Gripper capable of flexibly switching vehicle types

Abstract

The utility model relates to the technical field of automobile manufacturing, and discloses a gripper capable of flexibly switching automobile types, which comprises a gripper main body, a switching turntable, a common clamping jaw and a clamping driving device, a mounting plate is arranged on the gripper main body, the mounting plate is rotationally connected with the switching turntable, the rotating axis of the mounting plate coincides with the central axis of the switching turntable, the switching turntable is in a regular prism shape, and the clamping driving device is arranged on the switching turntable. Positioning and supporting units used for different vehicle types are installed on the side faces of the switching rotary disc respectively, the shared clamping jaw is arranged on the outer side of one positioning and supporting unit, a clamping opening capable of clamping workpieces is formed between the shared clamping jaw and the corresponding positioning and supporting unit, and the shared clamping jaw is connected with a clamping driving device. The clamping driving device is installed on the gripper body and can drive the shared clamping jaw to be close to or away from the corresponding positioning supporting unit. The switching operation is simple and convenient, and different positioning and supporting units can be switched to meet the use requirements of different vehicle types.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of automobile manufacturing, in particular to a flexible switching model's gripper. BACKGROUND

[0002] At present, the automobile industry develops rapidly, and the requirements of automobile manufacturing line for the rhythm and cost of production line are higher and higher. The automobile welding carrying gripper structure in the prior art connects the robot control arm with the gripper, controls the movement of the gripper through the robot control arm, and realizes the transfer of workpieces. The existing gripper generally comprises a positioning support unit and a clamping jaw, and the two cooperate to realize the positioning and clamping of workpieces. However, the positioning support unit of the existing gripper is in a fixed single profile mode, which is only suitable for the positioning and clamping of the surface of a single workpiece, i.e. only suitable for the production of a single vehicle model. When switching vehicle models, the positioning support unit needs to be removed and replaced, which is in a plug-in switching mode and requires manual intervention for replacement. The switching flexibility is poor, the time for switching vehicle models is long, and the production efficiency is affected. SUMMARY

[0003] The technical problem to be solved by the utility model is to provide a flexible switching model's gripper which is simple and convenient to operate and can switch different positioning support units to meet the use requirements of different vehicle models.

[0004] In order to solve the above technical problems, the utility model provides a flexible switching model's gripper, which comprises a gripper main body, a switching turntable, a shared clamping jaw and a clamping driving device. An installation plate is arranged on the gripper main body. The installation plate is rotationally connected with the switching turntable, and the rotational axis is coincident with the central axis of the switching turntable. The switching turntable is in the shape of a regular prism. Each side surface of the switching turntable is provided with a positioning support unit for different vehicle models. The shared clamping jaw is arranged on the outer side of one of the positioning support units. A clamping opening capable of clamping a workpiece is formed between the shared clamping jaw and the corresponding positioning support unit. The shared clamping jaw is connected with the clamping driving device. The clamping driving device is installed on the gripper main body. The clamping driving device can drive the shared clamping jaw to move close to or away from the corresponding positioning support unit.

[0005] As a preferred scheme of the utility model, a plurality of positioning holes are arranged on the switching turntable and are uniformly distributed around the central axis of the switching turntable. The number of the positioning holes is consistent with the number of the positioning support units. The installation plate is provided with a through hole corresponding to the position of one of the positioning holes. The locking pin is matchedly inserted into the positioning hole through the through hole.

[0006] As a preferred scheme of the utility model, a locking driving device is installed on the installation plate. The locking driving device is connected with the locking pin and can drive the locking pin to be separated from the positioning hole or inserted into the positioning hole.

[0007] As a preferred embodiment of this utility model, the mounting plate is provided with a first sensor for detecting whether there is a workpiece at the clamping opening.

[0008] As a preferred embodiment of this utility model, the mounting plate is provided with a second sensor for detecting the rotational position of the switching turntable.

[0009] As a preferred embodiment of the present invention, the common gripper includes a connecting part and a clamping part. The clamping part is located on the outside of one of the positioning support units. The end of the clamping part is provided with a ball head. The connecting part is rotatably connected to the clamping drive device.

[0010] As a preferred embodiment of this utility model, one side of the mounting plate extends out of one side of the gripper body and is rotatably connected to the switching turntable, the switching turntable being located at the front end of the mounting plate.

[0011] As a preferred embodiment of this utility model, the mounting plate is provided with a connecting hole, and the end of the switching turntable near the mounting plate is provided with a connecting shaft that is rotatably connected to the connecting hole. The connecting shaft is coaxially arranged with the central axis of the switching turntable.

[0012] This utility model provides a flexible gripper for switching vehicle models. Compared with the prior art, its advantages are as follows: This utility model uses a clamping drive device to drive a common gripper to approach or move away from the positioning support unit, thereby clamping the workpiece at the clamping opening or releasing the workpiece. The workpiece can be transferred by moving the gripper with a robotic arm. The side of the switching turntable of this utility model is equipped with positioning support units for different vehicle models. Simply rotate the switching turntable so that the positioning support unit to be switched is rotated to correspond to the position of the common gripper to realize the switching of vehicle models. The switching operation is simple, and this gripper can meet the usage needs of different vehicle models. Attached Figure Description

[0013] Figure 1 This is a structural diagram of the present invention;

[0014] Figure 2 This is a connection structure diagram of the switching turntable and the mounting plate of this utility model;

[0015] Figure 3 yes Figure 2 A drawing of the back structure;

[0016] Figure 4 This is a connection structure diagram of the clamping drive device and the shared gripper of this utility model;

[0017] Figure 5 This is a structural diagram of the mounting plate of this utility model;

[0018] Figure 6 is a structure diagram of the switching turntable of the utility model;

[0019] In the figure, 1, the hand grip main body; 11, the mounting plate; 111, the through hole; 112, the connecting hole; 2, the switching turntable; 21, the positioning hole; 22, the connecting shaft; 3, the positioning support unit; 4, the common clamping jaw; 41, the clamping part; 411, the ball head; 42, the connecting part; 5, the clamping drive device; 6, the locking bolt; 61, the locking drive device; 7, the first sensor; 8, the second sensor. DETAILED DESCRIPTION

[0020] The specific embodiments of the utility model are described in further detail below in combination with the drawings and examples. The following examples are used to illustrate the utility model, but not to limit the scope of the utility model.

[0021] In the description of the utility model, it should be understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like in the utility model is based on the orientation or position 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 limiting the utility model, and in addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0022] As Figures 1-6 shown, the utility model preferred embodiment's a flexible switching car type's hand grip, including hand grip main body 1, switching turntable 2, common clamping jaw 4 and clamping drive device 5, be equipped with mounting plate 11 on hand grip main body 1, mounting plate 11 and switching turntable 2 rotation connection and rotation axis coincides with the center axis of switching turntable 2, switching turntable 2 is regular prism, switching turntable 2 every side is installed respectively for the positioning support unit 3 for different car types (i.e. with different car types's workpiece adaptation), in this embodiment, switching turntable 2 is regular hexagonal prism, is installed six positioning support units 3, common clamping jaw 4 is located outside one positioning support unit 3, common clamping jaw 4 and its corresponding positioning support unit 3 between the clamping mouth that can hold workpiece is formed, common clamping jaw 4 is connected with clamping drive device 5, clamping drive device 5 is installed on hand grip main body 1, clamping drive device 5 can drive common clamping jaw 4 close or away from its corresponding positioning support unit 3.

[0023] The working principle of the embodiment is as follows: the manipulator drives the gripper to move, so that the workpiece extends into the clamping opening, at this time the clamping driving device 5 drives the common gripper 4 to approach the positioning support unit 3, so that the common gripper 4 cooperates with the positioning support unit 3 to realize positioning and clamping of the workpiece, and the workpiece can be carried by driving the gripper to move by the manipulator; after carrying in place, the clamping driving device 5 drives the common gripper 4 to move away from the positioning support unit 3, so that the workpiece can be released; when it is necessary to switch the vehicle type (switched to another vehicle type suitable for another vehicle type), the switching turntable 2 is rotated, such as manually rotating or driving the switching turntable 2 to rotate by a driving motor, so that the positioning support unit 3 (adapted to the new vehicle type) to be switched is rotated to correspond to the position of the common gripper 4, at this time the positioning support unit 3 can cooperate with the common gripper 4 to clamp the workpiece of the new vehicle type, realizing flexible switching of the vehicle type, and the operation is simple, without the need to disassemble and assemble the positioning support unit 3, and the working efficiency is high.

[0024] The clamping driving device 5 drives the common gripper 4 to approach or move away from the positioning support unit 3, so as to clamp the workpiece in the clamping opening or release the workpiece, and the workpiece can be transferred by driving the gripper to move by the manipulator; the switching turntable 2 of the utility model is installed with the positioning support unit 3 for different vehicle types on the side surface, and only needs to rotate the switching turntable 2, so that the positioning support unit 3 to be switched is rotated to correspond to the position of the common gripper 4, so as to realize switching of the vehicle type, and the switching operation is simple, that is, the gripper can meet the use requirement of different vehicle types.

[0025] For example, the switching turntable 2 is provided with a plurality of positioning holes 21 uniformly distributed around the central axis of the switching turntable 2, the number of the positioning holes 21 is consistent with the number of the positioning support units 3, the mounting plate 11 is provided with a through hole 111 corresponding to the position of one of the positioning holes 21, and the locking bolt 6 is matchedly inserted into the positioning hole 21 through the through hole 111; generally, the locking bolt 6 cooperates with the through hole 111 and the positioning hole 21 respectively, the locking bolt 6 is inserted into the positioning hole 21, so as to limit the rotation of the switching turntable 2, thereby preventing accidental rotation of the switching turntable 2; when switching the vehicle type, the locking bolt 6 is first pulled out of the positioning hole 21, and then the switching turntable 2 is rotated, after the switching turntable 2 is rotated to position (the positioning support unit 3 to be used is rotated to correspond to the position of the common gripper 4), at this time the other positioning hole 21 is aligned with the through hole 111, the locking bolt 6 is inserted into the positioning hole 21 through the through hole 111, so that the switching turntable 2 returns to the locked state.

[0026] Exemplarily, the mounting plate 11 is provided with a locking driving device 61 connected with the locking bolt 6 and capable of driving the locking bolt 6 to be separated from the positioning hole 21 or inserted into the positioning hole 21, without manual plugging and unplug, which is convenient and fast. In the embodiment, the positioning hole 21 is arranged along the direction of the central axis of the switching turntable 2, and the locking driving device 61 is capable of driving the locking bolt 6 to move along the direction of the central axis of the switching turntable 2, so as to drive the locking bolt 6 to be inserted into or unplugged from the positioning hole 21.

[0027] Exemplarily, the mounting plate 11 is provided with a first sensor 7, such as a photoelectric sensor, for detecting whether there is a workpiece in the clamping opening, and when the first sensor 7 detects that there is a workpiece in the clamping opening, the clamping driving device 5 drives the common clamping jaw 4 to move towards the positioning support unit 3, so that the common clamping jaw 4 cooperates with the positioning support unit 3 to clamp the workpiece, ensuring the normal work of the gripper, and the first sensor 7 can also detect whether the workpiece falls accidentally during the process of clamping and carrying the workpiece.

[0028] Exemplarily, the mounting plate 11 is provided with a second sensor 8, such as a magnetic encoder, for detecting the rotating position of the switching turntable 2, so as to determine whether the switching turntable 2 is rotated to the position and confirm which positioning support unit 3 is rotated to the position corresponding to the common clamping jaw 4, that is, confirm which vehicle model the gripper is switched to.

[0029] Exemplarily, the common clamping jaw 4 includes a connecting portion 42 and a clamping portion 41, the clamping portion 41 is arranged outside one of the positioning support units 3, the end of the clamping portion 41 is provided with a ball head 411, the ball head 411 cooperates with the positioning support unit 3 to clamp the workpiece, the arrangement of the ball head 411 can facilitate clamping workpieces of different shapes, the connecting portion 42 is rotationally connected with the clamping driving device 5, the clamping driving device 5 drives the connecting portion 42 to rotate, so that the clamping portion 41 rotates to approach or move away from the positioning support unit 3, thereby clamping or releasing the workpiece.

[0030] Exemplarily, one side of the mounting plate 11 extends outside the gripper body 1 and is rotationally connected with the switching turntable 2, the switching turntable 2 is located at the front end of the mounting plate 11, the layout is reasonable, the space at the clamping opening is large, and the workpiece is convenient to clamp.

[0031] Exemplarily, the mounting plate 11 is provided with a connecting hole 112, the end of the switching turntable 2 close to the mounting plate 11 is provided with a connecting shaft 22 rotationally connected with the connecting hole 112, the connecting shaft 22 is coaxially arranged with the central axis of the switching turntable 2, the mounting plate 11 and the switching turntable 2 are rotationally connected through the cooperation of the connecting shaft 22 and the connecting hole 112, at this time, a driving motor can be arranged on the mounting plate 11, the output shaft of the driving motor is fixedly connected with the connecting shaft 22, and then the driving motor can drive the rotation of the switching turntable 2.

[0032] The above merely describes preferred embodiments of the present application, and it should be noted that, for those skilled in the art, without departing from the technical principles of the present application, a number of improvements and replacements can be made, and these improvements and replacements should also be considered as the protection scope of the present application.

Claims

1. A flexible switching vehicle type gripper characterized by: The utility model provides a kind of multi-model workpiece clamping device, including gripper main body, switching turntable, common clamping jaw and clamping driving device, the installation plate is equipped on the gripper main body, the installation plate is rotatably connected with the switching turntable and the rotation axis coincides with the central axis of the switching turntable, the switching turntable is regular prism, each side of the switching turntable is respectively equipped with the positioning support unit for different vehicle models, the common clamping jaw is equipped outside one of the positioning support unit, the common clamping jaw and its corresponding positioning support unit form the clamping mouth that can be clamped workpiece between, the common clamping jaw is connected with the clamping driving device, the clamping driving device is installed on the gripper main body, the clamping driving device can drive the common clamping jaw to be close to or away from corresponding positioning support unit.

2. The flexible switching vehicle type handle according to claim 1, characterized in that: The switching turntable is equipped with a plurality of positioning holes around the central axis of the switching turntable, the number of positioning holes is consistent with the number of positioning support units, the installation plate is provided with a through hole corresponding to the position of one of the positioning holes, and a locking pin is matchedly inserted in the positioning hole through the through hole.

3. The flexible switching vehicle type handle according to claim 2, characterized in that: The locking driving device is installed on the installation plate, and the locking driving device is connected with the locking pin and can drive the locking pin to be separated from the positioning hole or inserted into the positioning hole.

4. The flexible switching vehicle model grip of claim 1, wherein The installation plate is provided with a first sensor for detecting whether there is a workpiece in the clamping mouth.

5. The flexible switching vehicle model grip of claim 1, wherein: The installation plate is provided with a second sensor for detecting the rotational position of the switching turntable.

6. The flexible switching vehicle model grip of claim 1, wherein: The common clamping jaw includes a connecting portion and a clamping portion, the clamping portion is located outside one of the positioning support units, the end of the clamping portion is provided with a ball head, and the connecting portion is rotatably connected with the clamping driving device.

7. The flexible switching vehicle model grip of claim 1, wherein: One side of the installation plate extends outside the gripper main body and is rotatably connected with the switching turntable, and the switching turntable is located at the front end of the installation plate.

8. The flexible switching vehicle model grip of claim 1, wherein: The installation plate is provided with a connecting hole, and the switching turntable is provided with a connecting shaft rotatably connected with the connecting hole at one end close to the installation plate, and the connecting shaft is coaxially arranged with the central axis of the switching turntable.

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