Industrial robot and gripper adjustment structure for accessory transfer

Abstract

The utility model provides a kind of industrial robot and gripper adjusting structure for accessory transfer, comprising: industrial robot, the industrial robot includes six-axis robot body and gripper connecting flange one, the lower end of six-axis robot body side is fixedly connected with the gripper connecting flange one for installing gripper assembly, compared with prior art, the utility model has the beneficial effects as follows: by increasing industrial robot, gripper assembly and hoisting assembly, hoisting assembly is located at the top of production area setting, and with industrial robot is connected, gripper assembly is located at the lower end of inverted industrial robot installation, according to the model of automobile accessory to be transferred, adjusting screw rod drives gripper frame to realize horizontal displacement adjustment, so that two groups of gripper frame have different spacing, and a plurality of groups of gripper body are completed to realize transfer work by adsorption, so as to improve automobile manufacturing adaptability, by increasing hoisting assembly, the transfer range of industrial robot can be expanded.

Description

Technical Field

[0001] This utility model belongs to the field of automobile manufacturing technology, and specifically relates to an industrial robot and gripper adjustment structure for parts transfer. Background Technology

[0002] As an auxiliary tool in modern production and life, automobiles are widely involved in people's daily lives, improving efficiency and gradually becoming an indispensable part of life. In modern automobile production, efficient machinery is used to replace manual labor in tasks that are impossible, dangerous, or inefficient. For example, the weight and volume of sheet metal parts make traditional manual handling impossible. While cranes might be used for directional transport in traditional production, their operational limitations prevent them from changing direction according to the complexity of the manufacturing workshop. This restricts the placement of workstations and requires a close match with cranes and other transport equipment, thus limiting overall efficiency and hindering the rapid and efficient demands of modern automobile manufacturing. Industrial robots might be used in modern production to accomplish this task; however, the fixed-position gripper structures at the end effectors of existing industrial robots have drawbacks.

[0003] In summary, we hope to propose a new structure to solve the aforementioned technical problems. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide an industrial robot and gripper adjustment structure for the transfer of accessories, so as to solve the problems mentioned in the background technology.

[0005] This utility model is achieved through the following technical solution: an industrial robot and gripper adjustment structure for accessory conversion, comprising: an industrial robot, wherein the industrial robot includes a six-axis robot body and a gripper connecting flange, and the lower end of the six-axis robot body is fixedly connected to a gripper connecting flange for installing gripper components;

[0006] The industrial robot is equipped with a gripper assembly, which includes a gripper adjustment seat, an adjustment slide, an adjustment screw, a gripper frame, a gripper connecting rod, and a gripper body. The gripper adjustment seat has a set of adjustment slides on both the left and right sides.

[0007] The inner side of the adjusting slide is equipped with adjusting screws for driving the left and right sets of gripper frames to move closer or further away simultaneously. Two sets of symmetrically distributed gripper frames are provided below the gripper adjusting seat. Several sets of gripper connecting rods that are linearly and equally distributed are fixedly connected below the gripper frames. A gripper body for gripping parts in automobile manufacturing is fixedly connected below the gripper connecting rods. A hoisting assembly for hoisting and fixing is installed above the industrial robot.

[0008] In a preferred embodiment, a motor shaft of a dual-head motor is fixedly connected between the left and right sets of adjusting screws, and an adjusting slider is fixedly connected at the middle position of the upper surface of the gripper frame, with a screw sleeve passing through the center of the adjusting slider.

[0009] In a preferred embodiment, the adjusting slider and the adjusting groove are movably engaged with each other, the adjusting screw and the screw sleeve are threadedly connected, and an auxiliary groove is also provided through both the front and rear ends of the left side of the gripper adjusting seat. The dual-head motor drives the two sets of adjusting screws to rotate respectively, and with the cooperation of the screw sleeve, the two sets of gripper frames are controlled to move closer or further away at the same time, so as to complete the operation of adapting to the transfer of different automotive parts.

[0010] In a preferred embodiment, a set of arc grooves are provided on the inner sides of both the front and rear ends of the auxiliary slide, and a set of auxiliary sliders are fixedly connected to the upper surface of the gripper frame on both the front and rear sides of the adjusting slider.

[0011] Rolling balls are movably fitted into the inner sides of both ends of the auxiliary slider. The auxiliary slider and the auxiliary groove are movably fitted into each other, and the rolling balls and the arc-shaped groove are movably fitted into each other.

[0012] In a preferred embodiment, the gripper body is a negative pressure suction cup, the gripper connecting rod is a hollow pipeline structure and is connected to the gripper body, and a set of air path branch pipes are fixedly connected to each set of gripper connecting rods facing each other.

[0013] The air path branch pipe is fixedly connected to the air path main pipe at one end near the center of the gripper adjustment seat. The air path main pipe is connected to the external negative pressure device. The gripper connecting rod has an outward inclined structure. The external negative pressure device guides negative pressure suction through the air path main pipe and transmits it to several sets of negative pressure suction cups to achieve a firm gripping of automotive parts.

[0014] In a preferred embodiment, a second gripper connecting flange is fixedly connected above the gripper adjustment seat. The second gripper connecting flange and the first gripper connecting flange are fitted together and fixedly connected by bolts. A robot mounting base is fixedly connected to the upper end of the six-axis robot body.

[0015] In a preferred embodiment, the upper surface of the robot mounting base is provided with a positioning groove, and the hoisting assembly includes a hoisting connecting flange and a positioning block. The positioning block is fixedly connected to the lower part of the hoisting connecting flange, and the positioning block and the positioning groove are interlocked. The hoisting connecting flange and the robot mounting base are also fixedly connected by bolts. The positioning block and the positioning groove are interlocked to achieve rapid positioning during assembly, and the assembly operation is completed using bolts.

[0016] In a preferred embodiment, the hoisting assembly further includes a lateral adjustment seat and a ball screw. The inner side of the lateral adjustment seat is connected by a motor to a ball screw for driving the ball screw seat to move left and right.

[0017] As a preferred embodiment, a ball screw seat is also provided at the lower inner side of the transverse adjustment seat. The ball screw seat is integrally fixedly connected to the hoisting connection flange below, and a hoisting installation flange is fixedly connected above the transverse adjustment seat. According to the front and rear work positions of the production area, the ball screw structure can drive the industrial robot to complete the transverse adjustment, thereby expanding the transfer range of the industrial robot.

[0018] After adopting the above technical solution, the beneficial effects of this utility model are:

[0019] 1. By adding industrial robots, gripper assemblies, and lifting assemblies, the lifting assemblies are set at the top of the production area and connected to the industrial robots. The gripper assemblies are installed at the lower end of the inverted industrial robots. According to the model of the automotive parts to be transferred, the screw is adjusted to drive the gripper frame to achieve lateral adjustment, so that the two sets of gripper frames have different spacings. The transfer work is achieved by the adsorption of several sets of gripper bodies, thereby improving the adaptability of automotive manufacturing.

[0020] 2. By adding hoisting components and setting up workstations in the front and back of the production area, the ball screw structure can drive the industrial robot to complete lateral movement adjustment, thereby expanding the transfer range of the industrial robot. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of an accessory for industrial robots and a gripper adjustment structure according to this utility model.

[0023] Figure 2This is a schematic diagram of the structure of an industrial robot in an accessory conversion and gripper adjustment structure according to this utility model.

[0024] Figure 3 This is a schematic diagram of the upper structure of the gripper assembly in an industrial robot and gripper adjustment structure according to the present invention.

[0025] Figure 4 This is a schematic diagram of the lower structure of the gripper assembly in an industrial robot and gripper adjustment structure according to the present invention.

[0026] Figure 5 This is a schematic diagram of the lifting component in the adjustment structure of an industrial robot and gripper, which is an accessory of this utility model.

[0027] In the diagram, 100-industrial robot, 101-robot mounting base, 102-positioning slot, 103-six-axis robot body, 104-gripper connecting flange one;

[0028] 200-Gripper assembly, 201-Gripper adjusting seat, 202-Gripper connecting flange II, 203-Adjusting slide, 204-Adjusting screw, 205-Auxiliary slide, 206-Arc groove, 207-Auxiliary slider, 208-Adjusting slider, 209-Gripper frame, 210-Gripper connecting rod, 211-Gripper body, 212-Air path branch pipe, 213-Air path main pipe;

[0029] 300-Lifting assembly, 301-Horizontal adjustment seat, 302-Ball screw, 303-Ball screw seat, 304-Lifting connection flange, 305-Positioning block, 306-Lifting installation flange. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] Please see Figures 1-5 As the first embodiment of this utility model:

[0032] An accessory conversion industrial robot and gripper adjustment structure includes: an industrial robot 100, which includes a six-axis robot body 103 and a gripper connecting flange 104. The lower end of the six-axis robot body 103 is fixedly connected to the gripper connecting flange 104 for installing a gripper assembly 200.

[0033] The industrial robot 100 is equipped with a gripper assembly 200. The gripper assembly 200 includes a gripper adjustment seat 201, an adjustment slide 203, an adjustment screw 204, a gripper frame 209, a gripper connecting rod 210, and a gripper body 211. The gripper adjustment seat 201 has a set of adjustment slides 203 on both the left and right sides.

[0034] An adjusting screw 204 is installed on the inner side of the adjusting slide 203 to drive the left and right gripper frames 209 to move closer or further away simultaneously. Two symmetrically distributed gripper frames 209 are provided below the gripper adjusting seat 201. Several sets of gripper connecting rods 210 are fixedly connected below the gripper frames 209. A gripper body 211 for gripping parts in automobile manufacturing is fixedly connected below the gripper connecting rods 210. A hoisting assembly 300 for hoisting and fixing is installed above the industrial robot 100.

[0035] The motor shaft of a double-headed motor is fixedly connected between the two sets of adjusting screws 204 on the left and right sides. An adjusting slider 208 is fixedly connected to the middle position of the upper surface of the gripper frame 209. A screw sleeve is connected through the center of the adjusting slider 208.

[0036] The adjusting slider 208 and the adjusting groove 203 are movably engaged with each other, the adjusting screw 204 is threadedly connected to the screw sleeve, and the left front and rear ends of the gripper adjusting seat 201 are also provided with a set of auxiliary grooves 205. The dual-head motor drives the two sets of adjusting screws 204 to rotate respectively. With the cooperation of the screw sleeve, the two sets of gripper frames 209 can be controlled to move closer or further away at the same time to complete the operation of adapting to the transfer of different automotive parts.

[0037] A set of arc grooves 206 are provided on the inner sides of both the front and rear ends of the auxiliary slide 205, and a set of auxiliary sliders 207 are fixedly connected to the upper surface of the gripper frame 209 on both the front and rear sides of the adjusting slider 208.

[0038] Rolling balls are movably fitted into the inner sides of both ends of the auxiliary slider 207. The auxiliary slider 207 and the auxiliary slide groove 205 are movably fitted into each other, and the rolling balls and the arc groove 206 are movably fitted into each other.

[0039] The gripper body 211 is a negative pressure suction cup, the gripper connecting rod 210 is a hollow pipeline structure and is connected to the gripper body 211. The two sets of gripper frames 209 face each other, and each set of gripper connecting rods 210 is fixedly connected to a set of air path branch pipes 212.

[0040] The air path branch pipe 212 is fixedly connected to the air path main pipe 213 at one end near the center of the gripper adjustment seat 201. The air path main pipe 213 is connected to the external negative pressure equipment. The gripper connecting rod 210 has an outward inclined structure. The external negative pressure equipment guides the negative pressure suction through the air path main pipe 213 and transmits it to several sets of negative pressure suction cups 211 to achieve a firm grip on the automotive parts.

[0041] A gripper connecting flange 202 is fixedly connected above the gripper adjustment seat 201. The gripper connecting flange 202 and the gripper connecting flange 104 are attached to each other and fixedly connected by bolts. A robot mounting seat 101 is fixedly connected to the upper end of the six-axis robot body 103.

[0042] The upper surface of the robot mounting base 101 is provided with a positioning groove 102. The hoisting assembly 300 includes a hoisting connecting flange 304 and a positioning block 305. The positioning block 305 is fixedly connected to the lower part of the hoisting connecting flange 304. The positioning block 305 and the positioning groove 102 are interlocked. The hoisting connecting flange 304 and the robot mounting base 101 are also fixedly connected by bolts. The positioning block 305 and the positioning groove 102 are interlocked to achieve quick positioning during assembly, and the assembly operation is completed by bolts.

[0043] Specifically, the lifting assembly 300 is installed at the top of the production area. During assembly, the positioning block 305 is first engaged with the positioning groove 102 to achieve rapid positioning. Bolts are then used to complete the assembly of the industrial robot 100 and the lifting assembly 300. The gripper assembly 200 is installed at the lower end of the inverted industrial robot 100, positioning the gripper assembly 200 above to grasp and transfer the automotive parts. Next, according to the model of the automotive parts to be transferred, the dual-head motors drive two sets of adjusting screws 204 to rotate, which, in conjunction with the screw sleeves... The system controls the simultaneous movement of two sets of gripper frames 209, moving them closer or further apart, so that the gripper body 211 is in different positions and thus in a balanced position for stable gripping of the parts. The gripper connecting rod 210 has an outward tilting structure, which reduces the volume occupied by the gripper adjustment seat 201 and drives the lower gripper body 211 to complete the spacing adjustment. Furthermore, the external negative pressure equipment guides negative pressure suction through the air circuit main pipe 213 and transmits it to several sets of negative pressure suction cups 211, thereby achieving a firm gripping of automotive parts and improving the adaptability of automotive manufacturing.

[0044] Please see Figures 1-2 and Figure 5 As a second embodiment of this utility model:

[0045] The hoisting assembly 300 also includes a transverse adjustment seat 301 and a ball screw 302. The inner side of the transverse adjustment seat 301 is connected by a motor to a ball screw 302 for driving the ball screw seat 303 to move left and right.

[0046] The lower inner side of the transverse adjustment seat 301 is also provided with a ball screw seat 303. The ball screw seat 303 is integrally fixedly connected to the hoisting connection flange 304 below. The hoisting installation flange 306 is fixedly connected above the transverse adjustment seat 301. According to the front and rear work positions of the production area, the structure of the ball screw 302 can drive the industrial robot 100 to complete the transverse adjustment.

[0047] Based on the first embodiment described above, further, according to the front and rear workstation settings of the production area, the ball screw 302 rotates under the action of the motor, and in cooperation with the ball screw seat 303, drives the hoisting connection flange 304 to move laterally, thereby enabling the industrial robot 100 to complete the lateral movement adjustment, thereby expanding the transfer range of the industrial robot.

[0048] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A component adjustment structure utilizing an industrial robot and gripper, comprising: An industrial robot (100) is characterized in that: the industrial robot (100) includes a six-axis robot body (103) and a gripper connecting flange (104), and the lower end of the six-axis robot body (103) is fixedly connected to a gripper connecting flange (104) for installing a gripper assembly (200). The industrial robot (100) is equipped with a gripper assembly (200) below it. The gripper assembly (200) includes a gripper adjustment seat (201), an adjustment slide (203), an adjustment screw (204), a gripper frame (209), a gripper connecting rod (210), and a gripper body (211). The gripper adjustment seat (201) has a set of adjustment slides (203) on both its left and right sides. The inner side of the adjusting slide (203) is equipped with adjusting screws (204) for driving the left and right gripper frames (209) to move closer or further away simultaneously. Two symmetrically distributed gripper frames (209) are provided below the gripper adjusting seat (201). Several sets of gripper connecting rods (210) that are linearly and equally distributed are fixedly connected below the gripper frames (209). A gripper body (211) for gripping parts in automobile manufacturing is fixedly connected below the gripper connecting rods (210). A hoisting assembly (300) for hoisting and fixing is installed above the industrial robot (100).

2. The accessory transfer industrial robot and gripper adjustment structure as described in claim 1, characterized in that: The motor shaft of the double-headed motor is fixedly connected between the two sets of adjusting screws (204) on the left and right sides. An adjusting slider (208) is fixedly connected at the middle position of the upper surface of the gripper frame (209). A screw sleeve is connected through the center of the adjusting slider (208).

3. The accessory transfer industrial robot and gripper adjustment structure as described in claim 2, characterized in that: The adjusting slider (208) and the adjusting groove (203) are movably engaged with each other, the adjusting screw (204) and the screw sleeve are threadedly connected, and the left side front and rear ends of the gripper adjusting seat (201) are also provided with a set of auxiliary grooves (205).

4. The accessory transfer industrial robot and gripper adjustment structure as described in claim 3, characterized in that: The auxiliary slide (205) has a set of arc-shaped grooves (206) on the inner sides of both the front and rear ends. The upper surface of the gripper frame (209) is fixedly connected to a set of auxiliary sliders (207) on both the front and rear sides of the adjusting slider (208). The auxiliary slider (207) has rolling balls movably fitted on the inner sides of both ends. The auxiliary slider (207) and the auxiliary groove (205) are movably fitted together. The rolling balls and the arc groove (206) are movably fitted together.

5. The accessory transfer industrial robot and gripper adjustment structure as described in claim 1, characterized in that: The gripper body (211) is a negative pressure suction cup, the gripper connecting rod (210) is a hollow pipeline structure and is connected to the gripper body (211). The two sets of gripper frames (209) are opposite each other and each set of gripper connecting rods (210) is fixedly connected to a set of air path branch pipes (212). The gas path branch pipe (212) is fixedly connected to the gas path main pipe (213) at one end near the center of the gripper adjustment seat (201). The gas path main pipe (213) is connected to the external negative pressure equipment. The gripper connecting rod (210) is an outward inclined structure.

6. The accessory transfer industrial robot and gripper adjustment structure as described in claim 1, characterized in that: A gripper connecting flange two (202) is fixedly connected above the gripper adjustment seat (201). The gripper connecting flange two (202) and the gripper connecting flange one (104) are attached to each other and fixedly connected by bolts. A robot mounting seat (101) is fixedly connected to the upper end of the six-axis robot body (103).

7. The accessory transfer industrial robot and gripper adjustment structure as described in claim 6, characterized in that: The upper surface of the robot mounting base (101) is provided with a positioning groove (102). The hoisting assembly (300) includes a hoisting connection flange (304) and a positioning block (305). The positioning block (305) is fixedly connected below the hoisting connection flange (304). The positioning block (305) and the positioning groove (102) are fitted together. The hoisting connection flange (304) and the robot mounting base (101) are also fixedly connected by bolts.

8. The accessory transfer industrial robot and gripper adjustment structure as described in claim 1, characterized in that: The hoisting assembly (300) also includes a transverse adjustment seat (301) and a ball screw (302). The inner side of the transverse adjustment seat (301) is connected by a motor to a ball screw (302) for driving the ball screw seat (303) to move left and right.

9. The accessory transfer industrial robot and gripper adjustment structure as described in claim 8, characterized in that: The lower inner side of the transverse adjustment seat (301) is also provided with a ball screw seat (303). The lower part of the ball screw seat (303) is integrally fixedly connected with the hoisting connection flange (304), and the upper part of the transverse adjustment seat (301) is fixedly connected with a hoisting installation flange (306).

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