Flexible gripper system suitable for vehicle doors of multiple vehicle types

Abstract

The utility model discloses a flexible gripper system suitable for vehicle doors of multiple vehicle types. The flexible gripper system is composed of a gripper frame module, a six-axis robot quick-change module, a control module, a clamping module, a positioning module and the like. The whole structure of the system is expanded and built by adopting an aluminum octagonal tube and a linear module, so that the linear change of the grabbing length and width is realized; the positioning module adopts a rotating platform to be matched with a linear guide rail to position different vehicle door positioning holes; the clamping module is connected through an electric cylinder and adapts to the change of the grabbing height of different vehicle doors, so that the same grabbing hand system can grab the vehicle doors of different vehicle types, and the production efficiency of the vehicle doors is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to vehicle manufacturing technical field especially relates to a flexible gripper system of adapting to multi-vehicle door. BACKGROUND

[0002] With the continuous change of automobile market and the diversification of user demand, small batch multi variety production mode has become one of the main trends of modern automobile manufacturing industry. In order to meet the user demand, the automobile production line needs to have highly flexible operation conditions to adapt to multi-vehicle switching and production. The carrying of the inner plate welding assembly of the automatic line of the door is completed by the robot gripper, the door is positioned by the inner plate positioning pin, and the grabbing, carrying and assembling work of the door are realized.

[0003] At present, there are mainly three kinds of door gripper robots in the market, which are cylinder clamping type, suction cup type and three-point slot type. Among them, the cylinder clamping type gripper drives the clamping mechanism through the cylinder, clamps the door by mechanical force, has simple structure, adjustable clamping force, and is suitable for doors of different thickness and weight. But the adaptability is poor, and different types of doors need to be replaced by corresponding grippers manually. The suction cup type gripper uses the principle of vacuum adsorption, adsorbs the surface of the door through the suction cup, forms negative pressure to realize grabbing, and is suitable for doors with smooth surface. The three-point slot type gripper cooperates with the specific parts of the door through three fixed slots, embeds and opens from the slot position, clamps the door, realizes accurate positioning and fixing, and is suitable for standardized production and high positioning accuracy of the door. The production flexibility of the traditional door is completed by replacing different gripper tools of the robot. With the continuous increase of vehicle types, the disadvantages of the traditional method gradually become prominent: there are problems such as that the robot cannot place many grippers around, the cost of special gripper for a single vehicle type is too high, and the production time is lost by replacing the gripper. Therefore, a flexible robot gripper is designed to adapt to the rapid switching and accurate grabbing of multiple vehicle doors, without frequent replacement of the gripper, which has great significance for the realization of multi-door inline production.

[0004] In the prior art, although there are some flexible solutions for door grabbing, these solutions mostly have problems such as single function, poor adaptability and high cost. For example, although some flexible clamps can adapt to doors of different sizes by adjusting the position of the clamping jaw, they still cannot realize accurate grabbing when facing doors with complex shape or special positioning hole position. In addition, these clamps often lack intelligent control systems and cannot work cooperatively with the automatic process of the production line to realize efficient operation in limited space, which limits their actual application effect.

[0005] The patent CN218927818U discloses a flexible switching mechanism of a vehicle door clamp, comprising a clamp positioning mechanism, a vehicle door clamp-A, a vehicle door clamp-B, a mechanical hand and at least one vehicle door clamp support; the clamp positioning mechanism and the vehicle door clamp support are located within the reachable range of the mechanical hand, and the vehicle door clamp support stores at least four types of vehicle door clamps. However, the utility model is only suitable for grabbing the doors of similar vehicle models, and for doors with different shapes or sizes, the type of the vehicle door clamp needs to be switched, which limits the universality of the utility model in different vehicle models or application scenarios, and the compatibility is insufficient.

[0006] The patent CN115848984A proposes a gripper device for vehicle doors, which comprises a bracket adapted to attach a mechanical arm, a first fixed gripper and a second movable gripper. By setting the movable gripper, when used in cooperation with the fixed gripper, a roughly triangular gripping area can be formed, realizing three-point positioning and stable gripping. For vehicle doors with different gripping points, only the consistency of two gripping points is required, and then the positioning of the fixed gripper can be implemented by the gripper device, and then the movable gripper is moved to the third gripping point, so that the gripper device can accurately grip different vehicle doors. However, this is only suitable for standardized vehicle doors, and for other types of vehicle doors, the parameters or structure of the gripper device need to be adjusted, which is prone to positioning deviation and easy to wear the positioning hole.

[0007] Therefore, the utility model develops a high-flexibility multifunctional vehicle door clamp suitable for different vehicle doors, which can be adjusted according to the size, shape and position of the door, and realizes accurate gripping in combination with the positioning system, promotes the automation and individualization of vehicle body manufacturing, effectively reduces the production cost, improves the production efficiency, and better meets the demand of the modern automobile manufacturing industry for flexible production. Utility model content

[0008] The utility model aims to make up for the defects of the prior art, such as high cost of special gripper for single vehicle model, loss of production time due to replacement of gripper, and provides a flexible gripper system suitable for multiple vehicle doors. The utility model realizes linear change of door gripping in X, Y and Z directions by using linear module and electric cylinder auxiliary positioning and gripping, thereby completing the gripping task of different doors.

[0009] The utility model is realized through the following technical solutions:

[0010] A flexible gripper system suitable for multi-vehicle door, comprising a gripper frame module, a six-axis robot quick-change module, a clamping module one, a clamping module two and a positioning module, the gripper frame module comprises six mechanical arms, the six-axis robot quick-change module is installed on the upper surface of the gripper frame module, a camera is installed below the middle of the gripper frame module, clamping module one is installed below the left front mechanical arm, the right front mechanical arm and the left mechanical arm of the gripper frame module, clamping module two is installed below the right mechanical arm and the left rear mechanical arm of the gripper frame module, and positioning module is installed on the right rear mechanical arm and the middle left and right sides of the gripper frame module.

[0011] The gripper frame module is a six-arm frame composed of an octagonal tube, a clamp base plate is fixed on the upper surface of the six-arm frame, the six-axis robot quick-change module is fixed on the clamp base plate, and a plurality of module connecting pieces for fixing the clamping module one, the clamping module two and the positioning module are fixed below each arm of the six-arm frame.

[0012] The clamping module one comprises a clamping module linear module, a clamping module electric cylinder one, an intermediate connecting piece one, an upper pressing block one, a lower pressing block one, a clamping rotary air cylinder one and a clamping module electric cylinder connecting piece one; the clamping module linear module is installed on the gripper frame module, the upper end of the electric cylinder connecting piece one is connected with the sliding block of the clamping module linear module, the clamping module electric cylinder one is installed on the electric cylinder connecting piece one, the intermediate connecting piece one is fixed at the lower end of the clamping module electric cylinder one, the clamping rotary air cylinder one is fixed at one end of the intermediate connecting piece one, the upper pressing block one is fixed at the other end of the intermediate connecting piece one, the lower pressing block one is connected at the lower end of the clamping rotary air cylinder one, the clamping rotary air cylinder one drives the lower pressing block one to rotate and tightly presses the upper pressing block one; the upper pressing block one comprises a square frame, the square frame is fixedly connected with the intermediate connecting piece one, an L-shaped block is fixed at the lower end of the square frame, the lower pressing block one is a U-shaped frame, one end of the U-shaped frame is connected with the clamping rotary air cylinder one, and the other end tightly presses the L-shaped block of the upper pressing block one.

[0013] The clamping module two comprises a clamping module electric cylinder two, a middle connecting piece two, an upper pressing block two, a lower pressing block two and a clamping rotary air cylinder two, the clamping module electric cylinder two is fixed on the module connecting piece of the gripper frame module, the middle connecting piece two is fixed at the lower end of the clamping module electric cylinder two, the clamping rotary air cylinder two is fixed at one end of the middle connecting piece two, the upper pressing block two is fixed at the other end of the middle connecting piece two, the lower pressing block two is connected at the lower end of the clamping rotary air cylinder two, the clamping rotary air cylinder two drives the lower pressing block two to rotate and tightly press the upper pressing block two, the upper pressing block two comprises a trapezoidal frame, the trapezoidal frame is fixedly connected with the middle connecting piece two, and a strip block is horizontally fixed at the lower end of the trapezoidal frame, and the lower pressing block two is an arc-shaped block, one end of the arc-shaped block is connected with the clamping rotary air cylinder two, and the other end tightly presses the strip block of the upper pressing block two.

[0014] The positioning module comprises a rotary motor, a positioning module linear module, a positioning module electric cylinder, an electric cylinder connecting piece two and a positioning pin, the rotary motor is fixedly installed on the gripper frame module, the positioning module linear module is installed at the lower end of the rotary motor, the electric cylinder connecting piece two is connected with the sliding block of the positioning module linear module, the positioning module electric cylinder is fixedly installed on the electric cylinder connecting piece two, and the positioning pin is connected at the lower end of the positioning module electric cylinder.

[0015] The control module is further arranged on the gripper frame module, and the control module is electrically connected with the positioning module, the clamping module one, the clamping module two and the camera.

[0016] The utility model discloses a gripper system for automobile door, which comprises a gripper frame module, a positioning module, a clamping module one, a clamping module two and a camera.

[0017] 1. The utility model adopts linear module and rotary motor to be fixed on the gripper frame respectively, so that the clamping module and the positioning module can be displaced in the plane and vertical direction, can adapt to different automobile door frame shapes and positioning hole positions, improve the versatility and flexibility of the system, and the gripper system can adapt to automobile doors of different models, so that the automobile doors of multiple models can be gripped and carried without replacing the gripper, and the flexible demand of small batch and multiple production is met.

[0018] 2. The utility model adopts integrated pneumatic clamping device for the clamping module, and the integrated pneumatic clamping device is provided with an inductive proximity sensor, so that the clamping state can be detected in real time, the automobile door can be stably clamped during carrying, and the automobile door is prevented from falling due to unstable clamping.

[0019] 3. The utility model adopts modular design as a whole, so that the equipment is convenient to maintain, maintain and upgrade, and the maintenance cost is reduced.

[0020] 4. The utility model significantly reduces the moving space of the automobile door gripper in the automobile production workshop, and one gripper can meet the demand of multiple models, which is more conducive to the layout of the production workshop. Attached Figure Description

[0021] Figure 1 This is the isometric drawing of the front assembly of this utility model;

[0022] Figure 2 This is a rear-assembly isometric drawing of the present invention.

[0023] Figure 3 This is a schematic diagram of the gripper frame module structure of this utility model;

[0024] Figure 4 This is an isometric view of the positioning module structure of this utility model;

[0025] Figure 5 This is an isometric drawing of the clamping module of this utility model.

[0026] Figure 6 This is an isometric view of the second structure of the clamping module of this utility model.

[0027] Numbering on the map:

[0028] The six components are: gripper frame module 1, six-arm frame 11, clamping base plate 12, module connector 13, six-axis robot quick-change module 2, clamping module one 3, clamping module linear module 31, clamping module electric cylinder one 32, intermediate connector one 33, upper pressure block one 34, lower pressure block one 35, clamping rotary cylinder one 36, clamping module electric cylinder connector one 37, clamping module two 4, clamping module electric cylinder two 41, intermediate connector two 42, upper pressure block two 43, lower pressure block two 44 and clamping rotary cylinder two 45, positioning module 5, rotary motor 51, positioning module linear module 52, positioning module electric cylinder 53, electric cylinder connector two 54 and positioning pin 55, and control module 6. Detailed Implementation

[0029] like Figure 1 , 2 As shown, a flexible gripper system adaptable to the doors of multiple car models includes a gripper frame module 1, a six-axis robot quick-change module 2, a clamping module 1 3, a clamping module 2 4, and a positioning module 5. The gripper frame module 1 includes six robotic arms. The six-axis robot quick-change module 2 is mounted on top of the gripper frame module 1 and is used to mount the entire gripper system onto the power unit. A camera is installed in the lower center of the gripper frame module 1. Clamping modules 1 3 are installed under the left front robotic arm, right front robotic arm, and left robotic arm of the gripper frame module 1. Clamping modules 2 4 are installed under the right robotic arm and left rear robotic arm of the gripper frame module 1. Positioning modules 5 are installed on the right rear robotic arm and the left and right sides of the middle section of the gripper frame module 1. The positioning module 5 positions the car door, and then the clamping modules 1 3 and 2 4 clamp the car door.

[0030] As Figure 3 shown, the gripper frame module 1 is a six-arm frame 11 composed of octagonal tubes, a clamp base plate 12 is fixed on the upper surface of the six-arm frame 11, the six-axis robot quick-change module 2 is fixed on the clamp base plate 12, a plurality of module connectors 13 for fixing the clamping module one 3, the clamping module two 4 and the positioning module 5 are respectively fixed on the lower surface of each arm of the six-arm frame 11. Displacement sensors and pose sensors are installed on the gripper frame module 1.

[0031] As Figure 5 shown, the clamping module one 3 includes a clamping module linear module 31, a clamping module electric cylinder one 32, an intermediate connector one 33, an upper pressing block one 34, a lower pressing block one 35, a clamping rotary air cylinder one 36, and a clamping module electric cylinder connector one 37; the clamping module linear module 31 is installed on the gripper frame module 1, the upper end of the electric cylinder connector one 37 is connected with the slider of the clamping module linear module 31, the clamping module electric cylinder one 32 is installed on the electric cylinder connector one 37, the intermediate connector one 33 is fixed on the lower end of the clamping module electric cylinder one 32, the clamping rotary air cylinder one 36 is fixed on one end of the intermediate connector one 33, the upper pressing block one 34 is fixed on the other end of the intermediate connector one 33, the lower pressing block one 35 is connected on the lower end of the clamping rotary air cylinder one 36, the clamping rotary air cylinder one 36 drives the lower pressing block one 35 to rotate and press the upper pressing block one 34; the upper pressing block one 34 includes a square frame, the square frame is fixedly connected with the intermediate connector one, an L-shaped block is fixed on the lower end of the square frame, the lower pressing block one 35 is a U-shaped frame, one end of the U-shaped frame is connected with the clamping rotary air cylinder one 36, and the other end presses the L-shaped block of the upper pressing block one 34. The clamping module linear module 31 drives the clamping module electric cylinder one 32 and the clamping rotary air cylinder one 36 to move forward and backward, the clamping module electric cylinder one 32 drives the upper pressing block one 34, the clamping rotary air cylinder one 36 and the lower pressing block one 35 to move up and down, and the clamping rotary air cylinder one 36 drives the lower pressing block one 35 to rotate and clamp the upper pressing block one 34.

[0032] As Figure 6As shown, the clamping module 2 4 includes a clamping module electric cylinder 2 41, an intermediate connecting piece 2 42, an upper pressure block 2 43, a lower pressure block 2 44, and a clamping rotary cylinder 2 45. The clamping module electric cylinder 2 41 is fixed to the module connector of the gripper frame module 1. The intermediate connecting piece 2 42 is fixed to the lower end of the clamping module electric cylinder 2 41. The clamping rotary cylinder 2 45 is fixed to one end of the intermediate connecting piece 2 42. The upper pressure block 2 43 is fixed to the intermediate connecting piece 2 44. At the other end of component 42, the lower pressing block 44 is connected to the lower end of the clamping rotary cylinder 45. The clamping rotary cylinder 45 drives the lower pressing block 44 to rotate and press the upper pressing block 43 tightly. The upper pressing block 43 includes a trapezoidal frame, which is fixedly connected to the intermediate connecting component 42. A strip block is horizontally fixed at the lower end of the trapezoidal frame. The lower pressing block 44 is an arc-shaped block. One end of the arc-shaped block is connected to the clamping rotary cylinder 45, and the other end presses against the strip block of the upper pressing block 43.

[0033] The clamping module electric cylinder 41 drives the upper pressure block 43, the clamping rotary cylinder 45 and the lower pressure block 44 to move up and down. The clamping rotary cylinder 45 drives the lower pressure block 44 to rotate and clamp with the upper pressure block 43.

[0034] Both clamping rotary cylinder one and clamping rotary cylinder two are equipped with pressure sensors.

[0035] like Figure 4 As shown, the positioning module 5 includes a rotary motor 51, a linear positioning module 52, a positioning module electric cylinder 53, a second electric cylinder connector 54, and a positioning pin 55. The rotary motor 51 is fixedly mounted on the gripper frame module 1. The linear positioning module 52 is mounted on the lower end of the rotary motor 51. The second electric cylinder connector 54 is connected to the slider of the linear positioning module 52. The electric cylinder 53 is fixedly mounted on the second electric cylinder connector 54. The positioning pin 55 is connected to the lower end of the electric cylinder 53. The rotary motor 51 drives the linear positioning module 52 to rotate, the linear positioning module 52 drives the electric cylinder 53 to move back and forth, and the electric cylinder 53 drives the positioning pin 55 to move up and down.

[0036] An infrared module is installed on the positioning module electric cylinder 53.

[0037] It also includes a control module 6, which is installed on the gripper frame module 1. The control module is electrically connected to the positioning module 5, clamping module 1 3, clamping module 2 4, and camera respectively.

[0038] Before starting work, the gripper system of the utility model will be self-checked to ensure that all sensors, motors and mechanical parts are in normal state; then the operator sets the jaw opening length Y_1 and width X_1 (i.e. the moving stop distance of the linear module) on the industrial control touch screen according to the door model; the actual position parameters X_2, Y_2 of one main positioning hole and the relative position L_1 (the moving distance of the positioning system linear module) and θ_1 (the rotation angle of the rotating platform) of another positioning hole are set so as to adapt to the door; the thickness δ_3, δ_6 at the door positioning hole, and the door thickness δ_1, δ_2 spaced 20 cm above and below the main positioning hole are set, and the initial position is set; then the gripper moves to the initial position with a certain safety distance from the door.

[0039] After each module moves to the initial position, the position and shape of the door are recognized by the camera in the middle of the gripper frame module 1. According to the recognition result, the positions and angles of the positioning module and the clamping module 1, 2 are adjusted to correctly align the door. Then, the positioning module linear module 52 and the rotating motor 51 move according to the initial set value, and after reaching the predetermined positioning, the infrared module installed on the positioning module electric cylinder 53 judges whether it is aligned with the door positioning hole in combination with the camera, and then the positioning module electric cylinder works to make the positioning pin downwardly insert into the positioning hole for positioning.

[0040] After positioning is completed, the system controls each clamping module electric cylinder 1, 2 to move downwardly, and when the upper pressing blocks 1, 2 contact the door (as the moving reference of the clamp, i.e. the first value of the clamp pressure sensor appears), the displacement sensor records the distance and stops moving downwardly; then the clamping module electric cylinder 1, 2 drives the upper pressing blocks 1, 2 to move downwardly to contact the door, and the clamping rotary cylinders 1, 2 work to rotate and clamp the door by the lower pressing blocks 1, 2.

[0041] After clamping, when the pressure sensor in the clamping rotary cylinder 1, 2 shows the set threshold value, it is judged that the clamping state is reached, and the position of the pressing block is confirmed again, if there is deviation, the clamping rotary cylinder 1, 2 and the linear module are adjusted, if an abnormal condition is detected, i.e. the pressure sensor value suddenly changes (such as insecure clamping or door deformation), the system will stop operation and issue a warning, waiting for manual intervention.

[0042] According to the system self-positioning sensor, the door is adjusted to be parallel to the ground by the gripper system of the utility model, the distance data stored by the displacement sensor of the six-axis mechanical arm is read when the door is clamped, the door is placed on the plane, the clamping rotary cylinder is released, the positioning module electric cylinder moves upwardly to retract the positioning pin, then the electric cylinder and the linear module move to the initial position, the mechanical arm is lifted, and the releasing action is completed.

[0043] After all operations are completed, the system returns to the initial state, waiting for the next move operation. The operation log, including operation time, state changes, and any abnormal events, is recorded for subsequent analysis and maintenance.

Claims

1. A flexible gripper system adapted to accommodate multiple vehicle models, characterized by: It includes a gripper frame module, a six-axis robot quick-change module, a clamping module one, a clamping module two and a positioning module, the gripper frame module includes six mechanical arms, the six-axis robot quick-change module is installed on the upper surface of the gripper frame module, a camera is installed below the middle part of the gripper frame module, clamping module one is installed below the left front mechanical arm, the right front mechanical arm and the left mechanical arm of the gripper frame module, clamping module two is installed below the right mechanical arm and the left rear mechanical arm of the gripper frame module, and the positioning module is installed on the right rear mechanical arm and the middle part of the left and right sides of the gripper frame module.

2. A flexible grabber system for accommodating multiple vehicle models of vehicle doors as claimed in claim 1, wherein: The gripper frame module is a six-arm frame composed of an octagonal tube, a clamp base plate is fixed on the upper surface of the six-arm frame, and the six-axis robot quick-change module is fixed on the clamp base plate.

3. The flexible grabber system of claim 1, wherein: The clamping module one includes a clamping module linear module, a clamping module electric cylinder one, an intermediate connecting piece one, an upper pressing block one, a lower pressing block one, a clamping rotary air cylinder one and a clamping module electric cylinder connecting piece one, the clamping module linear module is installed on the gripper frame module, the upper end of the electric cylinder connecting piece one is connected with the sliding block of the clamping module linear module, the clamping module electric cylinder one is installed on the electric cylinder connecting piece one, the intermediate connecting piece one is fixed at the lower end of the clamping module electric cylinder one, the clamping rotary air cylinder one is fixed at one end of the intermediate connecting piece one, the upper pressing block one is fixed at the other end of the intermediate connecting piece one, the lower pressing block one is connected at the lower end of the clamping rotary air cylinder one, the clamping rotary air cylinder one drives the lower pressing block one to rotate and tightly press the upper pressing block one, the upper pressing block one includes a square frame, the square frame is fixedly connected with the intermediate connecting piece one, an L-shaped block is fixed at the lower end of the square frame, the lower pressing block one is a U-shaped frame, one end of the U-shaped frame is connected with the clamping rotary air cylinder one, and the other end tightly presses the L-shaped block of the upper pressing block one.

4. The flexible grabber system of claim 1, wherein: The clamping module two includes a clamping module electric cylinder two, an intermediate connecting piece two, an upper pressing block two, a lower pressing block two and a clamping rotary air cylinder two, the clamping module electric cylinder two is fixed on the module connecting piece of the gripper frame module, the intermediate connecting piece two is fixed at the lower end of the clamping module electric cylinder two, the clamping rotary air cylinder two is fixed at one end of the intermediate connecting piece two, the upper pressing block two is fixed at the other end of the intermediate connecting piece two, the lower pressing block two is connected at the lower end of the clamping rotary air cylinder two, the clamping rotary air cylinder two drives the lower pressing block two to rotate and tightly press the upper pressing block two, the upper pressing block two includes a trapezoidal frame, the trapezoidal frame is fixedly connected with the intermediate connecting piece two, a strip-shaped block is horizontally fixed at the lower end of the trapezoidal frame, the lower pressing block two is an arc-shaped block, one end of the arc-shaped block is connected with the clamping rotary air cylinder two, and the other end tightly presses the strip-shaped block of the upper pressing block two.

5. The flexible grabber system of claim 1, wherein: The positioning module comprises a rotary motor, a positioning module linear module, a positioning module electric cylinder, an electric cylinder connecting piece two and a positioning pin, the rotary motor is fixedly installed on the gripper frame module, the positioning module linear module is installed at the lower end of the rotary motor, the electric cylinder connecting piece two is connected with the sliding block of the positioning module linear module, the positioning module electric cylinder is fixedly installed on the electric cylinder connecting piece two, and the positioning pin is connected at the lower end of the positioning module electric cylinder.

6. The flexible grabber system of claim 1, wherein: The control module is further included, the control module is installed above the gripper frame module, and the control module is electrically connected with the positioning module, the clamping module one, the clamping module two and the camera respectively.

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