Gripper mechanism for automatic projection welding

Abstract

The utility model relates to the technical field of projection welding, in particular to a gripper mechanism for automatic projection welding, which comprises a quick-change disc, a gripper connecting block, an air magnet, a sensor and four positioning pin type blocks. The quick-change disc is detachably connected with the tail end of a sixth shaft of the robot; the gripper connecting block is detachably connected to the lower portion of the quick-change disc and is a horizontally-arranged U-shaped frame, the front side and the rear side of the U-shaped frame are each provided with two positioning pin type blocks, the position of each positioning pin type block in the horizontal direction can be adjusted, and the lower portion of each positioning pin type block is connected with a positioning pin in a fastened mode. The air magnet is connected into the U-shaped frame through an air magnet connecting block, and the sensor is connected to the air magnet connecting block through a sensor connecting block. The utility model provides the gripper mechanism for automatic projection welding, which can ensure that a projection welding hole site of a workpiece is correct and eliminate the working intensity of an operator, so that the human quality risk is reduced, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of projection welding technology, especially to a grabbing mechanism for automatic projection welding. BACKGROUND

[0002] In the field of projection welding automation of automobile parts, the previous manual operation of taking workpieces and nuts / bolts on the projection welding machine makes the overall process prone to cause the operator to be tired and accidentally project the wrong workpiece hole. Further, through projection welding automation technology, human quality risks are reduced, and work efficiency is improved. An important link in projection welding automation is to design a grabbing mechanism that can reliably grab workpieces. Therefore, how to design a grabbing mechanism for automatic projection welding has become the direction of research by those skilled in the art. SUMMARY

[0003] In view of the above problems, the utility model provides a grabbing mechanism for automatic projection welding to solve the problems of labor intensity of workers and quality accidents caused by projection of the wrong hole when the workers produce large workpieces.

[0004] The utility model solves the above technical problems through the following technical solutions:

[0005] A grabbing mechanism for automatic projection welding comprises a quick-change disc, a grabbing hand connecting block, a gas magnet, a sensor, and four positioning pin blocks.

[0006] The quick-change disc is detachably connected with the end of the sixth axis of the robot;

[0007] The grabbing hand connecting block is detachably connected below the quick-change disc, and the grabbing hand connecting block is a horizontally arranged U-shaped frame. The U-shaped frame comprises a connecting rod and side rods fixed at both ends of the connecting rod. Two positioning pin blocks are arranged on the front and rear sides of the U-shaped frame. The positions of each positioning pin block in the horizontal direction are adjustable, and a positioning pin is fixedly connected to the lower part of each positioning pin block.

[0008] The gas magnet is connected in the U-shaped frame through a gas magnet connecting block, and the sensor is connected on the gas magnet connecting block through a sensor connecting block.

[0009] In some embodiments, the quick-change disc is connected on the grabbing hand connecting block through an L-shaped plate;

[0010] The horizontal part of the L-shaped plate is above the vertical part, and the vertical part of the L-shaped plate is detachably connected to the back side of the connecting rod through bolts and pins. The quick-change disc is detachably connected to the horizontal part of the L-shaped plate through bolts and pins.

[0011] In some of the embodiments, the four positioning pin type blocks are fixed on the U-shaped frame through adapters, the adapter comprises a horizontal part and a vertical part fixed below the horizontal part, the horizontal part of the adapter is detachably connected on the U-shaped frame through bolts and pins, the positioning pin type block is L-shaped, and the vertical part of the positioning pin type block is detachably connected on the vertical part of the adapter through bolts and pins, and the horizontal part of the positioning pin type block is provided with a positioning pin.

[0012] In some of the embodiments, a gasket is arranged between the adapter and the U-shaped frame and between the adapter and the positioning pin type block.

[0013] In some of the embodiments, the gasket is provided with holes for the bolts and the pins to pass through.

[0014] In some of the embodiments, the horizontal part and the vertical part of the adapter are alternately provided with bolt holes and pin holes.

[0015] In some of the embodiments, the bottom of the positioning pin type block is provided with a step, and the mounting surface of the positioning pin has a rotation-preventing straight edge matched with the step.

[0016] In some of the embodiments, the head of the positioning pin is a guide conical surface.

[0017] In some of the embodiments, one end of the sensor is inserted into the sensor connecting block.

[0018] In some of the embodiments, the sidewall of the sensor connecting block is provided with a jackscrew hole to fix the sensor in the sensor connecting block through a jackscrew.

[0019] The utility model has at least one of the following advantages or beneficial effects:

[0020] The utility model provides a grab hand mechanism for automatic projection welding, which can ensure the correct projection welding hole position of a workpiece and eliminate the working strength of an operator, thereby reducing human quality risks and improving work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0021] The utility model and its features, shape and advantages will become more apparent by reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings. The same reference signs indicate the same parts throughout the drawings. The drawings can not be drawn to scale, and the emphasis is on showing the main principles of the utility model.

[0022] Figure 1 is the structural schematic diagram of the first angle of the grab hand mechanism for automatic projection welding in the utility model embodiment;

[0023] Figure 2 Figure 2 is a structure schematic diagram of the second angle of the gripper mechanism for automatic projection welding in the embodiment of the present utility model;

[0024] Figure 3 Figure 3 is a structure schematic diagram of the third angle of the gripper mechanism for automatic projection welding in the embodiment of the present utility model

[0025] Figure 4 Figure 4 is an application structure schematic diagram of the gripper mechanism for automatic projection welding in the embodiment of the present utility model;

[0026] In the figure: 1, quick-change disc; 2, gripper connecting block; 3, positioning pin type block; 4, positioning pin; 5, adapter; 61, pin hole; 62, bolt hole; 7, sensor; 8, sensor connecting block; 9, gas magnet; 10, gas magnet connecting block; 11, left workpiece; 12, L-shaped plate. DETAILED DESCRIPTION

[0027] The present utility model will be further described in combination with the drawings and specific embodiments, but not as a limitation of the present utility model.

[0028] As shown in Figures 1 to 4 the present utility model discloses a kind of gripper mechanism for automatic projection welding, comprising: quick-change disc 1, gripper connecting block 2, gas magnet 9, sensor 7 and four positioning pin type blocks 3;The quick-change disc 1 is connected together with the sixth shaft end of robot using bolt and pin fastening;The gripper connecting block 2 is fastened and connected below quick-change disc 1 (the quick disc is located the uppermost of entire gripper mechanism), and the gripper connecting block 2 is horizontally arranged U-shaped frame, the U-shaped frame includes connecting rod and the side rod fixed at the both ends of the connecting rod, the front and rear sides of the U-shaped frame are provided with two positioning pin type blocks 3 (two positioning pin type blocks 3 located in the front side of U-shaped frame are fixed on the two side rods of U-shaped frame, two positioning pin type blocks 3 located in the rear side of U-shaped frame are fixed on the connecting rod of U-shaped frame), the position of each positioning pin type block 3 on front and rear and left and right can be adjusted, and the lower part of each positioning pin type block 3 is fastened and connected with a positioning pin 4;Specifically, the positioning pin 4 is fastened on the positioning pin 4 installation hole of positioning pin type block 3 using nut and gasket (the nut and gasket are not shown in the figure);The gas magnet 9 is connected in U-shaped frame by gas magnet connecting block 10 (the gas magnet connecting block 10 is connected on gripper connecting block 2, and the gas magnet 9 is fastened in gas magnet connecting block 10), the sensor 7 is connected on the gas magnet connecting block 10 by sensor connecting block 8, and the sensor connecting block 8 is used to install and fix sensor 7;The sensor 7 sends detection signal after wiring and power supply, to detect whether workpiece exists;The gas magnet 9 has magnetic force after gas supply, and the magnetic force disappears after gas cut-off, to grab and release workpiece 11;The sensor 7 is proximity sensor.

[0029] Specifically, the quick-change disc 1 is connected to the gripper connecting block 2 through an L-shaped plate 12; the horizontal part of the L-shaped plate 12 is above the vertical part, and the vertical part of the L-shaped plate 12 is detachably connected to the back side of the connecting rod through bolts and pins, and the quick-change disc 1 is detachably connected to the horizontal part of the L-shaped plate 12 through bolts and pins. The four positioning pin blocks 3 are all fixed to the U-shaped frame through adapters 5, the adapter 5 includes a horizontal part and a vertical part connected below the horizontal part, and the horizontal part of the adapter 5 is detachably connected to the U-shaped frame through bolts and pins, the positioning pin block 3 is L-shaped, and the vertical part of the positioning pin block 3 is detachably connected to the vertical part of the adapter 5 through bolts and pins, and the horizontal part of the positioning pin block 3 is provided with a positioning pin 4. The adapter 5 and the U-shaped frame, and the adapter 5 and the positioning pin block 3 are all provided with spacers (which can also be said to be the spacers that are placed on the horizontal mounting surface and the vertical mounting surface of the positioning pin block 3), and the spacers are provided with holes for bolts and pins to pass through; the number of spacers can be increased or decreased to adjust the mounting position of the positioning pin block 3 in front, back, left and right. The horizontal part and the vertical part of the adapter 5 are both provided with two bolt holes 62 and two pin holes 61, and the bolt holes 62 and the pin holes 61 are staggered, specifically, from one side to the other side, the bolt holes 62, the pin holes 61, the bolt holes 62, the pin holes 61 are arranged in this order, the U-shaped frame is correspondingly provided with two bolt holes 62 and two pin holes 61, and the vertical part of the positioning pin block 3 is also correspondingly provided with two bolt holes 62 and two pin holes 61, and the spacer is a four-hole spacer.

[0030] In the embodiment, the bottom of the positioning pin block 3 is processed to have a step, and the mounting surface of the positioning pin 4 has a rotation-preventing straight edge (not shown in the figure) matched with the step, so as to prevent the positioning pin 4 from rotating by clamping the rotation-preventing straight edge of the mounting surface with the step. During installation, the positioning pin 4 is inserted into the positioning pin block 3 from the bottom of the horizontal part of the positioning pin block 3, and the rotation-preventing straight edge of the mounting surface is clamped with the step, and then the positioning pin nut is fixed to the top of the horizontal part of the positioning pin block 3, and a spacer is arranged between the positioning pin nut and the horizontal part of the positioning pin block 3 to prevent the positioning pin 4 from loosening. The head of the positioning pin 4 is a guide conical surface, which plays a guiding role to facilitate the subsequent insertion of the positioning pin 4 into the workpiece positioning hole. One end of the sensor 7 is inserted into the mounting hole of the sensor connecting block 8, the diameter of the mounting hole in the sensor connecting block 8 is matched with the diameter of the sensor 7, and a jackscrew hole is formed in the side wall of the sensor connecting block 8 to fix the sensor 7 in the sensor connecting block 8 by the jackscrew, so as to prevent the sensor 7 from loosening during use.

[0031] The quick-change disc 1, the connecting block, the positioning pin type block 3, the sensor connecting block 8, the gas magnet 9 and the gas magnet connecting block 10 are fastened together through fastening pins and bolts to form a complete gripper structure, and the use requirement of the pins and bolts is in the form of two pins plus two bolts to prevent the positioning pin type block 3 and the gripper connecting block 2 from loosening and displacement.

[0032] The total weight of the material used in the gripper structure should not exceed the load of the robot, and the selection of the gas magnet 9 should be able to cover the weight of the workpiece, and the optimal redundancy is more than 30%, so that the workpiece can be adsorbed firmly. When selecting the sensor 7, a moderate detection distance is selected to prevent the workpiece from being undetected or too close to the workpiece, which can cause the sensor 7 to be easily damaged.

[0033] When the gripper structure in the utility model needs to perform projection welding on two left-right symmetrical workpieces (a left workpiece 11 and a right workpiece), as shown in the figure, the left workpiece 11 can be adsorbed by the gas magnet 9, and the two positioning pins 4 located on the left side of the gripper structure can penetrate into the two positioning holes of the left workpiece 11. Figure 4 If it is found that the position of the positioning pin 4 has a problem, the installation position of the positioning pin type block 3 in front, back, left and right can be adjusted by adding or subtracting a gasket, and then the positioning pin 4 can be accurately inserted into the positioning hole; so that the left workpiece 11 can be accurately grabbed, and then the left workpiece 11 can be placed on the projection welding machine for projection welding process; after the projection welding of the left workpiece 11 is completed, the gripper structure can continue to grab the right workpiece; similarly, the right workpiece can be adsorbed by the gas magnet 9, and the two positioning pins 4 located on the right side of the gripper structure can penetrate into the two positioning holes of the right workpiece, so that the right workpiece can be accurately grabbed, and then the right workpiece can be placed on the projection welding machine for projection welding process.

[0034] The utility model provides a kind of gripper structure for robot in projection welding automation production line, and it is stable to grab piece and high precision, can replace 2D vision to rectify deviation of workpiece space position, to improve production rhythm, reduce equipment failure downtime, improve output, can effectively improve projection welding automation production line efficiency.

[0035] Those skilled in the art should understand that those skilled in the art can realize variations in combination with the prior art and the above embodiments, which will not be described here. Such variations do not affect the essential content of the utility model, which will not be described here.

[0036] The preferred embodiments of the present application are described above. It should be understood that the present application is not limited to the specific embodiments described above, wherein the devices and structures not described in detail should be understood as being implemented in the ordinary way in the art; any person skilled in the art, without departing from the scope of the technical scheme of the present application, can make many possible changes and modifications to the technical scheme of the present application by using the disclosed methods and technical contents, or modify equivalent embodiments, which does not affect the essential content of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, without departing from the content of the technical scheme of the present application, still belongs to the scope of protection of the technical scheme of the present application.

Claims

1. A gripper mechanism for automatic projection welding, characterized in that The utility model relates to a quick-change disc, gripper connecting block, gas magnet, sensor and four positioning pin type blocks are included: The quick-change disc is detachably connected with the end of the sixth axis of the robot together; The gripper connecting block is detachably connected below the quick-change disc, and the gripper connecting block is horizontally arranged U-shaped frame, the U-shaped frame includes connecting rod and the side rod fixed to the both ends of connecting rod, the U-shaped frame is provided with two positioning pin type blocks on the front and back sides, and the position of each positioning pin type block in the horizontal direction is adjustable, and the lower part of each positioning pin type block is tightly connected with a positioning pin; The gas magnet is connected in the U-shaped frame through the gas magnet connecting block, and the sensor is connected on the gas magnet connecting block through the sensor connecting block. The quick-change disc is connected on the gripper connecting block through an L-shaped plate piece; 2. The gripper mechanism for automatic projection welding as set forth in claim 1, wherein The horizontal part of the L-shaped plate piece is above the vertical part, and the vertical part of the L-shaped plate piece is detachably connected on the back side of the connecting rod through bolts and pins, and the quick-change disc is detachably connected on the horizontal part of the L-shaped plate piece through bolts and pins. Four positioning pin type blocks are fixed on the U-shaped frame through adapter, the adapter includes horizontal part and vertical part fixed below the horizontal part, and the horizontal part of the adapter is detachably connected on the U-shaped frame through bolts and pins, the positioning pin type block is L-shaped, and the vertical part of the positioning pin type block is detachably connected on the vertical part of the adapter through bolts and pins, and the horizontal part of the positioning pin type block is provided with a positioning pin.

3. The gripper mechanism for automatic projection welding as set forth in claim 1, wherein Gaskets are arranged between the adapter and the U-shaped frame and between the adapter and the positioning pin type block.

4. The gripper mechanism for automatic projection welding as set forth in claim 3, wherein The gasket is provided with holes for the bolts and the pins to pass through.

5. The gripper mechanism for automatic projection welding as set forth in claim 4, wherein The horizontal part and the vertical part of the adapter are alternately provided with bolt holes and pin holes.

6. The gripper mechanism for automatic projection welding as set forth in claim 3, wherein The bottom of the positioning pin type block is provided with a step, and the mounting surface of the positioning pin has a non-rotation straight edge matched with the step.

7. The gripper mechanism for automatic projection welding as set forth in claim 1, wherein The head of the positioning pin is a guide conical surface.

8. The gripper mechanism for automatic projection welding as set forth in claim 1, wherein One end of the sensor is inserted into the sensor connecting block.

9. The gripper mechanism for automatic projection welding as set forth in claim 1, wherein, The sidewall of the sensor connecting block is provided with a jackscrew hole to fix the sensor in the sensor connecting block through a jackscrew.

10. The gripper mechanism for automatic projection welding as set forth in claim 9, wherein, ​

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