CN106584000A - Welding production line and gantry type workpiece grabbing mechanism thereof - Google Patents
Welding production line and gantry type workpiece grabbing mechanism thereof Download PDFInfo
- Publication number
- CN106584000A CN106584000A CN201710100208.4A CN201710100208A CN106584000A CN 106584000 A CN106584000 A CN 106584000A CN 201710100208 A CN201710100208 A CN 201710100208A CN 106584000 A CN106584000 A CN 106584000A
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- CN
- China
- Prior art keywords
- workpiece
- planer
- power part
- grabbing mechanism
- workpiece grabbing
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
The invention discloses a gantry type workpiece grabbing mechanism. The gantry type workpiece grabbing mechanism comprises a gantry framework, a clamping unit for grabbing workpieces, and a power part used for controlling the clamping unit to move up and down, wherein the power part is arranged on the gantry framework, and the clamping unit is arranged at the bottom of the power part. To apply the gantry type workpiece grabbing mechanism provided by the invention, firstly, the gantry framework is arranged at the workpiece grabbing station, a workpiece is tightly clamped by the clamping unit when reaching the workpiece grabbing station, the clamping unit is lifted upwards through the power part, and accordingly the lifting operation of the workpiece can be achieved. An enough track space is reserved at the bottom of the workpiece to allow a robot to grab the workpiece, and thus the requirement that the robot grabs the workpiece from the bottom of the workpiece is met.
Description
Technical field
The present invention relates to automobile manufacturing field, more particularly to a kind of planer-type workpiece grabbing mechanism, further relate to a kind of bag
Include the welding production line of above-mentioned grasping mechanism.
Background technology
In auto manufacturing field, with the continuous improvement of welding production line automatization level, by robot gripping apparatus
The mode of upper part has obtained universal application, it is generally the case that the workpiece after the completion of welding is placed on into upper part and is put after platform, machine
People's gripping apparatus sometimes, according to Workpiece structure and vehicle body manufacture needs is surrounded from the direct grabbing workpiece in workpiece top, for example by
It is easily deformed in the large-scale outer plate covering such as top cover, gusset, is difficult the reasons such as carrying, robot needs to capture work from workpiece bottom
Part.
Therefore, how a kind of grasping mechanism that can be met from workpiece bottom grabbing workpiece is provided, is people in the art
Member is badly in need of the technical problem for solving.
The content of the invention
It is an object of the invention to provide a kind of planer-type workpiece grabbing mechanism, can not can be grabbed with effectively solving from workpiece bottom
The problem of workpiece is taken, it is a further object to provide a kind of welding production including above-mentioned planer-type workpiece grabbing mechanism
Line.
To solve above-mentioned technical problem, the invention provides following technical scheme：
A kind of planer-type workpiece grabbing mechanism, including：Gantry frame, the grip unit for grabbing workpiece and control
The power part that the grip unit is moved up and down, the power part is arranged on the gantry frame, and the grip unit is arranged
In the bottom of the power part.
Preferably, the grip unit includes piece-holder framework and for by the workpiece grip mechanism of Workpiece clamping
And vacuum cup, the workpiece grip mechanism and the vacuum cup be fixed on the piece-holder framework, the workpiece clamp
Hold framework and power part connection.
Preferably, the power part is the lifting cylinder being vertically fixed on the gantry frame.
Preferably, the power part also includes stabiliser bar, and the bottom of the stabiliser bar and the piece-holder framework connect,
The top of the stabiliser bar and the gantry frame are slidably connected.
Preferably, the gantry frame top is provided with maintenance platform.
Preferably, cat ladder and maintenance safe fence are additionally provided with the gantry frame.
The invention also discloses a kind of welding production line, including welding post and gluing station, also including workpiece grabbing work
Position, the workpiece grabbing station includes above-mentioned any one planer-type workpiece grabbing mechanism.
Compared with prior art, above-mentioned technical proposal has advantages below：
A kind of planer-type workpiece grabbing mechanism provided by the present invention, including：Gantry frame, for the clamping of grabbing workpiece
The power part that unit and control grip unit are moved up and down, power part is arranged on gantry frame, and grip unit is arranged on dynamic
The bottom in power portion.Using the present invention provide planer-type workpiece grabbing mechanism when, it is necessary first to gantry frame is arranged on into workpiece
At crawl station, when workpiece reaches the station, workpiece is stepped up by grip unit, then will be clamped by power part
Unit is lifted up, you can realize the lifting operation to workpiece, and enough robot grip track skies are left in the bottom for making workpiece
Between, and then robot is met from the demand of workpiece bottom pick workpiece.
Present invention also offers a kind of welding production line, including welding post and gluing station, also including workpiece grabbing work
Position, workpiece grabbing station includes above-mentioned any one planer-type workpiece grabbing mechanism.The beneficial effect of the welding production line is concrete
With reference to above-mentioned planer-type workpiece grabbing mechanism, here is omitted.
Description of the drawings
In order to be illustrated more clearly that technical scheme of the invention or of the prior art, below will be to embodiment or prior art
The accompanying drawing to be used needed for description is briefly described, it should be apparent that, drawings in the following description are some of the present invention
Embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can be with attached according to these
Figure obtains other accompanying drawings.
A kind of structural representation of planer-type workpiece grabbing mechanism that Fig. 1 is provided by a kind of specific embodiment of the invention
Figure；
Fig. 2 is the structural representation of the grip unit in Fig. 1；
A kind of structural representation of welding production line that Fig. 3 is provided by a kind of specific embodiment of the invention.
Reference is as follows：
1 is gantry frame, and 2 is grip unit, and 21 is piece-holder framework, and 22 is workpiece grip mechanism, and 23 are vacuum suction
Disk, 3 is power part, and 4 is stabiliser bar, and 5 is cat ladder, and 6 are maintenance safe fence, and 7 is welding post, and 71 is rubbing at welding post
Conveying mechanism is wiped, 8 is gluing station, and 81 is the friction conveying mechanism at gluing station, and 9 is workpiece grabbing station, and 91 is workpiece
Friction conveying mechanism at crawl station, 10 is planer-type workpiece grabbing mechanism.
Specific embodiment
Just as described in the background section, at present because the large-scale outer plate covering such as top cover, gusset of automobile is easily deformed,
The reasons such as carrying are difficult, needs are captured the workpiece after welding by its bottom.
On the basis of based on the studies above, embodiments provide a kind of welding production line and its planer-type workpiece is grabbed
Mechanism is taken, it is necessary first to which gantry frame is arranged at workpiece grabbing station, when workpiece reaches the station, by grip unit
Workpiece is stepped up, is then lifted up grip unit by power part, you can realized the lifting operation to workpiece, make work
Enough robot grip trajectory ranges are left in the bottom of part, and then meet robot from the need of workpiece bottom pick workpiece
Ask.
In order that the above objects, features and advantages of the present invention can become apparent from it is understandable, below in conjunction with the accompanying drawings to this
Bright specific embodiment is described in detail.
Elaborate detail in order to fully understand the present invention in the following description.But the present invention can with it is various not
It is same as alternate manner described here to implement, those skilled in the art can do class in the case of without prejudice to intension of the present invention
Like popularization.Therefore the present invention is not limited by following public specific embodiment.
Refer to a kind of planer-type workpiece grabbing that Fig. 1 and Fig. 2, Fig. 1 are provided by a kind of specific embodiment of the invention
The structural representation of mechanism；Fig. 2 is the structural representation of the grip unit in Fig. 1.
A kind of specific embodiment of the present invention provides a kind of planer-type workpiece grabbing mechanism 10, including：Gantry frame
1st, for grabbing workpiece the power part 3 that grip unit 2 and control grip unit 2 is moved up and down, power part 3 is arranged on dragon
On door frame 1, grip unit 2 is arranged on the bottom of power part 3.
Using the present embodiment provide planer-type workpiece grabbing mechanism 10 when, it is necessary first to gantry frame 1 is arranged on into work
At part crawl station, when workpiece reaches the station, workpiece is stepped up by grip unit 2, then will by power part 3
Grip unit 2 is lifted up, you can realize the lifting operation to workpiece, enough robot grip rails are left in the bottom for making workpiece
Trace space, and then robot is met from the demand of workpiece bottom pick workpiece.
Further, grip unit 2 includes piece-holder framework 21 and for by the workpiece grip mechanism of Workpiece clamping
22 and vacuum cup 23, workpiece grip mechanism 22 and vacuum cup 23 are fixed on piece-holder framework 21, piece-holder framework
21 and power part 3 connect.By way of workpiece grip mechanism 22 and vacuum cup 23 combine, can meet in grabbing workpiece
When stability requirement.In addition grip unit 2 can select an appropriate number of workpiece grip mechanism 22 according to the concrete structure of workpiece
And an appropriate number of vacuum cup 23, it specifically depends on the circumstances, and the present embodiment is not limited this.
Further, power part 3 is the lifting cylinder being vertically fixed on gantry frame 1.It should be noted that being lifted
Cylinder is simply preferred, or other equipment that grip unit 2 can be lifted.
In in order to ensure lifting process, the stability of workpiece movement, the planer-type workpiece grabbing mechanism that the present embodiment is provided
Power part 3 in 10 also includes stabiliser bar 4, and the bottom of stabiliser bar 4 and piece-holder framework 21 connect, the top of stabiliser bar 4 and
Gantry frame 1 is slidably connected.Wherein stabiliser bar 4 can be round bar or the shaft in other sections, as long as can realize to clamping
The guide effect of unit 2, does not also limit the quantity of stabiliser bar 4 in addition, specifically can be selected according to actual conditions.
In addition for the ease of the maintenance to planer-type workpiece grabbing mechanism, the top of gantry frame 1 is provided with maintenance platform.
Further, for the security for ensureing to keep in repair, cat ladder 5 and maintenance safe fence 6 are additionally provided with gantry frame 1.
Refer to Fig. 3, a kind of structural representation of welding production line that Fig. 3 is provided by a kind of specific embodiment of the invention
Figure.
The invention also discloses a kind of welding production line, including welding post 7 and gluing station 8, also including workpiece grabbing
Station 9, workpiece grabbing station 9 includes any one planer-type workpiece grabbing mechanism 10 that above-described embodiment is provided.
In the present embodiment, after by welding to workpiece in welding post 7, rubbing at welding post can be passed through
Workpiece is delivered to gluing station 8 by wiping conveying mechanism 71 carries out gluing, then by the friction conveying mechanism 81 at gluing station
Workpiece is transported to into workpiece grabbing station 9, workpiece is lifted by planer-type workpiece grabbing mechanism 10, meet robot from
The demand of workpiece lower section grabbing workpiece, is then delivered to workpiece by the friction conveying mechanism 91 at workpiece grabbing station next
Individual station.
Also, it should be noted that herein, such as " including ", "comprising" or its any other variant are intended to non-
Exclusiveness is included, so that a series of process, method, article or equipment including key elements not only includes those key elements,
But also including other key elements being not expressly set out, or also include solid by this process, method, article or equipment
Some key elements.In the absence of more restrictions, the key element for being limited by sentence "including a ...", it is not excluded that including
Also there is other identical element in the process of the key element, method, article or equipment.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope for causing.
Claims (7)
1. a kind of planer-type workpiece grabbing mechanism, it is characterised in that include：Gantry frame, the grip unit for grabbing workpiece,
And the power part that the grip unit is moved up and down is controlled, the power part is arranged on the gantry frame, the clamping
Unit is arranged on the bottom of the power part.
2. planer-type workpiece grabbing mechanism according to claim 1, it is characterised in that the grip unit includes workpiece clamp
Hold framework and for by the workpiece grip mechanism and vacuum cup of Workpiece clamping, the workpiece grip mechanism and the vacuum
Sucker is fixed on the piece-holder framework, and the piece-holder framework and the power part connect.
3. planer-type workpiece grabbing mechanism according to claim 2, it is characterised in that the power part is to be vertically fixed on
Lifting cylinder on the gantry frame.
4. planer-type workpiece grabbing mechanism according to claim 3, it is characterised in that the power part also includes stable
Bar, the bottom of the stabiliser bar and the piece-holder framework connect, and the top of the stabiliser bar and the gantry frame slide
Connection.
5. planer-type workpiece grabbing mechanism according to claim 4, it is characterised in that the gantry frame top is provided with dimension
Equating platform.
6. planer-type workpiece grabbing mechanism according to claim 5, it is characterised in that be additionally provided with the gantry frame and climb
Ladder and maintenance safe fence.
7. a kind of welding production line, including welding post and gluing station, it is characterised in that also including workpiece grabbing station, institute
Workpiece grabbing station is stated including the planer-type workpiece grabbing mechanism described in any one of claim 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710100208.4A CN106584000A (en) | 2017-02-23 | 2017-02-23 | Welding production line and gantry type workpiece grabbing mechanism thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710100208.4A CN106584000A (en) | 2017-02-23 | 2017-02-23 | Welding production line and gantry type workpiece grabbing mechanism thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106584000A true CN106584000A (en) | 2017-04-26 |
Family
ID=58587811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710100208.4A Pending CN106584000A (en) | 2017-02-23 | 2017-02-23 | Welding production line and gantry type workpiece grabbing mechanism thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106584000A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107138885A (en) * | 2017-06-19 | 2017-09-08 | 山东泰开机器人有限公司 | The welding robot system welded applied to oil tank of transformer bellows wall and skeleton |
| CN107553028A (en) * | 2017-10-26 | 2018-01-09 | 安徽江淮汽车集团股份有限公司 | Truck top cover automatic welding equipment and welding procedure |
| CN112605546A (en) * | 2020-12-03 | 2021-04-06 | 广东斯铠工业自动化科技有限公司 | Automatic welding equipment for cutter head of shield tunneling machine and welding method thereof |
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| JP2000225492A (en) * | 1999-02-02 | 2000-08-15 | Mitsubishi Electric Corp | Device for conveying beltlike work |
| KR20090074876A (en) * | 2008-01-03 | 2009-07-08 | 대우조선해양 주식회사 | Lug welding robot system composed of over hanging installed with movable cart |
| CN201952004U (en) * | 2011-02-23 | 2011-08-31 | 云南众诚士德柔性自动化设备有限公司 | Negative-pressure sucking type plate grabbing and transporting device |
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| CN102756822A (en) * | 2012-06-26 | 2012-10-31 | 上海电机学院 | Automatic round tank packaging and conveying device |
| CN104742118A (en) * | 2015-03-19 | 2015-07-01 | 刘庆芳 | Multi-functional hydraulic mechanical arm |
| CN106392354A (en) * | 2016-11-17 | 2017-02-15 | 江苏赛拉弗光伏系统有限公司 | Automatic manufacturing mechanism for solar cells |
| CN206550579U (en) * | 2017-02-23 | 2017-10-13 | 安徽华菱汽车有限公司 | A kind of welding production line and its planer-type workpiece grabbing mechanism |
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2017
- 2017-02-23 CN CN201710100208.4A patent/CN106584000A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000225492A (en) * | 1999-02-02 | 2000-08-15 | Mitsubishi Electric Corp | Device for conveying beltlike work |
| KR20090074876A (en) * | 2008-01-03 | 2009-07-08 | 대우조선해양 주식회사 | Lug welding robot system composed of over hanging installed with movable cart |
| CN201952004U (en) * | 2011-02-23 | 2011-08-31 | 云南众诚士德柔性自动化设备有限公司 | Negative-pressure sucking type plate grabbing and transporting device |
| CN102616564A (en) * | 2012-03-16 | 2012-08-01 | 江苏格雷特机器人有限公司 | Vacuum suction shifting robot |
| CN102756822A (en) * | 2012-06-26 | 2012-10-31 | 上海电机学院 | Automatic round tank packaging and conveying device |
| CN104742118A (en) * | 2015-03-19 | 2015-07-01 | 刘庆芳 | Multi-functional hydraulic mechanical arm |
| CN106392354A (en) * | 2016-11-17 | 2017-02-15 | 江苏赛拉弗光伏系统有限公司 | Automatic manufacturing mechanism for solar cells |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107138885A (en) * | 2017-06-19 | 2017-09-08 | 山东泰开机器人有限公司 | The welding robot system welded applied to oil tank of transformer bellows wall and skeleton |
| CN107138885B (en) * | 2017-06-19 | 2023-01-24 | 山东泰开电力电子有限公司 | Welding robot system applied to welding of corrugated wall and framework of transformer oil tank |
| CN107553028A (en) * | 2017-10-26 | 2018-01-09 | 安徽江淮汽车集团股份有限公司 | Truck top cover automatic welding equipment and welding procedure |
| CN112605546A (en) * | 2020-12-03 | 2021-04-06 | 广东斯铠工业自动化科技有限公司 | Automatic welding equipment for cutter head of shield tunneling machine and welding method thereof |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170426 |
|
| RJ01 | Rejection of invention patent application after publication |