CN106891344A - A kind of suspender clamping device - Google Patents
A kind of suspender clamping device Download PDFInfo
- Publication number
- CN106891344A CN106891344A CN201710106621.1A CN201710106621A CN106891344A CN 106891344 A CN106891344 A CN 106891344A CN 201710106621 A CN201710106621 A CN 201710106621A CN 106891344 A CN106891344 A CN 106891344A
- Authority
- CN
- China
- Prior art keywords
- suspender
- clamping device
- clamping
- motor
- gripping block
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of suspender clamping device, it includes：Clamping motor, clamp arm and gripping block, wherein：The clamp arm includes：It is connected and drives the execution bar of the gripping block with the gripping block, and the turning arm being fixedly connected vertical with the rotating shaft of the clamping motor, and the end for performing bar is connected in end with the turning arm and mutually rotation is connected, the clamping device is by turning arm, clamping motor and performs bar formation connecting rod clamping structure, and clamping function is realized by gripping block, clamping accuracy is high.
Description
Technical field
The present invention is on a kind of suspender clamping device.
Background technology
Bottom of automobile body gluing more and more uses robot automatic glue application, and the advantage of robot automatic glue application is
Robot can repeat the action of regulation, and stability is high, but vehicle body by suspender when being conveyed, the precision of suspender, stability
It is not high, often shake, offset, and also side-play amount is up to 3-5cm sometimes；And robot is to repeat moving for teaching
Make, moved according to the space coordinates of itself, it is impossible to identify that suspender there occurs skew, so during robot coating just
Cannot accurately by glue Tu in welded joints, cause serious quality problems.
Why Tu will not be produced less than the problem on weld seam using artificial gluing before, because it is artificial in gluing,
Eyes stare at weld seam and are modified the gluing route of oneself in real time, it is ensured that glue is applied in welded joints, and industrial robot is
Instrument, is unable to reach as the mankind at all, is corrected when glue-application-edge is observed.So how to ensure the precision of suspender, it is to avoid car
Body deviation is the key for carrying out automatic pasting, even if not using robot coating in fact, the precision of suspender also should be ensured that, but
It is, because workman can be adapted to oneself, also just not shifted without strong demand requirement suspender.
And the precision of suspender is improved and has requirement very high, it is necessary to ensure that to the designed capacity of suspender, manufacturing cost
In the uniformity of robot station locus, robot just can carry out gluing, apply colloid vehicle body according to set track
Amount is high, and client is also satisfied with.
The content of the invention
The present invention provides a kind of suspender clamping device, and it includes：Clamping motor, clamp arm and gripping block, wherein：The folder
Tight arm includes：It is connected and drives the execution bar of the gripping block with the gripping block, and is hung down with the rotating shaft of the clamping motor
The straight turning arm being fixedly connected, and the end for performing bar is connected in end with the turning arm and mutually rotation is connected.
The clamping device is by turning arm, clamping motor and performs bar formation connecting rod clamping structure, and by gripping block
Clamping function is realized, clamping accuracy is high.
Brief description of the drawings
Fig. 1 clamping device top view layouts；
Fig. 2 clamping device structural representations；
Fig. 3 performs bar structural representation；With
Fig. 4 system control process figures.
Reference：Clamping motor 1, spring 2, gripping block 3 performs bar 4, turning arm 5, pressure sensor 6, electric machine support
7, sleeve 8, carrier bar 9, suspender clamping device 10, vehicle 11, chamber body column 12, proximity switch 13, signal transducer 14, positioning
Pin 15, positioning motor 16, controller 17.
Specific embodiment
As shown in Figures 1 to 4, the present invention provides a kind of suspender clamping device 10, and it includes：Clamping motor 1, clamp arm and folder
Tight block 3, wherein：The clamp arm includes：It is connected and drives the execution bar 4 of the gripping block 3 with the gripping block 3, and with
The vertical turning arm 5 being fixedly connected of the rotating shaft of the clamping motor 1, and the end for performing bar 4 with the turning arm 5 at end
Portion is connected and mutually rotates and connects.
The clamping device is by turning arm, clamping motor and performs bar formation connecting rod clamping structure, and by gripping block
Clamping function is realized, clamping accuracy is high.
As a further improvement, the vertical execution bar 4 of the gripping block 3.As a further improvement, the execution
The axially disposed pressure sensor 6 of bar 4.
As a further improvement, as shown in Figures 2 and 3, suspender clamping device 10 also has bearing support, the carrying branch
Frame includes：The electric machine support 7 being connected with the clamping motor 1, the sleeve 8 being connected with the top of the execution bar 4, connection is described
The carrier bar 9 of electric machine support 7 and the sleeve 8.As a further improvement, it is described execution bar 4 be located at the sleeve 8 in and with
The sleeve 8 is slidably connected.As a further improvement, the execution bar 4 is gone back between the sleeve 8 and the gripping block 3
With axial arranged spring 2.
As a further improvement, suspender clamping device 10 also has controller 17, preferably using PLC, the pressure
Sensor 6 is connected with the controller 17 (such as PLC) to provide clamping pressure signal, and the controller 17 clamps electricity with described
Machine 1 is connected and drive control, and when the clamping pressure signal is less than or equal to preset value, the controller 17 is controlled and stopped
The clamping motor 1, and enter next normal operating operation；When the clamping pressure signal is more than preset value, the control
Device is controlled and stops the clamping motor 1, and is stopped current process and alarmed.
As a further improvement, as shown in figure 4, suspender clamping device 10 also has positioner, the positioner
Including：Proximity switch 13, signal transducer 14, alignment pin 15 and positioning motor 16, the proximity switch 13 are passed with the signal
Sensor 14 is connected, and the alignment pin 15 is connected and drive control with the positioning motor 16, and the signal transducer 14 and institute
State controller 17 to be connected, the controller 17 is connected and drive control with the positioning motor 16.
Fig. 4 system control process figures, first, proximity switch 13 is used to detect vehicle 11 (by car embodiments of the invention
Body suspender) whether station is reached, vehicle body lifting appliance is represented when proximity switch detects signal and reaches station, PLC is signaled to,
Now system has been received by the information that suspender reaches station.
Secondly, positioning motor receives the instruction of PLC, drives alignment pin to fall, and completes Primary Location；Positioning motor is completed
PLC is fed back signal to after action again.
Then, to suspender clamping device 10, clamping motor 1 drives turning arm 5 to PLC output orders, and drives execution bar 4,
To form clamping of the gripping block 3 to vehicle body.Wherein there is spring 2 and pressure sensor 6 in execution bar 4, negative-feedback is formed automatic
The control adjustment correction spreader position of gripping block 3, it is preferred that four suspender clamping devices 10 constitute a set of clamping system, and preventing and treating is hung
Tool left-right and front-back is rocked.
Used as preferred embodiment, the normal operating operation is glue spraying operation.
Used as the preferred embodiment of the invention, the suspender clamping device 10 has four and is arranged in vehicle 11
Corner, and the bearing support of each suspender clamping device 10 is connected with chamber body column 12 respectively.
As shown in figure 1, using four arrangement compositions of suspender clamping device 10, each suspender clamping device 10 includes identical
Part and structure, each suspender clamping device 10 are acted to each angle of vehicle 11, and four suspender clamping devices
The action of 10 arrangements is synchronous consistent.
Clamping motor 1 is fixed on chamber body column 12 by electric machine support 7, and motor output end is by driving turning arm 5 simultaneously
Drive and perform bar 4, form connecting rod clamping structure, and execution bar 4 is connected with gripping block 3 when motor is rotated, by bar linkage structure
Drive gripping block to be advanced to suspender direction, and then apply driving force to suspender, suspender is corrected and is positioned.The effect of spring
It is the more steady of guarantee driving force applying.It is that support performs bar, gripping block to carry beam action, and carrier bar is fixed on chamber body column
On.
Sleeve is connected with carrier bar, as another fulcrum for carrying, performs bar and passes through sleeve, sleeve to be erected as bar is performed
Nogata prevents from performing structure teetertottering to the strong point of (Z-direction), performs bar and may pass through sleeve, with the rotating forward of motor and anti-
Then move forward and backward.
In the present invention, the connecting rod stroke of clamp system is calibrated according to standard suspender, i.e. this standard suspender
Locus be also consistent with the space coordinates of robot, when locus and the standard spreader position of certain suspender differ
During sample, with the propulsion of clamp system connecting rod stroke, the effect being corrected to spreader position is just served.
Pressure sensor 6 is arranged in clamp system, pressure sensor 6 set fixation maximum pressure value (this value according to
Actual test result is input in PLC, can be changed), when pressure value exceedes setting value, system alarm prompting suspender deviation mistake
Greatly, system PLC is outputed signal to, system PLC outputs signal to robot, and robot pause glue spraying points out manual intervention.
Clamp system mainly has two functions：1 is to prevent suspender from persistently being rocked when stopping, it is ensured that suspender is quickly static；2 are
Deviation to suspender is corrected so that the locus of suspender is consistent with robot coordinate system, but this correcting action can not
Can be especially big, when suspender is problematic or other the reason for cause suspender deviation larger when, clamping motor will continue the company of driving
Bar is corrected, and may damage clamp system even lifting appliance automobile body in itself because of pressure is excessive, it is necessary to set a protection value i.e.
Maximum pressure.
The embodiment of the present invention solves the problems, such as that suspender is rocked and corrects the inconsistent problem in suspender locus.Ensure that
Suspender is quickly static；Shorten the productive temp that suspender rocks occupancy.Correct the locus of suspender, it is ensured that different suspenders are same
The precision of station locus.
The technical program can be used for also substantially not this in the accuracy correction of other similar mode of movements, automobile industry
The clamping device of suspender mode, is generally dependent upon the suspender conveying precision of itself；Or by robot in itself to itself track
It is modified etc. and takes the more fields of beat.
Should be appreciated that invention which is intended to be protected is not limited to non-limiting embodiments, it should be understood that non-limiting embodiment party
Case is illustrated as just example.The desired substantive protection domain of the application is more embodied in independent claims offer
Scope, and its dependent claims.
Claims (10)
1. a kind of suspender clamping device, it includes：Clamping motor, clamp arm and gripping block, it is characterised in that：
The clamp arm includes：It is connected and drives the execution bar of the gripping block with the gripping block, and electricity is clamped with described
The vertical turning arm being fixedly connected of the rotating shaft of machine, and the end for performing bar is connected in end with the turning arm and mutually turns
Dynamic connection.
2. a kind of suspender clamping device as claimed in claim 1, it is characterised in that：The vertical execution bar of the gripping block.
3. a kind of suspender clamping device as claimed in claim 2, it is characterised in that：The axially disposed pressure of the execution bar is passed
Sensor.
4. a kind of suspender clamping device as claimed in claim 3, it is characterised in that：Also there is bearing support, the carrying branch
Frame includes：The electric machine support being connected with the clamping motor, the sleeve being connected with the top of the execution bar, connects the motor
The carrier bar of support and the sleeve.
5. a kind of suspender clamping device as claimed in claim 4, it is characterised in that：The execution bar is located in the sleeve simultaneously
It is slidably connected with the sleeve.
6. a kind of suspender clamping device as claimed in claim 5, it is characterised in that：The execution bar is in the sleeve and described
Also there is axial arranged spring between gripping block.
7. a kind of suspender clamping device as claimed in claim 6, it is characterised in that：Also there is controller, the pressure sensing
Device is connected with the controller to provide clamping pressure signal, and the controller is connected and drive control with the clamping motor,
And
When the clamping pressure signal is less than or equal to preset value, the controller is controlled and stops the clamping motor, and is entered
Enter next normal operating operation；
When the clamping pressure signal is more than preset value, the controller is controlled and stops the clamping motor, and stops to work as
Preceding operation is simultaneously alarmed.
8. a kind of suspender clamping device as claimed in claim 7, it is characterised in that：Also there is positioner, the positioning dress
Put including：Proximity switch, signal transducer, alignment pin and positioning motor, the proximity switch are connected with the signal transducer,
The alignment pin is connected and drive control with the positioning motor, and the signal transducer is connected with the controller, described
Controller is connected and drive control with the positioning motor.
9. a kind of suspender clamping device as claimed in claim 8, it is characterised in that：The normal operating operation is glue spraying work
Sequence.
10. a kind of suspender clamping device as claimed in claim 9, it is characterised in that：The suspender clamping device has four
And be arranged in the corner of vehicle, and each suspender clamping device the bearing support respectively with chamber body column phase
Even.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710106621.1A CN106891344A (en) | 2017-02-27 | 2017-02-27 | A kind of suspender clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710106621.1A CN106891344A (en) | 2017-02-27 | 2017-02-27 | A kind of suspender clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106891344A true CN106891344A (en) | 2017-06-27 |
Family
ID=59184947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710106621.1A Pending CN106891344A (en) | 2017-02-27 | 2017-02-27 | A kind of suspender clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106891344A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500366A (en) * | 2014-09-24 | 2016-04-20 | 安川首钢机器人有限公司 | Clamping device and robot system |
| CN106429853A (en) * | 2016-11-30 | 2017-02-22 | 安徽江淮汽车集团股份有限公司 | Lifting appliance clamping device and clamping control system thereof |
-
2017
- 2017-02-27 CN CN201710106621.1A patent/CN106891344A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500366A (en) * | 2014-09-24 | 2016-04-20 | 安川首钢机器人有限公司 | Clamping device and robot system |
| CN106429853A (en) * | 2016-11-30 | 2017-02-22 | 安徽江淮汽车集团股份有限公司 | Lifting appliance clamping device and clamping control system thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170627 |