Carrying device

Abstract

The utility model discloses a carrying device. The carrying device comprises a frame; the positioning mechanism is arranged on the frame, and the positioning mechanism is matched with the first positioning hole; the gripper assembly is movably arranged on the frame, a gripping part is formed on the gripper assembly, the gripping part can be switched between a first state and a second state, when the gripping part is in the first state, the gripping part is suitable for stretching into the second positioning hole, and when the gripping part is in the second state, the gripping part is suitable for stretching into the second positioning hole. And the grasping part is propped against the second positioning hole. According to the carrying device, the gripper assembly which can be switched between the first state and the second state is matched with the positioning mechanism, so that multiple vehicle types can share one gripper assembly for production, frequent replacement of the gripper assembly is avoided, the production efficiency is improved, the development cost of the carrying device is reduced, and the production cost is reduced. And the storage occupied space of the gripper assembly is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to vehicle manufacturing technical field especially, is a kind of handling device. BACKGROUND

[0002] The related art indicates that automobile welding production line multi-vehicle type collinear production, in sub-assembly (for example, rear floor assembly) production process, transfer between station generally uses robot gripper to handle.Currently, main machine factory generally is a vehicle type corresponding a set of gripper, when producing different vehicle types, A vehicle type gripper is placed to support, and then B vehicle type gripper is replaced.This gripper switching mode is not only low in production efficiency, but also high in cost, large in land space. UTILITY MODEL CONTENT

[0003] The utility model aims at at least one of the technical problems existing in prior art is solved.For this purpose, the utility model provides a kind of handling device, the handling device can improve production efficiency, reduce production cost, reduce storage land space.

[0004] According to the handling device of the utility model, first positioning hole and second positioning hole are formed on the piece to be handled, the handling device includes: frame;Positioning mechanism, the positioning mechanism is located in the frame, the positioning mechanism is positioned with the first positioning hole to the piece to be handled;Gripper assembly, the gripper assembly is movably arranged in the frame, and is arranged at interval with the positioning mechanism in X direction, the gripper assembly is formed with gripping portion, the gripping portion has first state and second state, the gripping portion can be switched between the first state and the second state, when the gripping portion is in the first state, the gripping portion is suitable for being inserted into the second positioning hole, when the gripping portion is in the second state, the gripping portion is in abutment with the second positioning hole.

[0005] According to the handling device of the utility model, by being arranged the gripper assembly that can be switched between first state and second state, cooperate with positioning mechanism, realize that multiple vehicle types share a gripper assembly to produce, avoid frequent replacement gripper assembly, improve production efficiency, reduce the development cost of handling device, reduce the storage land space of gripper assembly.

[0006] In some embodiments, the gripper assembly comprises a connecting seat and a gripper component connected to the connecting seat, the gripper component comprises a connecting plate, the gripper component is connected to the connecting seat through the connecting plate; a sliding mechanism is arranged on the connecting plate; a gripping mechanism is connected to the sliding mechanism, and a gripping part is formed on the gripping mechanism; a first driving member is arranged on the connecting plate, and the first driving member is connected to the sliding mechanism to drive the gripping part to switch between the first state and the second state.

[0007] In some embodiments, the gripping mechanism comprises a second sliding rail and two gripping members arranged in the Y direction, both of which are arranged on the second sliding rail and have a gap between them, each of the gripping members has a first body extending in the Y direction and a second body extending in the Z direction, the second body is connected to one end of the first body close to the gap, and the gripping part is formed on the side surface of the second body away from the gap.

[0008] In some embodiments, the gripping part comprises a plurality of clamping teeth, the plurality of clamping teeth are formed on the side surface of the second body away from the gap, and the plurality of clamping teeth extend in the X direction and are arranged in the Z direction.

[0009] In some embodiments, the sliding mechanism comprises a second sliding rail and two sliding plates arranged in the Y direction, both of which are connected to the connecting plate through the second sliding rail to slide relative to the connecting plate, and each of the sliding plates is provided with a gripping member.

[0010] In some embodiments, the gripper assembly further comprises a mounting bracket, a sensor and a sensing trigger, the mounting bracket is arranged on the sliding plate, the sensor is arranged on the mounting bracket, the sensing trigger is arranged on the connecting plate, one end of the sensing trigger away from the connecting plate is provided with a sensing part, and the sensor cooperates with the sensing part to determine the state of the gripping part.

[0011] In some embodiments, the gripper assembly further comprises a limiting mechanism arranged on the connecting plate, the limiting mechanism comprises a first limiting member and a second limiting member, and the first limiting member and the second limiting member cooperate to limit the sliding distance of the sliding plate in the Y direction.

[0012] In some embodiments, the gripper assembly further comprises a first slide rail, a second driving member and a connecting rod, the first slide rail is connected with the frame, the connecting rod is connected with the first slide rail, the connecting rod is relatively slidable with the frame along the X direction, one end of the connecting seat is connected with the connecting rod, the connecting plate is connected with the other end of the connecting seat, and the second driving member drives the first slide rail to drive the connecting rod to move in the X direction.

[0013] In some embodiments, the gripper assembly has two, two of the gripper assemblies are arranged on two sides of the positioning mechanism in the X direction, each of the gripper assemblies comprises two connecting seats and two gripper assemblies, and each of the connecting seats is provided with one of the gripper assemblies.

[0014] In some embodiments, the carrying device further comprises a control unit, the control unit is arranged on the frame and is electrically connected with the positioning mechanism and the gripper assembly, and a connecting disc is arranged on the frame, and the connecting disc is used for being connected with an assembly robot.

[0015] Additional aspects and advantages of the present application will be given in part in the following description, become apparent from the following description, or be understood by those skilled in the art from the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a working schematic view of a carrying device according to an embodiment of the present application;

[0017] Figure 2 is Figure 1 a schematic view of a carrying device shown in FIG.

[0018] Figure 3 is Figure 2 a lower view schematic view of a carrying device shown in FIG.

[0019] Figure 4 is Figure 2 a schematic view of a gripper assembly shown in FIG.

[0020] Figure 5 is Figure 4 a schematic view of a gripper assembly shown in FIG.

[0021] Figure 6 is Figure 5 an exploded schematic view of a gripper assembly shown in FIG.

[0022] Figure 7 is Figure 6 a schematic view of a gripping piece shown in FIG.

[0023] Figure 8 is a schematic view of a piece to be carried;

[0024] Figure 9 yes Figure 8 The diagram shows a cross-section of the part to be transported, AA.

[0025] Figure label:

[0026] 100. Handling equipment;

[0027] 1. Framework;

[0028] 2. Positioning mechanism;

[0029] 3. Grab assembly; 31. Connecting seat;

[0030] 32. Gripper assembly; 321. Connecting plate; 322. Second slide rail; 323. Gripper; 3231. First body; 3232. Second body; 324. Gap; 325. Grip part; 3251. Clamping tooth; 326. Sliding plate; 327. Mounting bracket; 328. Sensor; 329. Sensor trigger; 3210. First limiting member; 3211. Second limiting member; 3212. First driving member;

[0031] 33. First slide rail; 34. Second drive component; 35. Connecting rod;

[0032] 4. Control unit; 5. Connecting panel;

[0033] 200, Item to be transported; 201, First positioning hole; 202, Second positioning hole. Detailed Implementation

[0034] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0035] The following is for reference. Figures 1-9 Describes a conveying device 100 according to an embodiment of the present utility model.

[0036] like Figures 1-9 As shown, the handling device 100 according to an embodiment of the present utility model includes: a frame 1, a positioning mechanism 2, and a gripper assembly 3.

[0037] Specifically, the to-be-carried part 200 can be a rear floor assembly for example, and the first positioning hole 201 and the second positioning hole 202 are formed on the to-be-carried part 200, of course, the to-be-carried part 200 can also be a front floor assembly or other sub-assembly in other embodiments. The positioning mechanism 2 is arranged on the frame 1, the positioning mechanism 2 cooperates with the first positioning hole 201 to position the to-be-carried part 200, the gripper assembly 3 is movably arranged on the frame 1 and is arranged in the X direction and spaced from the positioning mechanism 2, the gripper assembly 3 is formed with a gripping part 325, the gripping part 325 has a first state and a second state, and the gripping part 325 is switchable between the first state and the second state, when the gripping part 325 is in the first state, the gripping part 325 is adapted to extend into the second positioning hole 202, and when the gripping part 325 is in the second state, the gripping part 325 abuts against the second positioning hole 202.

[0038] It can be understood that the frame 1 serves as the basic structure of the entire device, supports the positioning mechanism 2 and the gripper assembly 3, and ensures the carrying capacity and stability of the carrying device 100; the positioning mechanism 2 is mounted on the frame 1, cooperates with the first positioning hole 201 on the to-be-carried part 200, and is used for preliminarily determining the position of the to-be-carried part 200, the positioning mechanism 2 is quickly and accurately connected with the first positioning hole 201, and high-efficiency positioning is realized; the gripper assembly 3 moves along the X direction on the frame 1, so that the position can be adjusted to adapt to to-be-carried parts 200 of different sizes or models, when the gripping part 325 is in the first state, the gripping part 325 can extend into the second positioning hole 202, and when the gripping part 325 is in the second state, the outer circumferential surface of the gripping part 325 abuts against the inner circumferential surface of the second positioning hole 202 to stably carry the to-be-carried part 200.

[0039] According to the carrying device 100 in the embodiment of the present application, the gripper assembly 3 switchable between the first state and the second state is arranged, cooperates with the positioning mechanism 2, realizes that multiple vehicle models share one gripper assembly 3 for production, avoids frequent replacement of the gripper assembly 3, improves the production efficiency, reduces the development cost of the carrying device 100, and reduces the storage and land occupation space of the gripper assembly 3.

[0040] Optionally, the positioning mechanism 2 is a pin cylinder mechanism, and the pin cylinder positions and clamps the first positioning hole 201 on the to-be-carried part 200.

[0041] In some embodiments of the present application, as Figures 4-7As shown, the gripper assembly 3 comprises a connecting seat 31 and a gripper component 32 connected with the connecting seat 31, the gripper component 32 comprises a connecting plate 321, a sliding mechanism, a gripping mechanism and a first driving member 3212, the gripper component 32 is connected with the connecting seat 31 through the connecting plate 321, the sliding mechanism is arranged on the connecting plate 321, the gripping mechanism is connected with the sliding mechanism, the gripping part 325 is formed on the gripping mechanism, the first driving member 3212 is arranged on the connecting plate 321, and the first driving member 3212 is connected with the sliding mechanism to drive the gripping part 325 to switch between the first state and the second state. It can be understood that the connecting seat 31 serves as a connecting component between the gripper assembly 3 and the frame 1, ensuring that the gripper assembly 3 can be firmly installed on the frame 1, the positioning mechanism 2 cooperates with the first positioning hole 201 to preliminarily position, the gripper assembly 3 is movable to make the gripping part 325 cooperate with the second positioning hole 202, the first driving member 3212 is started to drive the gripping part 325 of the gripper assembly 32 to be in the first state and adapted to extend into the second positioning hole 202, after the gripping part 325 is located in the second positioning hole 202, the first driving member 3212 drives the gripping part 325 of the gripper assembly 32 to switch from the first state to the second state, the outer peripheral wall of the gripping part 325 abuts against the inner peripheral wall of the second positioning hole 202, after the carrying device 100 carries the to-be-carried piece 200 to the predetermined position, the first driving member 3212 reversely acts to make the gripping part 325 switch from the second state to the first state and exit from the second positioning hole 202, and the to-be-carried piece 200 is released. Therefore, through the accurate positioning mechanism 2 and the flexible gripper component 32, it is ensured that each carrying operation can be accurately and correctly completed, the mobility and state switching function of the gripper assembly 3 can adapt to to-be-carried pieces 200 of different sizes and shapes, support multi-model inline production, improve production efficiency and reduce production cost.

[0042] In some embodiments of the utility model, the clamping mechanism includes second slide rail 322 and two clamping pieces 323 arranged at intervals in Y direction, two clamping pieces 323 are all arranged on second slide rail 322, and the gap 324 is arranged between two clamping pieces 323, and each clamping piece 323 has first body 3231 and second body 3232, first body 3231 extends along Y direction, second body 3232 extends along Z direction, second body 3232 is connected to one end of first body 3231 close to gap 324, and clamping part 325 is formed on the side surface of second body 3232 away from gap 324. That is to say, there is a certain gap 324 between two clamping pieces 323, when the first driving part 3212 starts, the clamping piece 323 moves along Y direction, makes clamping part 325 extend into or exit the second positioning hole 202 of the piece to be carried 200, completes the action of grabbing and releasing, that is, the first driving part 3212 drives two clamping pieces 323 to move towards or away along Y direction. Therefore, support multi-model common gripper assembly 3, not only improve the production efficiency, also reduce the production cost, ensure the stability and safety of the piece to be carried 200 in the process of carrying, reduce the risk of accidental falling.

[0043] Further, as shown in Figure 7 , the clamping part 325 includes a plurality of clamping teeth 3251, and the plurality of clamping teeth 3251 are formed on the side surface of the second body 3232 away from the gap 324, and the plurality of clamping teeth 3251 extend along the X direction and are arranged in the Z direction. Therefore, the clamping teeth 3251 are in contact with the inner wall of the second positioning hole 202, the friction force is increased, the piece to be carried 200 is ensured not to fall off in the process of carrying, and the plurality of clamping teeth 3251 constitute a plurality of clamping gears, and the plurality of clamping gears realize the grabbing of the piece to be carried 200 with multiple height sizes, and improve the versatility of the carrying device 100.

[0044] In some embodiments of the utility model, as shown in Figure 6 and Figure 7 , the sliding mechanism includes two sliding plates 326 arranged at intervals in Y direction, and the two sliding plates 326 are connected with the connecting plate 321 through the second slide rail 322 to slide relative to the connecting plate 321, and one clamping piece 323 is arranged on each sliding plate 326. Therefore, by arranging the sliding plate 326, the overall structural stability of the sliding mechanism is ensured, and the carrying capacity of the carrying device 100 is improved.

[0045] As shown in Figure 6 , the sliding plate 326 is formed as an L-shaped plate body.

[0046] In some embodiments of the utility model, as shown in Figure 5 and Figure 6As shown, the gripper assembly 32 further comprises a mounting bracket 327, a sensor 328 and a sensing trigger 329, the mounting bracket 327 is arranged on the sliding plate 326, the sensor 328 is arranged on the mounting bracket 327, and the sensing trigger 329 is arranged on the connecting plate 321, and the end of the sensing trigger 329 away from the connecting plate 321 is formed with a sensing part, and the sensor 328 cooperates with the sensing part to sense to determine the state of the gripping part 325. Thus, when the mounting bracket 327 slides to a predetermined position around the sensing trigger 329, the sensor 328 sends a signal to the control unit 4. The sensor 328 is mounted on the mounting bracket 327 for detecting the position of the sensing part to determine the state of the gripping part 325, and the end of the sensing trigger 329 away from the connecting plate 321 ensures the efficiency and reliability of the carrying device 100, enhances the gripping force of the gripping part 325, and improves the stability and safety of the to-be-carried part 200 during the carrying process.

[0047] With reference to Figure 6 As shown, the mounting bracket 327 is formed as an L-shaped bending piece, the sensing trigger 329 is formed as an L-shaped bending piece, and the sensor 328 is a standard part.

[0048] In some embodiments of the utility model, the gripper assembly 32 further comprises a limiting mechanism, the limiting mechanism is arranged on the connecting plate 321, and the limiting mechanism comprises a first limiting part 3210 and a second limiting part 3211, the first limiting part 3210 and the second limiting part 3211 cooperate to limit the sliding distance of the sliding plate 326 in the Y direction, prevent the sliding plate 326 from exceeding the predetermined moving range, ensure the accurate control of the sliding plate 326 during the moving process, avoid damage caused by excessive movement, and improve the stability and safety of the carrying device 100.

[0049] With reference to Figure 6 As shown, the first limiting part 3210 is formed as a T-shaped bending piece, and the second limiting part 3211 is formed as an L-shaped bending piece.

[0050] Specifically, the connecting plate 321 is provided with a limiting bolt, the limiting bolt cooperates with the first limiting part 3210 to limit the moving range of the sliding plate 326 when moving towards each other, and the second limiting part 3211 limits the moving range of the sliding plate 326 when moving away.

[0051] In some embodiments of the utility model, the gripper assembly 3 further comprises: a first sliding rail 33, a second driving member 34 and a connecting rod 35, the first sliding rail 33 is connected with the frame 1, the connecting rod 35 is connected with the first sliding rail 33, by setting the first sliding rail 33, the connecting rod 35 and the frame 1 are relatively slidable along the X direction, one end of the connecting seat 31 is connected with the connecting rod 35, the connecting plate 321 is connected with the other end of the connecting seat 31, the second driving member 34 drives the first sliding rail 33 to drive the connecting rod 35 to move in the X direction. Figure 4 As shown in FIG. 13, the connecting rod 35 extends along the Y direction, the first sliding rail 33 is arranged between the frame 1 and the connecting rod 35, the sliding of the connecting rod 35 relative to the frame 1 in the X direction is realized, the first sliding rail 33 comprises a first sliding member and a second sliding member, the first sliding member is connected with the frame 1, the second sliding member is connected with the connecting rod 35, the first sliding member and the second sliding member are relatively slidable, thereby, the first sliding rail 33 is arranged ingeniously, the gripper assembly 3 realizes the mobility through the first sliding rail 33 and the second driving member 34, the flexibility of the gripper assembly 3 is improved, the movement of the gripper assembly 3 in the X direction is more flexible, different vehicle models and sizes of the to-be-transported member 200 can be adapted, and multi-vehicle model collinear production is supported.

[0052] Referring to FIG. 13, Figure 6 As shown in FIG. 13, the connecting plate 321 is formed in a T shape. Optionally, the first sliding rail 33 and the second sliding rail 322 are both standard parts.

[0053] In some embodiments of the utility model, as shown in FIG. 12, Figure 2 and Figure 4 As shown in FIG. 12, the gripper assembly 3 has two, the two gripper assemblies 3 are arranged on the two sides of the positioning mechanism 2 in the X direction, each gripper assembly 3 comprises two connecting seats 31 and two gripper assemblies 32, and each connecting seat 31 is provided with one gripper assembly 32. It can be understood that the second positioning hole 202 comprises two groups, the two groups of second positioning holes 202 are arranged on the two sides of the first positioning hole 201 in the X direction, and the two gripper assemblies 3 are arranged correspondingly with the two second positioning holes 202. Thus, the two gripper assemblies 3 are arranged to ensure the stability and safety of the to-be-transported member 200 in the transportation process, improve the adaptability and flexibility of the transportation device 100, and better grasp the to-be-transported member 200 of different sizes and shapes.

[0054] Further, as shown in FIG. 12, Figure 6 As shown in FIG. 12, each gripper assembly 32 is provided with a limiting mechanism, the limiting mechanism comprises two limiting members, and the two limiting members are arranged one by one with the two gripping members 323.

[0055] In some embodiments of this utility model, the handling device 100 further includes a control unit 4, which is mounted on the frame 1 and electrically connected to both the positioning mechanism 2 and the gripper assembly 3. The control unit 4 receives signals from the positioning mechanism 2 and the sensor 328, confirms the positioning status of the workpiece 200 to be handled and the status of the gripping part 325, and determines the control drive component's action based on the received signals or information to achieve stable positioning of the positioning mechanism 2 and precise movement of the gripper assembly 3, as well as the switching of the gripping part 325's status. It can also monitor the working status of the handling device 100 in real time, detect and report abnormalities, ensure the safety and reliability of the handling device 100, and improve the intelligence level of the handling device 100.

[0056] Optionally, the control unit 4 includes a pneumatic control valve module for controlling the action sequence of the starting element. The first drive element 3212 is a dual-shaft cylinder. The pneumatic control valve module is connected to the dual-shaft cylinder to control the action of the dual-shaft cylinder. The dual-shaft cylinder includes two drive shafts. One of the two drive shafts is connected to one of the two sliding plates 326, and the other of the two drive shafts is connected to the other of the two sliding plates 326.

[0057] In some embodiments of this utility model, the handling device 100 further includes a connecting plate 5, which is disposed on the frame 1 and is used to connect with the assembly robot to realize a stable connection between the handling device 100 and the assembly robot. This improves the automation level of the handling device 100, enhances the overall performance and reliability of the system, reduces manual intervention, increases production efficiency, and ensures the stability of long-term operation.

[0058] Reference Figure 2 As shown, frame 1 is welded from multiple square tubes; connecting plate 5 is a standard part to facilitate connection with different models of assembly robots. In some other embodiments of this utility model, connecting plate 5 can also be other connecting components, as long as they can be stably connected to the assembly robot.

[0059] The following will refer to Figures 1-9 A conveying device 100 according to a specific embodiment of the present invention is described.

[0060] like Figures 1-9 As shown, firstly, the product structure design method of the part to be transported 200 is described:

[0061] The height of the second positioning hole 202 located at the first end is designed to be between +20mm and -30mm of the height of the first positioning hole 201, and the interval of the height difference between the first positioning hole 201 and the second positioning hole 202 located at the first end is a multiple of 2, that is, the height of the first positioning hole 201 is set as the reference 0, and the height L1 of the second positioning hole 202 located at the first end can be 20mm, 18mm, 16mm, 14mm, 12mm, 10mm, 8mm, 6mm, 4mm, 2mm, 0mm, -2mm, -4mm, -6mm, -8mm, -10mm, -12mm, -14mm, -16mm, -18mm, -20mm, -22mm, -24mm, -26mm, -28mm, -30mm; the height of the second positioning hole 202 located at the second end is designed to be between -200mm and -250mm of the height of the first positioning hole 201, and the interval of the height difference between the first positioning hole 201 and the second positioning hole 202 located at the second end is a multiple of 2, that is, the height of the first positioning hole 201 is set as the reference 0, and the height L2 of the second positioning hole 202 located at the second end can be -200mm, -202mm, -204mm, -206mm, -208mm, -210mm, -212mm, -214mm, -216mm, -218mm, -220mm, -222mm, -224mm, -226mm, -228mm, -230mm, -232mm, -234mm, -236mm, -238mm, -240mm, -242mm, -244mm, -246mm, -248mm, -250mm. The first positioning hole 201 and the second positioning hole 202 located at the first end and the second positioning hole 202 located at the second end of the to-be-transported piece 200 are designed according to the above, and the gripper assembly 3 of the to-be-transported piece 200 of different sizes can be shared by combining the transport device 100 of the utility model.

[0062] When the to-be-transported piece 200 is completed welding, the assembly robot moves the transporting device 100 to the upper side of the to-be-transported piece 200, and then the robot drives the transporting device 100 to descend, so that the pin of the pin cylinder mechanism is inserted into the first positioning hole 201, at this time, the clamping parts 325 of the gripper assembly 3 are all in the first state (the distance between the two clamping parts 323 is the shortest), the clamping parts 325 are respectively inserted into the corresponding second positioning holes 202, after being inserted into the position, the pin cylinder clamps the table surface of the first positioning hole 201, the double-shaft cylinder of the gripper assembly 3 drives the corresponding two clamping parts 323 to move away, and after moving to the predetermined position (the clamping parts 325 of the gripper assembly 3 are in the second state), the clamping parts 325 on the clamping parts 323 are clamped into the edge of the second positioning hole 202, and then the inductor 328 triggers and sends a signal to the control unit 4, so that the assembly robot drives the transporting device 100 to move to the next operation station along the predetermined track, and then the to-be-transported piece 200 is placed on the clamp, finally the pin cylinder is opened, and at the same time, the clamping parts 323 move towards each other (i.e., from the second state to the first state), the transporting device 100 rises to leave the to-be-transported piece 200, and returns to the initial position, ready to continue to grab the next to-be-transported piece 200.

[0063] Specifically, the first positioning hole 201 of the to-be-transported piece 200 is preliminarily positioned with the positioning mechanism 2 (the pin cylinder mechanism), the positioning mechanism 2 sends a positioning signal to the control unit 4 to confirm that the to-be-transported piece 200 is positioned correctly; the control unit 4 controls the servo motor (the second driving part 34) to drive the sliding assembly to drive the connecting rod 35 to move the gripper assembly 3 along the X direction, so that the clamping parts 325 of each gripper assembly 3 are aligned with the corresponding second positioning hole 202; the control unit 4 drives the first driving part 3212 (the double-shaft cylinder) to drive the two clamping parts 323 to move away, and after moving to the predetermined position (the clamping parts 325 of the gripper assembly 3 are in the second state), the clamping parts 325 on the clamping parts 323 are clamped into the edge of the second positioning hole 202, the inductor 328 detects the sensing part of the sensing trigger 329 to confirm that the clamping parts 325 are in the second state, and sends a signal to the control unit 4; the first limiting part 3210 and the second limiting part 3211 cooperate to limit the sliding distance of the sliding plate 326 to prevent excessive movement; the control unit 4 sends a signal to make the assembly robot drive the transporting device 100 to move to the next operation station along the predetermined track, and then place the to-be-transported piece 200 on the clamp, the control unit 4 starts the driving part to move the sliding plate 326 outward, the second body 3232 exits the second positioning hole 202 of the to-be-transported piece 200 along the Z direction, the clamping teeth 3251 are completely withdrawn from the second positioning hole 202, and the to-be-transported piece 200 is released.

[0064] When different vehicle models are produced, the interval between the first positioning hole 201 and the second positioning hole 202 of the to-be-transported part 200 is designed according to the product structure design method, so that, when different vehicle models are produced, the gripper assembly 3 is slid to the position of the corresponding second positioning hole 202 along the X direction by the servo motor (second driving part 34) as the reference of the first positioning hole 201, and the Z-direction height difference of different vehicle models is positioned and clamped by the clamping tooth 3251 on the clamping part 323.

[0065] It should be noted that the gripper assembly 32 can be adjusted in the range of 250mm in the X direction by the corresponding servo motor, thereby meeting the common requirements of various vehicle models.

[0066] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0067] In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0068] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected, or it can be communicated; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0069] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. Furthermore, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without mutual contradiction.

[0070] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A conveying device, wherein a first positioning hole and a second positioning hole are formed on the workpiece to be conveyed, characterized in that, The conveying device includes: frame; A positioning mechanism is provided on the frame, and the positioning mechanism cooperates with the first positioning hole to position the part to be transported. A gripper assembly is movably disposed on the frame and spaced apart from the positioning mechanism in the X direction. The gripper assembly has a gripping part having a first state and a second state. The gripping part is switchable between the first state and the second state. When the gripping part is in the first state, the gripping part is adapted to extend into the second positioning hole shown. When the gripping part is in the second state, the gripping part abuts against the second positioning hole.

2. The conveying device according to claim 1, characterized in that, The gripper assembly includes: a connecting base and a gripper assembly, the gripper assembly being connected to the connecting base, the gripper assembly including: A connecting plate, through which the gripper assembly is connected to the connecting seat; A sliding mechanism is provided on the connecting plate; A gripping mechanism, which is connected to the sliding mechanism, and a gripping part is formed on the gripping mechanism; A first driving member is disposed on the connecting plate and is connected to the sliding mechanism to drive the gripping part to switch between the first state and the second state.

3. The conveying device according to claim 2, characterized in that, The gripping mechanism includes a second slide rail and two gripping members spaced apart in the Y direction. Both gripping members are disposed on the second slide rail and there is a gap between the two gripping members. Each gripping member has a first body and a second body. The first body extends in the Y direction and the second body extends in the Z direction. The second body is connected to the end of the first body near the gap. The gripping part is formed on the surface of the second body facing away from the gap.

4. The conveying device according to claim 3, characterized in that, The gripping part includes a plurality of teeth, which are formed on the surface of the second body away from the gap. The plurality of teeth extend along the X direction and are arranged in the Z direction.

5. The conveying device according to any one of claims 2-4, characterized in that, The sliding mechanism includes a second slide rail and two sliding plates spaced apart in the Y direction. Both sliding plates are connected to the connecting plate via the second slide rail so as to slide relative to the connecting plate. Each sliding plate is provided with a gripping element.

6. The conveying device according to claim 5, characterized in that, The gripper assembly further includes: a mounting bracket, a sensor, and a sensing trigger. The mounting bracket is disposed on the sliding plate, the sensor is disposed on the mounting bracket, and the sensing trigger is disposed on the connecting plate. The end of the sensing trigger away from the connecting plate has a sensing part. The sensor and the sensing part cooperate to sense and determine the state of the gripping part.

7. The conveying device according to claim 6, characterized in that, The gripper assembly further includes a limiting mechanism, which is disposed on the connecting plate. The limiting mechanism includes a first limiting member and a second limiting member, which cooperate to limit the sliding distance of the sliding plate in the Y direction.

8. The conveying device according to claim 2, characterized in that, The gripper assembly further includes: a first slide rail, a second drive member, and a connecting rod. The first slide rail is connected to the frame, the connecting rod is connected to the first slide rail, and the connecting rod and the frame are slidable relative to each other in the X direction. One end of the connecting seat is connected to the connecting rod, and the connecting plate is connected to the other end of the connecting seat. The second drive member drives the first slide rail to move the connecting rod in the X direction.

9. The conveying device according to claim 8, characterized in that, The gripper assembly has two parts, which are arranged on both sides of the positioning mechanism in the X direction. Each gripper assembly includes two connecting seats and two gripper components, and each connecting seat is provided with a gripper component.

10. The conveying device according to claim 1, characterized in that, Also includes: A control unit is mounted on the frame and is electrically connected to both the positioning mechanism and the gripper assembly. A connecting plate is disposed on the frame and is used to connect to the assembly robot.

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