one and the pressure block two can be universally floated, and the floating angle is 9°.

[0017] On this basis, the clamping assembly three is composed of clamping assembly X, Z to the moving mechanism and the second clamping mechanism, the clamping assembly X, Z to the moving mechanism is connected with the frame, the second clamping mechanism is connected with the clamping assembly X, Z to the moving mechanism, and the structure of the second clamping mechanism is same as that of the first clamping mechanism.

[0018] On this basis, the clamping assembly X, Z direction moving mechanism includes linear module five, servo motor seven, connecting support four, linear module six, servo motor eight, connecting plate nine, connecting plate ten and mounting seat three, the linear module five is installed to the frame, the tail end of linear module five is connected with servo motor seven, the lower end surface of the movable end of linear module five is connected with the upper end surface of connecting support four, the connecting support four is connected with linear module six, the tail end of linear module six is connected with servo motor eight, the movable end of linear module six is connected with connecting plate nine, connecting plate nine is connected with two connecting plate tens, connecting plate ten is connected with mounting seat three, and mounting seat three is connected with the second clamping mechanism.

[0019] Compared with the prior art, the utility model has the advantages that:

[0020] (1) the utility model discloses, positioning clamping mode adopts 2 fixed 5 clamps, positioning clamping assembly one, positioning clamping assembly two are installed to the lower end surface of frame, and the workpiece is positioned and clamped, and the multiple vehicle types are positioned and clamped through the Y, Z direction movement of sliding device, and the lower end surface of frame is installed to clamping assembly one, clamping assembly two, and the workpiece is clamped, and the multiple vehicle types are clamped through the X, Y, Z direction movement, electric drive of sliding device, electric drive to clamp device, and can be suitable for most vehicle types, thereby reducing the input cost, and more effectively reducing the land area, and the lower end surface of frame is installed to clamping assembly three, and the workpiece is clamped, and the multiple vehicle types are clamped through the X, Z direction movement, electric drive of sliding device, electric drive to clamp device.

[0021] (2) the utility model discloses, X, Y, Z direction movement is used for vehicle type switching, and the switching of more vehicle types can be satisfied through the adjustment pressure angle of clamping mechanism, and the clamping mode when the vehicle type is larger is solved through electric control, thereby more effectively solving the X, Y, Z axis rotation self-use degree, and the positioning and clamping of different vehicle types in the long, short, high and low directions are solved through X, Y, Z direction movement, and the material thickness of different vehicle types can be adapted through electric control to clamp. DRAWINGS

[0022] Figure 1 It is the flexible handling gripper structure schematic diagram of the utility model body in white door cover inner plate welding;

[0023] Figure 2 It is the positioning clamping assembly one structure schematic diagram of the utility model;

[0024] Figure 3 It is the main view of the utility model positioning clamping mechanism section view;

[0025] Figure 4 It is the side view of the utility model positioning clamping mechanism section view;

[0026] Figure 5Is the positioning clamping Y, Z direction moving mechanism schematic diagram of the utility model;

[0027] Figure 6 Is the clamping assembly one structure schematic diagram of the utility model;

[0028] Figure 7 Is the clamping assembly X, Y, Z direction moving mechanism schematic diagram of the utility model;

[0029] Figure 8 Is the clamping mechanism schematic diagram of the utility model;

[0030] Figure 9 Is the clamping assembly three structure schematic diagram of the utility model;

[0031] Figure 10 Is the clamping assembly X, Z direction moving mechanism schematic diagram of the utility model;

[0032] In the drawing: 1, workpiece,

[0033] 2, positioning clamping assembly one, 3, positioning clamping assembly two, 21, positioning clamping mechanism, 2101, positioning pin, 2102, support block, 2103, hook pin, 2104, gasket, 2105, connecting block one, 2106, shell, 2107, cover plate one, 2108, cover plate two, 2109, pivot, 2110, joint, 2111, connecting shaft, 2112, cylinder one, 22, positioning clamping Y direction moving mechanism, 23, positioning clamping Z direction moving mechanism, 2201, linear module one, 2202, connecting plate one, 2203, servo motor one, 2301, connecting seat one, 2302, cylinder two, 2303, connecting support one, 2304, connecting plate two, 2305, gasket one, 2306, limit block,

[0034] 4, clamping assembly one, 5, clamping assembly two, 41, clamping assembly X, Y, Z direction moving mechanism, 4101, linear module two, 4102, servo motor two, 4103, connecting plate three, 4104, connecting support two, 4105, linear module three, 4106, servo motor three, 4107, connecting plate four, 4108, connecting support three, 4109, linear module four, 4110, servo motor four, 4111, connecting plate five, 4112, connecting plate six, 4113, connecting plate seven, 4114, L connecting block, 4115, connecting plate eight, 42, first clamping mechanism, 4201, pressure arm one, 4202, connecting block three, 4203, gasket two, 4204, mounting seat one, 4205, pressure block one, 4206, pressure block two, 4207, mounting seat two, 4208, gasket three, 4209, connecting block four, 4210, pressure arm two, 4211, servo motor five, 4212, servo motor six, 4213, cylinder,

[0035] 6, clamping assembly three, 61, clamping assembly X, Z direction moving mechanism, 6101, linear module five, 6102, servo motor seven, 6103, connecting support four, 6104, linear module six, 6105, servo motor eight, 6106, connecting plate nine, 6107, connecting plate ten, 6108, mounting seat three, 62, second clamping mechanism,

[0036] 7, frame. DETAILED DESCRIPTION

[0037] The utility model is further explained in detail in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and are not used to limit the utility model.

[0038] The utility model adopts the positioning and clamping mode of door cover 2 fixed 5 clamps, for reference Figures 1-10 The utility model discloses a white car body welding door cover inner plate flexible carrying gripper, including positioning and clamping assembly one 2, positioning and clamping assembly two 3, clamping assembly one 4, clamping assembly two 5, clamping assembly three 6 and frame 7, positioning and clamping assembly one 2, positioning and clamping assembly two 3 are installed to the lower end surface of frame 7, and it is positioned and clamped to workpiece 1, and positioning and clamping are carried out to multiple vehicle types through sliding device Y, Z direction movement, and clamping assembly one 4, clamping assembly two 5 are installed to the lower end surface of frame 7, and it is clamped to workpiece 1, and through sliding device X, Y, Z direction movement, electric drive is carried out to the clamping device of multiple vehicle types, and clamping is carried out, and it can be applicable to most vehicle types use, thereby reduce the cost of investment, more effective low reduce the area occupied, and clamping assembly three 6 is installed to the lower end surface of frame 7, and it is clamped to workpiece 1, and through sliding device X, Z direction movement, electric drive is carried out to the clamping device of multiple vehicle types, and clamping is carried out.

[0039] Positioning and clamping assembly two 3 are mirror image components of positioning and clamping assembly one 2, positioning and clamping assembly one 2 includes positioning and clamping mechanism 21, positioning and clamping Z direction moving mechanism 23, positioning and clamping Y direction moving mechanism 22, positioning and clamping mechanism 21 is installed to the side of positioning and clamping Z direction moving mechanism 23, positioning and clamping Z direction moving mechanism 23 is installed to the lower end surface of positioning and clamping Y direction moving mechanism 22, positioning and clamping mechanism 21 is positioned and clamped to workpiece 1, positioning and clamping Z direction moving mechanism 23 makes positioning and clamping mechanism 21 move to Z axle direction, and positioning and clamping Y direction moving mechanism 22 makes positioning and clamping mechanism 21 move to Y axle direction.

[0040] The positioning and clamping mechanism 21 comprises a positioning pin 2101, a support block 2102, a hook pin 2103, a gasket 2104, a connecting block one 2105, a shell 2106, a cover plate one 2107, a cover plate two 2108, a rotating shaft 2109, a joint 2110, a connecting shaft 2111, a cylinder one 2112, the joint 2110 is connected with the piston rod of the cylinder one 2112, the front end of the joint 2110 is connected with the hook pin 2103 through the connecting shaft 2111, the hook pin 2103 is provided with a U-shaped groove, the cylinder one 2112 is connected with the shell 2106, and the rotating shaft 2109 penetrates through the U-shaped groove on the hook pin 2103 and the shell 2106, and the cover plate one 2107 and the cover plate two 2108 are connected with the shell 2106 to fix the rotating shaft 2109, the positioning pin 2101 is connected with the shell 2106 through the connecting block one 2105, and the support block 2102 is adjusted and connected with the connecting block one 2105 through the gasket 2104, so that the positioning pin 2101 is used for positioning the workpiece 1, the hook pin 2103 clamps the workpiece 1 through the extension and retraction of the piston rod of the cylinder one 2112, and the hook pin 2103 can be suitable for different thicknesses of materials when clamping again through the U-shaped groove, and the support block 2102 is used for supporting the workpiece 1.

[0041] The positioning and clamping Y-direction moving mechanism 22 and the positioning and clamping Z-direction moving mechanism 23 comprise a linear module one 2201, a connecting plate one 2202, a servo motor one 2203, a connecting seat one 2301, a cylinder two 2302, a connecting support one 2303, a connecting plate two 2304, a gasket one 2305, a limiting block 2306 and a connecting block two 2307, the rear end of the linear module one 2201 is installed with the servo motor one 2203, the upper end surface of the linear module one 2201 is connected with the frame 7, the movable end of the linear module one 2201 is installed with the connecting plate one 2202, the lower end surface of the connecting plate one 2202 is connected with the upper end surface of the connecting seat one 2301, the side surface of the connecting seat one 2301 is connected with the side surface of the connecting plate two 2304, the side surface of the connecting plate two 2304 is connected with the side surface of the cylinder two 2302, the lower end surface of the cylinder two 2302 is connected with the upper end surface of the connecting support one 2303, the side surface of the connecting support one 2303 is connected with the connecting plate two 2304 through the gasket one 2305, the connecting plate two 2304 is connected with the positioning and clamping mechanism 21, the lower end surface of the connecting support one 2303 is installed with two limiting blocks 2306, the lower end surface of the limiting block 2306 is connected with the connecting plate two 2304, the positioning and clamping Z-direction moving mechanism 23 is used for the up-down extension of the positioning and clamping mechanism 21, and the positioning and clamping Y-direction moving mechanism 22 switches different vehicle models of the positioning and clamping mechanism 21.

[0042] The clamping assembly two 5 is a mirror image assembly of the clamping assembly one 4, the clamping assembly one 4 comprises a clamping assembly X, Y and Z-direction moving mechanism 41 and a first clamping mechanism 42, the clamping assembly X, Y and Z-direction moving mechanism 41 is connected with the frame 7, and the first clamping mechanism 42 is connected with the clamping assembly X, Y and Z-direction moving mechanism 41.

[0043] The clamping assembly X, Y, Z to the moving mechanism 41 includes linear module two 4101, servo motor two 4102, connecting plate three 4103, connecting support two 4104, linear module three 4105, servo motor three 4106, connecting plate four 4107, connecting support three 4108, linear module four 4109, servo motor four 4110, connecting plate five 4111, connecting plate six 4112, connecting plate seven 4113, L connecting block 4114, connecting plate eight 4115, the fixed end of the linear module two 4101 is connected with the frame 7, the tail end of the linear module two 4101 is connected with the servo motor two 4102, the movable end of the linear module two 4101 is connected with the connecting plate three 4103, the connecting plate three 4103 is connected with the connecting support two 4104, the connecting support two 4104 is connected with the linear module three 4105, the tail end of the linear module three 4105 is connected with the servo motor three 4106, the movable end of the linear module three 4105 is connected with the connecting plate four 4107, the connecting plate four 4107 is connected with the connecting support three 4108, the connecting support three 4108 is connected with the linear module four 4109, the tail end of the linear module four 4109 is connected with the servo motor four 4110, the movable end of the linear module four 4109 is connected with the connecting plate five 4111, the connecting plate five 4111 is connected with two connecting plate six 4112, the connecting plate six 4112 is connected with the connecting plate seven 4113, the connecting plate seven 4113 is connected with the L connecting block 4114, the L connecting block 4114 is connected with the connecting plate eight 4115, and the connecting plate eight 4115 is connected with the first clamping mechanism 42. The linear module two 4101 moves the first clamping mechanism 42 to the X direction, the linear module three 4105 moves the first clamping mechanism 42 to the Y direction, and the linear module four 4109 moves the first clamping mechanism 42 to the Z direction.

[0044] The first clamping mechanism 42 comprises a pressing arm 4201, a connecting block 4202, a gasket 4203, a mounting seat 4204, a pressing block 4205, a pressing block 4206, a mounting seat 4207, a gasket 4208, a connecting block 4209, a pressing arm 4210, a servo motor 4211, a servo motor 4212, and a cylinder 4213. The pressing arm 4201 is connected with a rotating shaft on the cylinder 4213. The upper end surface of the pressing arm 4201 is connected with the lower end surface of the connecting block 4202. The mounting seat 4204 is connected with the connecting block 4202 through the gasket 4203. The upper end surface of the mounting seat 4204 is connected with the pressing block 4205. The pressing arm 4210 is connected with a rotating shaft on the cylinder 4213. The lower end surface of the pressing arm 4210 is connected with the upper end surface of the connecting block 4209. The mounting seat 4207 is connected with the connecting block 4209 through the gasket 4208. The lower end surface of the mounting seat 4207 is connected with the pressing block 4206. The servo motor 4211 is connected with the cylinder 4213 and used to control the angle of the pressing block 4205. The servo motor 4212 is connected with the cylinder 4213 and used to control the angle of the pressing block 4206. The cylinder 4213 is connected with the connecting plate 4115. The pressing blocks 4205 and 4206 can float in all directions with a floating angle of 9°, so as to adapt to different vehicle models. The servo motors 4211 and 4212 are used to control the pressing blocks 4205 and 4206 to adapt to different vehicle models in terms of shape and thickness.

[0045] The third clamping assembly 6 comprises a clamping assembly X, Z moving mechanism 61 and a second clamping mechanism 62. The clamping assembly X, Z moving mechanism 61 is connected with the frame 7. The second clamping mechanism 62 is connected with the clamping assembly X, Z moving mechanism 61. The structure of the second clamping mechanism 62 is the same as that of the first clamping mechanism 42.

[0046] The clamping assembly X, Z direction moving mechanism 61 comprises linear module five 6101, servo motor seven 6102, connecting support four 6103, linear module six 6104, servo motor eight 6105, connecting plate nine 6106, connecting plate ten 6107, mounting seat three 6108, the linear module five 6101 is installed to frame 7, the tail end of linear module five 6101 is connected with servo motor seven 6102, the movable end lower end surface of linear module five 6101 is connected with the upper end surface of connecting support four 6103, connecting support four 6103 is connected with linear module six 6104, the tail end of linear module six 6104 is connected with servo motor eight 6105, the movable end of linear module six 6104 is connected with connecting plate nine 6106, connecting plate nine 6106 is connected with two connecting plate tens 6107, connecting plate ten 6107 is connected with mounting seat three 6108, and mounting seat three 6108 is connected with the second clamping mechanism 62.Linear module five 6101 moves the second clamping mechanism 62 to the X direction, and linear module six 6104 moves the second clamping mechanism 62 to the Z direction.

[0047] In summary, X, Y, Z direction movement is used for vehicle type switching, the adjustment of the pressing angle by the second clamping mechanism 62 can meet the switching of more vehicle types, the electric control is used for clamping to solve the clamping mode when the vehicle type is large, so that the X, Y, Z axis rotation is more effectively solved, the X, Y, Z direction movement is used for solving the positioning and clamping of different vehicle types in the length and height directions, and the electric control is used for clamping to adapt to the thickness of different vehicle types.

[0048] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inner", "front", "central", "both ends" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as a limitation on the utility model.

[0049] In the utility model, unless otherwise explicitly specified and limited, the terms "mounting", "setting", "connecting", "fixing", "rotating", "pad setting" and the like should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the communication between two elements or the interaction relationship between two elements, unless otherwise explicitly limited, the specific meaning of the above terms in the utility model can be understood according to the specific situation by those skilled in the art.

[0050] The above description shows and describes the preferred embodiments of the present application, as mentioned before, it should be understood that the present application is not limited to the form disclosed herein, should not be considered as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be changed within the scope of the application conceived herein, through the above teaching or related technical or knowledge. And the changes and variations made by the person skilled in the art do not deviate from the spirit and scope of the present application, and should be within the protection scope of the claims of the present application.

Claims

1. A flexible handling gripper for welding the inner panel of a body-in-white door cover, used for handling workpieces (1), characterized in that: The system includes a positioning and clamping assembly 1 (2), a positioning and clamping assembly 2 (3), a clamping assembly 1 (4), a clamping assembly 2 (5), a clamping assembly 3 (6), and a frame (7). The positioning and clamping assemblies 1 (2) and 2 (3) are installed on the lower end face of the frame (7) for positioning and clamping the workpiece (1). Multiple vehicle models are positioned and clamped by moving in the Y and Z directions via a sliding device. The clamping assemblies 1 (4) and 2 (5) are installed on the lower end face of the frame (7) for positioning and clamping the workpiece (1). The clamping component (1) is used to clamp the workpiece (1), and moves in the X, Y and Z directions through the sliding device and clamps multiple vehicle models through the electric drive clamping device. The clamping component three (6) is installed on the lower end face of the frame (7) to clamp the workpiece (1), and moves in the X and Z directions through the sliding device and clamps multiple vehicle models through the electric drive clamping device. The positioning clamping component two (3) is a mirror component of the positioning clamping component one (2), and the clamping component two (5) is a mirror component of the clamping component one (4).

2. The flexible handling gripper for welding the inner panel of the body-in-white door cover according to claim 1, characterized in that: The positioning and clamping assembly (2) includes a positioning and clamping mechanism (21), a positioning and clamping Z-axis moving mechanism (23), and a positioning and clamping Y-axis moving mechanism (22). The positioning and clamping mechanism (21) is mounted on the side of the positioning and clamping Z-axis moving mechanism (23), and the positioning and clamping Z-axis moving mechanism (23) is mounted on the lower end face of the positioning and clamping Y-axis moving mechanism (22).

3. The flexible handling gripper for welding the inner panel of the body-in-white door cover according to claim 2, characterized in that: The positioning and clamping mechanism (21) comprises a positioning pin (2101), a support block (2102), a hook pin (2103), a gasket (2104), a connecting block one (2105), a housing (2106), a cover plate one (2107), a cover plate two (2108), a rotating shaft (2109), a connector (2110), a connecting shaft (2111), and a cylinder one (2112). The positioning pin (2101) is connected to the housing (2106) through the connecting block one (2105), and the front end of the connector (2110) is connected to the hook pin (2103) through the connecting shaft (2111). The connector (2110) is connected to the piston rod of cylinder one (2112). The hook pin (2103) is provided with a U-shaped groove to connect cylinder one (2112) to housing (2106). The rotating shaft (2109) passes through the U-shaped groove on housing (2106) and hook pin (2103). The hook pin (2103) is connected to housing (2106) through cover plate one (2107) and cover plate two (2108) to fix the rotating shaft (2109). The support block (2102) is adjusted by shim (2104) and connected to connecting block one (2105).

4. The flexible handling gripper for welding the inner panel of the body-in-white door cover according to claim 2, characterized in that: The positioning and clamping Z-axis moving mechanism (23) and the positioning and clamping Y-axis moving mechanism (22) have the same structure. The positioning and clamping Z-axis moving mechanism (23) includes a linear module (2201), a connecting plate (2202), a servo motor (2203), a connecting seat (2301), a cylinder (2302), a connecting bracket (2303), a connecting plate (2304), a gasket (2305), and a limiting block (2306). The upper end of the linear module (2201) is connected to the frame (7). The servo motor (2203) is installed at the rear end of the linear module (2201). The connecting plate (2202) is installed at the movable end of the linear module (2201). The lower end face of the first (2202) is connected to the upper end face of the first (2301) connecting seat. The side of the first (2301) connecting seat is connected to the side of the second (2304) connecting plate. The side of the second (2304) connecting plate is connected to the side of the second (2302) cylinder. The lower end face of the second (2302) cylinder is connected to the upper end face of the first (2303) connecting bracket. The side of the first (2303) connecting bracket is connected to the second (2304) connecting plate through a gasket (2305). The second (2304) connecting plate is connected to the positioning and clamping mechanism (21). Two limit blocks (2306) are installed on the lower end face of the first (2303) connecting bracket. The lower end face of the limit block (2306) is connected to the second (2304) connecting plate.

5. The flexible handling gripper for welding the inner panel of the body-in-white door cover according to claim 4, characterized in that: The clamping assembly (4) consists of a clamping assembly X, Y, Z direction moving mechanism (41) and a first clamping mechanism (42). The clamping assembly X, Y, Z direction moving mechanism (41) is connected to the frame (7), and the first clamping mechanism (42) is connected to the clamping assembly X, Y, Z direction moving mechanism (41).

6. The flexible handling gripper for welding the inner panel of the body-in-white door cover according to claim 5, characterized in that: The clamping assembly X, Y, Z direction moving mechanism (41) includes linear module two (4101), servo motor two (4102), connecting plate three (4103), connecting bracket two (4104), linear module three (4105), servo motor three (4106), connecting plate four (4107), connecting bracket three (4108), linear module four (4109), servo motor four (4110), connecting plate five (4111), and connecting plate six. (4112), connecting plate seven (4113), L connecting block (4114) and connecting plate eight (4115), the fixed end of the linear module two (4101) is connected to the frame (7), the servo motor two (4102) is connected to the tail end of the linear module two (4101), the movable end of the linear module two (4101) is connected to the connecting plate three (4103), the connecting plate three (4103) is connected to the connecting bracket two (4104), the Connecting bracket two (4104) is connected to linear module three (4105). The tail end of linear module three (4105) is connected to servo motor three (4106). The movable end of linear module three (4105) is connected to connecting plate four (4107). Connecting plate four (4107) is connected to connecting bracket three (4108). Connecting bracket three (4108) is connected to linear module four (4109). The tail end is connected to the servo motor four (4110), the movable end of the linear module four (4109) is connected to the connecting plate five (4111), the connecting plate five (4111) is connected to two connecting plates six (4112), the connecting plate six (4112) is connected to the connecting plate seven (4113), the connecting plate seven (4113) is connected to the L connecting block (4114), and the L connecting block (4114) is connected to the connecting plate eight (4115).

7. The flexible handling gripper for welding the inner panel of the body-in-white door cover according to claim 6, characterized in that: The first clamping mechanism (42) is connected to the connecting plate eight (4115). The first clamping mechanism (42) includes a pressure arm one (4201), a connecting block three (4202), a gasket two (4203), a mounting base one (4204), a pressure block one (4205), a pressure block two (4206), a mounting base two (4207), a gasket three (4208), a connecting block four (4209), a pressure arm two (4210), a servo motor five (4211), a servo motor six (4212), and a cylinder (4213). The pressure arm one (4201) is connected to the rotating shaft on the cylinder (4213). The upper end face of the pressure arm one (4201) is connected to the lower end face of the connecting block three (4202). The mounting base one (4204) is adjusted to the lower end face of the connecting block three (4202) through the gasket two (4203). Connecting block three (4202) is connected, the upper end face of mounting base one (4204) is connected to pressure block one (4205), pressure arm two (4210) is connected to the rotating shaft on cylinder body (4213), the lower end face of pressure arm two (4210) is connected to the upper end face of connecting block four (4209), mounting base two (4207) is adjusted to be connected to connecting block four (4209) through shim three (4208), the lower end face of mounting base two (4207) is connected to pressure block two (4206), servo motor five (4211) and servo motor six (4212) are connected to cylinder body (4213), cylinder body (4213) is connected to connecting plate eight (4115), pressure block one (4205) and pressure block two (4206) can float in all directions with a floating angle of 9°.

8. The flexible handling gripper for welding the inner panel of the body-in-white door cover according to claim 5, characterized in that: The clamping assembly three (6) consists of a clamping assembly X and Z direction moving mechanism (61) and a second clamping mechanism (62). The clamping assembly X and Z direction moving mechanism (61) is connected to the frame (7), and the second clamping mechanism (62) is connected to the clamping assembly X and Z direction moving mechanism (61). The structure of the second clamping mechanism (62) is the same as that of the first clamping mechanism (42).

9. The flexible handling gripper for welding the inner panel of the body-in-white door cover according to claim 8, characterized in that: The clamping assembly X and Z direction moving mechanism (61) includes a linear module five (6101), a servo motor seven (6102), a connecting bracket four (6103), a linear module six (6104), a servo motor eight (6105), a connecting plate nine (6106), a connecting plate ten (6107), and a mounting base three (6108). The linear module five (6101) is mounted on the frame (7). The tail end of the linear module five (6101) is connected to the servo motor seven (6102). The lower end face of the movable end of the linear module five (6101) is parallel to the ground surface. The upper end face of the connecting bracket four (6103) is connected, the connecting bracket four (6103) is connected to the linear module six (6104), the tail end of the linear module six (6104) is connected to the servo motor eight (6105), the movable end of the linear module six (6104) is connected to the connecting plate nine (6106), the connecting plate nine (6106) is connected to two connecting plates ten (6107), the connecting plate ten (6107) is connected to the mounting base three (6108), and the mounting base three (6108) is connected to the second clamping mechanism (62).

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