CN108501005B - Positioning and grabbing device for L-shaped sheet metal parts - Google Patents
Positioning and grabbing device for L-shaped sheet metal parts Download PDFInfo
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- CN108501005B CN108501005B CN201810100355.6A CN201810100355A CN108501005B CN 108501005 B CN108501005 B CN 108501005B CN 201810100355 A CN201810100355 A CN 201810100355A CN 108501005 B CN108501005 B CN 108501005B
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- telescopic rod
- grabbing
- sheet metal
- fixedly connected
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a positioning and grabbing device for an L-shaped sheet metal part, which is provided with a grabbing component arranged at the front end of a robot wrist part, wherein the grabbing component can grab the L-shaped sheet metal part, and the L-shaped sheet metal part comprises a first plate and a second plate which are vertically arranged. After grabbing starts, a first grabbing part and a second grabbing part of the two outer side grabbing mechanisms respectively grab a first plate and a second plate, nondestructive grabbing of sheet metal parts is achieved by using a vacuum chuck, and the welding boundary plate is clamped and fixed by an L-shaped upper pressing block and an L-shaped lower pressing block of the welding boundary plate positioning mechanism; simultaneously a plurality of middles snatch the mechanism and also begin the action, snatch the different positions of first plate and second plate, realized the location to L type sheet metal component, owing to with robot collaborative work, can also overturn, rotate the operation such as to L type sheet metal component simultaneously, increase substantially the operation flexibility.
Description
The technical field is as follows:
the invention relates to the technical field of automobile part machining, in particular to a positioning and grabbing device for an L-shaped sheet metal part.
Background art:
the sheet metal component is the most common interior trim structure in the automobile production manufacturing process, and the most common sheet metal component is mostly special-shaped structure, for example, for L type, S type, streamlined etc., when carrying out the centre gripping fixed to these sheet metal components, need use positioning jig, common positioning jig structure is more complicated, use L type sheet metal component as an example, because its structure is comparatively special, the structure that leads to mounting fixture is more complicated, and the flexibility is relatively poor, can't carry out nimble removal to lid planking behind the car, lead to welding, process comparison machinery such as coating, the flexibility ratio is lower, the commonality is relatively poor.
The invention content is as follows:
the invention aims to provide a positioning and grabbing device for an L-shaped sheet metal part, aiming at the defects of the prior art.
The technical solution of the invention is as follows:
a positioning and grabbing device for an L-shaped sheet metal part is provided with a grabbing component arranged at the front end of a robot wrist part, wherein the grabbing component can grab the L-shaped sheet metal part, the L-shaped sheet metal part comprises a first plate and a second plate which are vertically arranged, the first plate and the second plate are welded into a whole, and a welding boundary plate extending inwards is formed at the welding position; the gripper assembly comprises an installation flange plate fixedly connected with the wrist part of the robot, a main cross beam is detachably and fixedly connected onto the installation flange plate, two outer side grabbing mechanisms are respectively arranged at two ends of the main cross beam, and a plurality of middle grabbing mechanisms are further fixed onto the main cross beam between the two outer side grabbing mechanisms; the outer side grabbing mechanism comprises a first grabbing part and a second grabbing part, the first grabbing part comprises a first fixing seat detachably connected with the main cross beam, a first telescopic rod is fixedly connected to the upper portion of the first fixing seat, the end portion of the first telescopic rod is connected with a first hinge portion, a second telescopic rod is hinged to the first hinge portion, the end portion of the second telescopic rod is hinged to a second hinge portion, a third telescopic rod is hinged to the second hinge portion, a first rotating seat is arranged at the end portion of the third telescopic rod and fixedly connected with the horizontal support, a Z-shaped support is connected to the side face of the horizontal support, and a vacuum sucker is fixedly connected to the upper end of the Z-shaped support; the vacuum chuck comprises an inner cylinder, a dynamic seal, an upper fixing piece, a spring, an outer cylinder, a lower fixing piece and a base, wherein the lower end of the outer cylinder is provided with an opening, the base is arranged in the opening, the outer cylinder is fixedly connected with the base, the lower fixing piece is clamped between the outer cylinder and the base, the lower end of the spring is clamped between the outer cylinder and the base by the lower fixing piece, the upper end of the spring is clamped on the upper fixing piece, the upper fixing piece is fixed on the inner cylinder through a screw, the upper end of the outer cylinder is provided with a round hole with a diameter smaller than that of the outer cylinder, the inner cylinder penetrates through the round hole, the inner cylinder is sleeved in the outer cylinder, the inner cylinder and the outer cylinder are sealed through the dynamic seal, a sealed air cavity is formed between the inner cylinder and the outer cylinder, and the air cavity is communicated with an auxiliary cavity at the bottom end of the base through a through hole on the base; the spring is made of shape memory alloy and is communicated with an external power supply.
The second snatchs the portion and includes the second fixing base of being connected with the main beam can be dismantled, second fixing base upper portion fixedly connected with fourth telescopic link, the end connection of fourth telescopic link has third articulated portion, it has fifth telescopic link to articulate on the third articulated portion, the tip of fifth telescopic link articulates there is fourth articulated portion, it has sixth telescopic link to articulate on the fourth articulated portion, sixth telescopic link passes fourth articulated portion, the one end of sixth telescopic link is connected with welding boundary plate positioning mechanism, the other end is provided with the second roating seat, second roating seat and vertical support fixed connection, the side of vertical support is connected with L type support, vacuum chuck of side fixedly connected with of L type support.
The first telescopic rod, the second telescopic rod, the third telescopic rod, the fourth telescopic rod, the fifth telescopic rod and the sixth telescopic rod are all telescopic cylinders.
The welding boundary plate positioning mechanism comprises a supporting seat fixed at one end of a sixth telescopic rod, a transmission case is fixed at the upper part of the supporting seat, a driving motor is arranged in the transmission case, the output shaft of the driving motor extends to two sides and extends out of the transmission case, two ends of the output shaft are fixedly connected with two swing arms, the tail ends of the two swing arms are fixedly connected with h-shaped supports, and the end parts of the h-shaped supports are fixedly connected with L-shaped upper pressing blocks; the side of supporting seat can be dismantled and be connected with horizontal installation seat, and the tip fixedly connected with L type briquetting down of horizontal installation seat, and when welding boundary plate positioning mechanism was in operating condition, briquetting and L type briquetting down were fixed with welding boundary plate clamp on the L type.
First fixing base and second fixing base all realize being connected with dismantling of main beam through fastening bolt, are provided with a plurality of regulation holes along main beam axial distribution on the main beam, are provided with the bolt hole on first fixing base and the second fixing base, and fastening bolt passes regulation hole and bolt hole and end and has fastening nut.
The main beam is of a hollow regular polygon beam structure, and a plurality of through holes are formed in the main beam.
The invention has the beneficial effects that: after grabbing starts, a first grabbing part and a second grabbing part of the two outer side grabbing mechanisms respectively grab a first plate and a second plate, nondestructive grabbing of sheet metal parts is achieved by using a vacuum chuck, and the welding boundary plate is clamped and fixed by an L-shaped upper pressing block and an L-shaped lower pressing block of the welding boundary plate positioning mechanism; simultaneously a plurality of middles snatch the mechanism and also begin the action, snatch the different positions of first plate and second plate, realized the location to L type sheet metal component, owing to with robot collaborative work, can also overturn, rotate the operation such as to L type sheet metal component simultaneously, increase substantially the operation flexibility.
Description of the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the outside gripping mechanism;
FIG. 3 is a schematic view of a positioning mechanism for welding the boundary plates;
fig. 4 is a schematic structural diagram of the vacuum chuck.
The specific implementation mode is as follows:
in order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1-4, a positioning and grabbing device for an L-shaped sheet metal part is provided with a gripper assembly mounted at the front end of a robot wrist, the gripper assembly can grab the L-shaped sheet metal part, the L-shaped sheet metal part comprises a first plate and a second plate which are vertically arranged, the first plate and the second plate are welded into a whole, and a welding boundary plate extending inwards is formed at the welding position; the gripper assembly comprises an installation flange plate 11 fixedly connected with the wrist of the robot, a main cross beam 10 is detachably and fixedly connected onto the installation flange plate 11, two outer side grabbing mechanisms 2 are respectively arranged at two ends of the main cross beam 10, and a plurality of middle grabbing mechanisms 3 are further fixed on the main cross beam 10 between the two outer side grabbing mechanisms 2; the outer side grabbing mechanism 2 comprises a first grabbing portion for grabbing a first plate and a second grabbing portion for grabbing a second plate, the first grabbing portion comprises a first fixing seat 60 detachably connected with the main beam 10, a first telescopic rod 61 is fixedly connected to the upper portion of the first fixing seat 60, a first hinge portion 62 is connected to the end portion of the first telescopic rod 61, a second telescopic rod 63 is hinged to the first hinge portion 62, a second hinge portion 64 is hinged to the end portion of the second telescopic rod 63, a third telescopic rod 65 is hinged to the second hinge portion 64, a first rotary seat 66 is arranged at the end portion of the third telescopic rod 65, the first rotary seat 66 is fixedly connected with a horizontal support 67, a Z-shaped support 68 is connected to the side face of the horizontal support 67, and a vacuum sucker 4 is fixedly connected to the upper end of the Z-shaped support 68; the vacuum chuck 4 comprises an inner cylinder 41, a dynamic seal 43, an upper fixing piece 44, a spring 45, an outer cylinder 46, a lower fixing piece 47 and a base 48, wherein the lower end of the outer cylinder 46 is provided with an opening, the base 48 is arranged in the opening, the outer cylinder 46 is fixedly connected with the base 48, the lower fixing piece 47 is clamped between the outer cylinder 46 and the base 48, the lower end of the spring 45 is clamped between the outer cylinder 46 and the base 48 by the lower fixing piece 47, the upper end of the spring 45 is clamped on the upper fixing piece 44, the upper fixing piece 44 is fixed on the inner cylinder 41 through a screw 42, the upper end of the outer cylinder 46 is provided with a round hole with a diameter smaller than that of the outer cylinder 46, the inner cylinder 41 penetrates through the round hole, the inner cylinder 41 is sleeved in the outer cylinder 46, the inner cylinder 41 and the outer cylinder 46 are sealed through a dynamic seal 43, a sealed air cavity is formed between the inner cylinder 41 and the outer cylinder 46, and the air cavity is communicated with a sub-cavity at the bottom end of the base through a through hole on the base; the spring 45 is made of a shape memory alloy, and the spring 45 is in communication with an external power source.
The second grabbing part comprises a second fixing seat 20 detachably connected with the main cross beam 10, a fourth telescopic rod 21 is fixedly connected to the upper portion of the second fixing seat 20, the end portion of the fourth telescopic rod 21 is connected with a third hinging portion 22, a fifth telescopic rod 23 is hinged to the third hinging portion 22, the end portion of the fifth telescopic rod 23 is hinged to a fourth hinging portion 24, a sixth telescopic rod 25 is hinged to the fourth hinging portion 24, the sixth telescopic rod 25 penetrates through the fourth hinging portion 24, one end of the sixth telescopic rod 25 is connected with a welding boundary plate positioning mechanism 5, the other end of the sixth telescopic rod is provided with a second rotary seat 26, the second rotary seat 26 is fixedly connected with a vertical support 27, the side face of the vertical support 27 is connected with an L-shaped support 28, and the side face of the L-shaped support 28 is fixedly connected with a vacuum sucker 4.
The first telescopic rod, the second telescopic rod, the third telescopic rod, the fourth telescopic rod, the fifth telescopic rod and the sixth telescopic rod are all telescopic cylinders.
The welding boundary plate positioning mechanism 5 comprises a supporting seat 50 fixed at one end of the sixth telescopic rod 25, a transmission case 51 is fixed at the upper part of the supporting seat 50, a driving motor is arranged in the transmission case 51, the output shaft of the driving motor extends towards two sides and extends out of the transmission case, two ends of the output shaft are fixedly connected with two swing arms, the tail ends of the two swing arms are fixedly connected with h-shaped brackets 52, and the end parts of the h-shaped brackets 52 are fixedly connected with L-shaped upper pressing blocks 521; the side of the supporting seat 50 is detachably connected with a horizontal mounting seat 53, the end part of the horizontal mounting seat 53 is fixedly connected with an L-shaped lower pressing block 531, and when the welding boundary plate positioning mechanism 5 is in a working state, the L-shaped upper pressing block 521 and the L-shaped lower pressing block 531 clamp and fix the welding boundary plate.
First fixing base and second fixing base all realize being connected with dismantling of main beam through fastening bolt, are provided with a plurality of regulation holes along main beam axial distribution on the main beam 10, are provided with the bolt hole on first fixing base and the second fixing base, and fastening bolt passes regulation hole and bolt hole and end and has fastening nut.
The main beam 10 is a hollow regular polygon beam structure, and a plurality of through holes are arranged on the main beam 10.
After grabbing starts, a first grabbing part and a second grabbing part of the two outer side grabbing mechanisms respectively grab a first plate and a second plate, nondestructive grabbing of sheet metal parts is achieved by using a vacuum chuck, and the welding boundary plate is clamped and fixed by an L-shaped upper pressing block 521 and an L-shaped lower pressing block 531 of the welding boundary plate positioning mechanism 5; simultaneously snatch mechanism 3 in the middle of a plurality of and also begin the action, snatch the different positions of first plate and second plate, realized the location to L type sheet metal component, owing to with the robot collaborative work, can also overturn, rotate the operation such as to L type sheet metal component simultaneously, increase substantially the operation flexibility. In the grabbing process, spring ohmic heating, when the temperature was high enough, the spring took place the phase transition and began to extend the relative outer barrel motion of barrel in the promotion, the volume grow of the interior cavity of interior barrel, outer barrel, atmospheric pressure reduction production negative pressure, the cavity is linked together through the sub-chamber of through-hole on the base and base bottom in interior barrel, the outer barrel, at this moment will produce the negative pressure in the sub-chamber of base bottom, make the sucking disc adsorb on by the adsorption plane. When the spring is powered off, the spring is rapidly cooled, because the spring is made of shape memory alloy, the spring automatically returns to the unheated state, and simultaneously, the inner cylinder body gradually returns to the original position under the action of the external atmospheric pressure, and the negative pressure in the vacuum chuck disappears.
The examples are intended to illustrate the invention, but not to limit it. The described embodiments may be modified by those skilled in the art without departing from the spirit and scope of the present invention, and therefore, the scope of the appended claims should be accorded the full scope of the invention as set forth in the appended claims.
Claims (6)
1. The utility model provides a location grabbing device of L type sheet metal component which characterized in that: the robot comprises a robot wrist, a gripper assembly, a first plate, a second plate, a welding boundary plate and a robot handle, wherein the gripper assembly is arranged at the front end of the robot wrist and can grip an L-shaped sheet metal part; the gripper assembly comprises an installation flange plate (11) fixedly connected with the wrist part of the robot, a main cross beam (10) is detachably and fixedly connected onto the installation flange plate (11), two outer side gripping mechanisms (2) are respectively arranged at two ends of the main cross beam (10), and a plurality of middle gripping mechanisms (3) are further fixed onto the main cross beam (10) between the two outer side gripping mechanisms (2); the outer side grabbing mechanism (2) comprises a first grabbing portion and a second grabbing portion, the first grabbing portion comprises a first fixing seat (60) detachably connected with the main beam (10), a first telescopic rod (61) is fixedly connected to the upper portion of the first fixing seat (60), the end portion of the first telescopic rod (61) is connected with a first hinged portion (62), a second telescopic rod (63) is hinged to the first hinged portion (62), a second hinged portion (64) is hinged to the end portion of the second telescopic rod (63), a third telescopic rod (65) is hinged to the second hinged portion (64), a first rotating seat (66) is arranged at the end portion of the third telescopic rod (65), the first rotating seat (66) is fixedly connected with a horizontal support (67), a Z-shaped support (68) is connected to the side face of the horizontal support (67), and a vacuum sucker (4) is fixedly connected to the upper end of the Z-shaped support (68); the vacuum chuck (4) comprises an inner cylinder body (41), a dynamic seal (43), an upper fixing piece (44), a spring (45), an outer cylinder body (46), a lower fixing piece (47) and a base (48), wherein the lower end of the outer cylinder body (46) is provided with an opening, the base (48) is arranged in the opening, the outer cylinder body (46) is fixedly connected with the base (48), the lower fixing piece (47) is clamped between the outer cylinder body (46) and the base (48), the lower end of the spring (45) is clamped between the outer cylinder body (46) and the base (48) by the lower fixing piece (47), the upper end of the spring (45) is clamped on the upper fixing piece (44), the upper fixing piece (44) is fixed on the inner cylinder body (41) through a screw (42), the upper end of the outer cylinder body (46) is provided with a round hole with a diameter smaller than that of the outer cylinder body (46), the inner cylinder body (41) penetrates through the round hole, the inner cylinder body (41) is sleeved in the outer cylinder body (46), and the inner cylinder body (41) is sealed with the outer cylinder body (46) through the dynamic seal (43), a sealed air cavity is formed between the inner cylinder (41) and the outer cylinder (46), and the air cavity is communicated with the sub-cavity at the bottom end of the base through a through hole on the base; the spring (45) is made of shape memory alloy, and the spring (45) is communicated with an external power supply.
2. The positioning and grabbing device for the L-shaped sheet metal parts as claimed in claim 1, wherein: the second grabbing part comprises a second fixing seat (20) detachably connected with the main cross beam (10), a fourth telescopic rod (21) is fixedly connected to the upper portion of the second fixing seat (20), the end portion of the fourth telescopic rod (21) is connected with a third hinging part (22), a fifth telescopic rod (23) is hinged to the third hinging part (22), a fourth hinging part (24) is hinged to the end portion of the fifth telescopic rod (23), a sixth telescopic rod (25) is hinged to the fourth hinging part (24), the sixth telescopic rod (25) penetrates through the fourth hinging part (24), one end of the sixth telescopic rod (25) is connected with a welding boundary plate positioning mechanism (5), the other end of the sixth telescopic rod is provided with a second rotating seat (26), the second rotating seat (26) is fixedly connected with a vertical support (27), the side face of the vertical support (27) is connected with an L-shaped support (28), and the side face of the L-shaped support (28) is fixedly connected with a vacuum sucker (4).
3. The positioning and grabbing device for the L-shaped sheet metal parts as claimed in claim 2, characterized in that: the first telescopic rod, the second telescopic rod, the third telescopic rod, the fourth telescopic rod, the fifth telescopic rod and the sixth telescopic rod are all telescopic cylinders.
4. The positioning and grabbing device for the L-shaped sheet metal parts as claimed in claim 2, characterized in that: the welding boundary plate positioning mechanism (5) comprises a supporting seat (50) fixed at one end of a sixth telescopic rod (25), a transmission case (51) is fixed at the upper part of the supporting seat (50), a driving motor is arranged in the transmission case (51), the output shaft of the driving motor extends towards two sides and extends out of the transmission case, two ends of the output shaft are fixedly connected with two swing arms, the tail ends of the two swing arms are fixedly connected with h-shaped supports (52), and the end parts of the h-shaped supports (52) are fixedly connected with L-shaped upper pressing blocks (521); the side of supporting seat (50) can be dismantled and be connected with horizontal installation seat (53), and the tip fixedly connected with L type briquetting (531) down of horizontal installation seat (53), and when welding boundary plate positioning mechanism (5) was in operating condition, briquetting (521) and L type briquetting (531) were pressed from both sides the tight setting with the welding boundary plate in L type.
5. The positioning and grabbing device of an L-shaped sheet metal part according to claim 3, characterized in that: first fixing base and second fixing base all realize being connected with dismantling of main beam through fastening bolt, are provided with a plurality of regulation holes along main beam axial distribution on main beam (10), are provided with the bolt hole on first fixing base and the second fixing base, and fastening bolt passes regulation hole and bolt hole and end and has fastening nut.
6. The positioning and grabbing device for the L-shaped sheet metal parts as claimed in claim 1, wherein: the main beam (10) is of a hollow regular polygon beam structure, and a plurality of through holes are formed in the main beam (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 |
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| CN108501005A CN108501005A (en) | 2018-09-07 |
| CN108501005B true CN108501005B (en) | 2021-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810100355.6A Active CN108501005B (en) | 2018-02-01 | 2018-02-01 | Positioning and grabbing device for L-shaped sheet metal parts |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115196327B (en) * | 2021-04-12 | 2023-07-07 | 天津新松机器人自动化有限公司 | Intelligent robot unloading workstation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5547052B2 (en) * | 2010-12-14 | 2014-07-09 | 富士機械製造株式会社 | Parts 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 |
| CN107598000B (en) * | 2017-10-13 | 2023-11-21 | 广东海洋大学 | Stamping feeding and discharging manipulator |
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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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