CN108501005A - A kind of positioning grabbing device of L-type sheet metal component - Google Patents
A kind of positioning grabbing device of L-type sheet metal component Download PDFInfo
- Publication number
- CN108501005A CN108501005A CN201810100355.6A CN201810100355A CN108501005A CN 108501005 A CN108501005 A CN 108501005A CN 201810100355 A CN201810100355 A CN 201810100355A CN 108501005 A CN108501005 A CN 108501005A
- Authority
- CN
- China
- Prior art keywords
- telescopic rod
- sheet metal
- type
- metal component
- plate
- 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.)
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Classifications
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
Abstract
The invention discloses a kind of positioning grabbing devices of L-type sheet metal component, there is the handgrip component mounted on robot wrist front end, handgrip component can be captured to L-type sheet metal component, L-type sheet metal component includes vertically disposed first plate and the second plate.After crawl starts, the first crawl section and the second crawl section of grasping mechanism respectively capture the first plate and the second plate on the outside of two, the not damaged crawl to sheet metal component is realized using vacuum cup, and the L-type upper holder block of welding interface board positioning mechanism and L-type lower lock block fix welding interface board clamping；Multiple intermediate grasping mechanisms also begin to act simultaneously, the different location of first plate and the second plate is captured, the positioning to L-type sheet metal component is realized, simultaneously because with robot work compound, the operations such as it can also be overturn, be rotated to L-type sheet metal component, increase substantially operating flexibility.
Description
Technical field：
The present invention relates to auto parts processing technique fields, and in particular to a kind of positioning grabbing device of L-type sheet metal component.
Background technology：
Sheet metal component is most common interior exterior trim structure in automobile production manufacturing process, and most commonly seen sheet metal component is mostly different
Shape structure when gripping these sheet metal components, needs to use localization tool, often for example, for L-type, S types, streamlined etc.
The positioning tool structure seen is more complicated, by taking L-type sheet metal component as an example, since its structure is more special, leads to the knot of stationary fixture
Structure is more complicated, and flexibility is poor, can not flexibly be moved to automobile rear case outside plate, and the processes such as welding, coating are caused
It is mechanical to compare, and flexibility ratio is relatively low, and versatility is poor.
Invention content：
The purpose of the present invention provides a kind of positioning grabbing device of L-type sheet metal component aiming at the deficiencies in the prior art.
The technology solution of the present invention is as follows：
A kind of positioning grabbing device of L-type sheet metal component has the handgrip component mounted on robot wrist front end, handgrip group
Part can capture L-type sheet metal component, and L-type sheet metal component includes vertically disposed first plate and the second plate, the first plate
Welding edge limiting plate integrally welded with the second plate, that weld is formed with a inwardly extending；Handgrip component includes and robot wrist
The mounting flange plate that portion is fixedly connected is detachably fixed on mounting flange plate and is connected with main beam, and the both ends of main beam are respectively arranged
There are one outside grasping mechanism, multiple intermediate grasping mechanisms are further fixed on the main beam between two outside grasping mechanisms；Its
In, outside grasping mechanism includes the second crawl section of the second plate of the first crawl section and crawl for capturing the first plate, and first grabs
It includes the first fixed seat being detachably connected with main beam to take portion, and the first fixed seat top is fixedly connected with the first telescopic rod, the
The end of one telescopic rod is connected with the first articulated section, and the second telescopic rod, the end of the second telescopic rod are hinged on the first articulated section
It is hinged with the second articulated section, third telescopic rod is hinged on the second articulated section, the end set of third telescopic rod has the first rotation
Seat, the first rotating seat are fixedly connected with horizontal stand, and the side of horizontal stand is connected with Z-type holder, and the upper end of Z-type holder is fixed
There are one vacuum cups for connection；Vacuum cup includes inner cylinder, dynamic sealing, upper fixing element, spring, outer barrel, lower fixing piece, bottom
Seat, outer barrel lower end are equipped with opening, and pedestal is arranged in opening, and outer barrel is fixedly connected with pedestal, and lower fixing piece is stuck in outer
Between cylinder and pedestal, the lower end of spring is stuck in by lower fixing piece between outer barrel and pedestal, and the upper end of spring is stuck in fixation
On part, upper fixing element is fixed by screws on inner cylinder, and outer barrel upper end is equipped with the circular hole smaller than outer barrel diameter, inner cylinder
It is penetrated from this circular hole, inner cylinder is sleeved in outer barrel, is sealed by dynamic sealing between inner cylinder and outer barrel, inner cylinder, outer
The air chamber of a sealing is formed between cylinder, air chamber is connected by the through-hole on pedestal with the sub- chamber of pedestal bottom end；Bullet
Spring is made of marmem, and spring is connected to external power supply.
Second crawl section includes the second fixed seat being detachably connected with main beam, and the second fixed seat top is fixedly connected with
The end of 4th telescopic rod, the 4th telescopic rod is connected with third articulated section, is hinged with the 5th telescopic rod on third articulated section, and the 5th
The end of telescopic rod is hinged with the 4th articulated section, and the 6th telescopic rod is hinged on the 4th articulated section, and the 6th telescopic rod passes through the 4th
One end of articulated section, the 6th telescopic rod is connected with welding interface board positioning mechanism, and the other end is provided with the second rotating seat, the second rotation
Swivel base is fixedly connected with vertical rack, and the side of vertical rack is connected with L-type support, and the side of L-type support is fixedly connected with one
A vacuum cup.
First telescopic rod, the second telescopic rod, third telescopic rod, the 4th telescopic rod, the 5th telescopic rod and the 6th telescopic rod
It is telescopic cylinder.
Welding interface board positioning mechanism includes one end support base for being fixed on the 6th telescopic rod, and the top of support base is fixed with
Transmission case is provided with driving motor in transmission case, and the output axial direction both sides of driving motor extend and the transmission case that stretches, and output shaft
Both ends be fixedly connected with two swing arms, the ends of two swing arms is fixedly connected with H type holder, and the end of H type holder is solid
Surely it is connected with L-type upper holder block；The side of support base, which is removably connected with, is horizontally mounted seat, and the end for being horizontally mounted seat is fixedly connected
There is L-type lower lock block, when welding interface board positioning mechanism is in running order, L-type upper holder block and L-type lower lock block are by welding edge limiting plate
It is fixedly clamped.
First fixed seat, the second fixed seat and third fixed seat are realized by fastening bolt detachable with main beam
It connects, the multiple adjustment holes being axially distributed along main beam, the first fixed seat, the second fixed seat and third is provided on main beam
Bolt hole is provided in fixed seat, fastening bolt passes through adjustment hole and bolt hole and end has fastening nut.
Main beam is hollow regular polygon beam structure, and multiple through-holes are provided on main beam.
The beneficial effects of the present invention are：After crawl starts, the first crawl section and second of two outside grasping mechanisms is grabbed
It takes portion to be captured respectively to the first plate and the second plate, the not damaged crawl to sheet metal component is realized using vacuum cup,
And the L-type upper holder block and L-type lower lock block of welding interface board positioning mechanism fix welding interface board clamping；Multiple centres are grabbed simultaneously
It takes mechanism to also begin to act, the different location of the first plate and the second plate is captured, realize and L-type sheet metal component is determined
Position, simultaneously because with robot work compound, additionally it is possible to the operations such as be overturn, be rotated to L-type sheet metal component, increase substantially work
Industry flexibility.
Description of the drawings：
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of outside grasping mechanism；
Fig. 3 is the structural schematic diagram of welding interface board positioning mechanism；
Fig. 4 is the structural schematic diagram of vacuum cup.
Specific implementation mode：
In order to keep the above objects, features and advantages of the present invention more obvious and easy to understand, below in conjunction with the accompanying drawings to this hair
Bright specific implementation mode is described in detail.
As shown in Figs 1-4, a kind of positioning grabbing device of L-type sheet metal component has grabbing mounted on robot wrist front end
Hand component 1, handgrip component 1 can capture L-type sheet metal component, and L-type sheet metal component includes vertically disposed first plate and
Two plates, the first plate and the second plate are integrally welded, the welding edge limiting plate that weld is formed with a inwardly extending；Handgrip component
1 includes the mounting flange plate 11 being fixedly connected with robot wrist, is detachably fixed on mounting flange plate 11 and is connected with main beam
10, the both ends of main beam 10 are each provided with an outside grasping mechanism 2, on the main beam 10 between two outside grasping mechanisms 2
It is further fixed on multiple intermediate grasping mechanisms 3；Wherein, outside grasping mechanism 2 includes the first crawl section of the first plate of crawl and grabs
Taking the second crawl section of the second plate, the first crawl section includes the first fixed seat 60 being detachably connected with main beam 10, and first
60 top of fixed seat is fixedly connected with the first telescopic rod 61, and the end of the first telescopic rod 61 is connected with the first articulated section 62, and first
The second telescopic rod 63 is hinged on articulated section 62, the end of the second telescopic rod 63 is hinged with the second articulated section 64, the second articulated section
Third telescopic rod 65 is hinged on 64, the end set of third telescopic rod 65 has the first rotating seat 66, the first rotating seat 66 and water
Flat holder 67 is fixedly connected, and the side of horizontal stand 67 is connected with Z-type holder 68, and the upper end of Z-type holder 68 is fixedly connected with one
A vacuum cup 4；Vacuum cup 4 includes inner cylinder 41, dynamic sealing 43, upper fixing element 44, spring 45, outer barrel 46, lower fixation
Part 47, pedestal 48,46 lower end of outer barrel are equipped with opening, and pedestal 48 is arranged in opening, and outer barrel 46 and pedestal 48 are fixed and connected
It connects, lower fixing piece 47 is stuck between outer barrel 46 and pedestal 48, and the lower end of spring 45 is stuck in 46 He of outer barrel by lower fixing piece 47
Between pedestal 48, the upper end of spring 45 is stuck on upper fixing element 44, and upper fixing element 44 is fixed on by screw 42 on inner cylinder 41,
46 upper end of outer barrel is equipped with the circular hole smaller than 46 diameter of outer barrel, and inner cylinder 41 is penetrated from this circular hole, and 41 sets of inner cylinder is outside
It in cylinder 46, is sealed by dynamic sealing 43 between inner cylinder 41 and outer barrel 46, forms one between inner cylinder 41, outer barrel 46
The air chamber of sealing, air chamber are connected by the through-hole on pedestal with the sub- chamber of pedestal bottom end；Spring 45 is closed by shape memory
Gold is made, and spring 45 is connected to external power supply.
Second crawl section includes the second fixed seat 20 being detachably connected with main beam 10, and 20 top of the second fixed seat is fixed
It is connected with the 4th telescopic rod 21, the end of the 4th telescopic rod 21 is connected with third articulated section 22, is hinged on third articulated section 22
The end of 5th telescopic rod 23, the 5th telescopic rod 23 is hinged with the 4th articulated section 24, and being hinged with the 6th on the 4th articulated section 24 stretches
Contracting bar 25, the 6th telescopic rod 25 pass through the 4th articulated section 24, and one end of the 6th telescopic rod 25 is connected with welding edge limiting plate localization machine
Structure 5, the other end are provided with the second rotating seat 26, and the second rotating seat 26 is fixedly connected with vertical rack 27, the side of vertical rack 27
Face is connected with L-type support 68, and the side of L-type support 68 is fixedly connected with that there are one vacuum cups 4.
First telescopic rod, the second telescopic rod, third telescopic rod, the 4th telescopic rod, the 5th telescopic rod and the 6th telescopic rod
It is telescopic cylinder.
Welding interface board positioning mechanism 5 includes being fixed on one end support base 50 of the 6th telescopic rod 25, support base 50 it is upper
Portion is fixed with transmission case 51, driving motor is provided in transmission case 51, the output axial direction both sides of driving motor extend and biography of stretching
Dynamic case, and the both ends of output shaft are fixedly connected with two swing arms, the end of two swing arms is fixedly connected with H type holder 52, h
The end of type holder 52 is fixedly connected with L-type upper holder block 521；The side of support base 50, which is removably connected with, is horizontally mounted seat 53,
The end for being horizontally mounted seat 53 is fixedly connected with L-type lower lock block 531, when welding interface board positioning mechanism 5 is in running order, L
Type upper holder block 521 and L-type lower lock block 531 fix welding interface board clamping.
First fixed seat, the second fixed seat and third fixed seat are realized by fastening bolt detachable with main beam
Connection, is provided with the multiple adjustment holes being axially distributed along main beam on main beam 10, the first fixed seat, the second fixed seat and the
Bolt hole is provided in three fixed seats, fastening bolt passes through adjustment hole and bolt hole and end has fastening nut.
Main beam 10 is hollow regular polygon beam structure, and multiple through-holes are provided on main beam 10.
After crawl starts, the first crawl section and the second crawl section of two outside grasping mechanisms are respectively to the first plate and the
Two plates are captured, and the not damaged crawl to sheet metal component is realized using vacuum cup, and welding interface board positioning mechanism 5
L-type upper holder block 521 and L-type lower lock block 531 fix welding interface board clamping；Multiple intermediate grasping mechanisms 3 also begin to move simultaneously
Make, the different location of the first plate and the second plate is captured, the positioning to L-type sheet metal component is realized, simultaneously because with
Robot work compound, additionally it is possible to the operations such as be overturn, be rotated to L-type sheet metal component, increase substantially operating flexibility.It is grabbing
During taking, spring electrified regulation, when temperature is sufficiently high, spring, which is undergone phase transition, starts elongation promotion inner cylinder with respect to outer barrel
Movement, inner cylinder, outer barrel the volume of internal cavity become larger, air pressure drop low yield gives birth to negative pressure, and inner cylinder, outer barrel internal cavity pass through
Through-hole on pedestal is connected with the sub- chamber of pedestal bottom end, at this moment will generate negative pressure in the sub- intracavitary of pedestal bottom end, sucker is made to inhale
It is attached to by adsorbing plane.After spring powers off, spring cools down rapidly, since spring is made of marmem, spring
The state before not heating is automatically returned to, while under the action of external atmosphere pressure, inner cylinder gradually returns to home position, and vacuum is inhaled
Negative pressure in disk disappears.
The embodiment is to be illustrated the present invention, and is not intended to limit the present invention.Any those skilled in the art
It can modify without violating the spirit and scope of the present invention to the embodiment, therefore the rights protection model of the present invention
It encloses, it should be as listed by the claim of the present invention.
Claims (6)
1. a kind of positioning grabbing device of L-type sheet metal component, it is characterised in that：With the handgrip group mounted on robot wrist front end
Part (1), handgrip component (1) can capture L-type sheet metal component, and L-type sheet metal component includes vertically disposed first plate and
Two plates, the first plate and the second plate are integrally welded, the welding edge limiting plate that weld is formed with a inwardly extending；Handgrip component
(1) include the mounting flange plate (11) being fixedly connected with robot wrist, be detachably fixed and be connected on mounting flange plate (11)
Main beam (10), the both ends of main beam (10) are each provided with an outside grasping mechanism (2), two outside grasping mechanisms (2) it
Between main beam (10) on be further fixed on multiple intermediate grasping mechanisms (3)；Wherein, outside grasping mechanism (2) includes crawl first
Second crawl section of the second plate of the first crawl section and crawl of plate, the first crawl section includes detachably connecting with main beam (10)
The first fixed seat (60) connect, the first fixed seat (60) top are fixedly connected with the first telescopic rod (61), the first telescopic rod (61)
End be connected with the first articulated section (62), the second telescopic rod (63), the second telescopic rod are hinged on the first articulated section (62)
(63) end is hinged with the second articulated section (64), and third telescopic rod (65) is hinged on the second articulated section (64), and third is flexible
The end set of bar (65) has the first rotating seat (66), the first rotating seat (66) to be fixedly connected with horizontal stand (67), level branch
The side of frame (67) is connected with Z-type holder (68), and the upper end of Z-type holder (68) is fixedly connected with that there are one vacuum cups (4)；Vacuum
Sucker (4) includes inner cylinder (41), dynamic sealing (43), upper fixing element (44), spring (45), outer barrel (46), lower fixing piece
(47), pedestal (48), outer barrel (46) lower end are equipped with opening, and pedestal (48) is arranged in opening, outer barrel (46) and pedestal
(48) it is fixedly connected, lower fixing piece (47) is stuck between outer barrel (46) and pedestal (48), and the lower end of spring (45) is by lower fixation
Part (47) is stuck between outer barrel (46) and pedestal (48), and the upper end of spring (45) is stuck on upper fixing element (44), upper fixing element
(44) it is fixed on inner cylinder (41) by screw (42), outer barrel (46) upper end is equipped with the circle smaller than outer barrel (46) diameter
Hole, inner cylinder (41) are penetrated from this circular hole, and inner cylinder (41) is sleeved in outer barrel (46), inner cylinder (41) and outer barrel (46)
Between sealed by dynamic sealing (43), the air chamber of a sealing is formed between inner cylinder (41), outer barrel (46), air chamber is logical
The through-hole crossed on pedestal is connected with the sub- chamber of pedestal bottom end；Spring (45) is made of marmem, spring (45) with it is outer
Portion's power supply connection.
2. a kind of positioning grabbing device of L-type sheet metal component according to claim 1, it is characterised in that：It wraps the second crawl section
The second fixed seat (20) being detachably connected with main beam (10) is included, it is flexible that the second fixed seat (20) top is fixedly connected with the 4th
The end of bar (21), the 4th telescopic rod (21) is connected with third articulated section (22), and being hinged with the 5th on third articulated section (22) stretches
The end of contracting bar (23), the 5th telescopic rod (23) is hinged with the 4th articulated section (24), and the 6th is hinged on the 4th articulated section (24)
Telescopic rod (25), the 6th telescopic rod (25) pass through the 4th articulated section (24), and one end of the 6th telescopic rod (25) is connected with welding edge
Limiting plate detent mechanism (5), the other end are provided with the second rotating seat (26), the second rotating seat (26) and the fixed company of vertical rack (27)
It connects, the side of vertical rack (27) is connected with L-type support (68), and the side of L-type support (68) is fixedly connected with that there are one vacuum to inhale
Disk (4).
3. a kind of positioning grabbing device of L-type sheet metal component according to claim 1, it is characterised in that：First telescopic rod,
Two telescopic rods, third telescopic rod, the 4th telescopic rod, the 5th telescopic rod and the 6th telescopic rod are telescopic cylinder.
4. a kind of positioning grabbing device of L-type sheet metal component according to claim 1, it is characterised in that：Welding edge limiting plate is fixed
Position mechanism (5) includes being fixed on one end support base (50) of the 6th telescopic rod (25), and the top of support base (50) is fixed with transmission
Case (51), transmission case (51) is interior to be provided with driving motor, and the output axial direction both sides of driving motor extend and the transmission case that stretches, and defeated
The both ends of shaft are fixedly connected with two swing arms, and the end of two swing arms is fixedly connected with H type holder (52), H type holder
(52) end is fixedly connected with L-type upper holder block (521)；The side of support base (50), which is removably connected with, is horizontally mounted seat
(53), the end for being horizontally mounted seat (53) is fixedly connected with L-type lower lock block (531), and welding interface board positioning mechanism (5) is in work
When making state, L-type upper holder block (521) and L-type lower lock block (531) fix welding interface board clamping.
5. a kind of positioning grabbing device of L-type sheet metal component according to claim 3, it is characterised in that：First fixed seat,
Two fixed seats and third fixed seat realize by fastening bolt and are detachably connected with main beam that main beam is arranged on (10)
There are the multiple adjustment holes being axially distributed along main beam, spiral shell is provided in the first fixed seat, the second fixed seat and third fixed seat
Keyhole, fastening bolt passes through adjustment hole and bolt hole and end has fastening nut.
6. a kind of positioning grabbing device of L-type sheet metal component according to claim 1, it is characterised in that：Main beam (10) is
Hollow regular polygon beam structure, main beam are provided with multiple through-holes on (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810100355.6A CN108501005B (en) | 2018-02-01 | 2018-02-01 | Positioning and grabbing device for L-shaped sheet metal parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810100355.6A CN108501005B (en) | 2018-02-01 | 2018-02-01 | Positioning and grabbing device for L-shaped sheet metal parts |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108501005A true CN108501005A (en) | 2018-09-07 |
| CN108501005B CN108501005B (en) | 2021-08-20 |
Family
ID=63374875
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810100355.6A Active CN108501005B (en) | 2018-02-01 | 2018-02-01 | Positioning and grabbing device for L-shaped sheet metal parts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108501005B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115196327A (en) * | 2021-04-12 | 2022-10-18 | 天津新松机器人自动化有限公司 | Intelligent robot unloading workstation |
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| JP6214000B2 (en) * | 2014-08-11 | 2017-10-18 | キャタピラー エス エー アール エル | Work holding device for welding |
| CN107598000A (en) * | 2017-10-13 | 2018-01-19 | 广东海洋大学 | A kind of punching press loading and unloading manipulator |
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2018
- 2018-02-01 CN CN201810100355.6A patent/CN108501005B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012129322A (en) * | 2010-12-14 | 2012-07-05 | Fuji Mach Mfg Co Ltd | Component suction nozzle device |
| CN203185344U (en) * | 2013-04-22 | 2013-09-11 | 焦浩 | Telescopic multi-freedom-degree explosive-handling robot |
| JP6214000B2 (en) * | 2014-08-11 | 2017-10-18 | キャタピラー エス エー アール エル | Work holding device for welding |
| CN205914899U (en) * | 2016-06-08 | 2017-02-01 | 佛山市联智新创科技有限公司 | Electric motor car wheel hub automatic welder |
| CN206326618U (en) * | 2017-01-01 | 2017-07-14 | 浙江师范大学 | A kind of robot gripper of strong adsorption |
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| CN115196327A (en) * | 2021-04-12 | 2022-10-18 | 天津新松机器人自动化有限公司 | Intelligent robot unloading workstation |
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| Publication number | Publication date |
|---|---|
| CN108501005B (en) | 2021-08-20 |
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Effective date of registration: 20210730 Address after: 510400 Room 101, building B, No. 259, Helong Second Road, Jiahe street, Baiyun District, Guangzhou City, Guangdong Province Applicant after: Guangzhou Ruixing CNC sheet metal Co.,Ltd. Address before: 523000 201D, 2 / F, building 11, innovation and Technology Park, Songshan Lake high tech Industrial Development Zone, Dongguan, Guangdong Applicant before: DONGGUAN TIANHE ELECTROMECHANICAL DEVELOPMENT Co.,Ltd. |
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