CN108908102B - A door frame anchor clamps that is used for robot intelligence to grind to throw - Google Patents

Abstract

The invention provides a car door frame clamp for intelligent grinding and polishing of a robot, which comprises a trolley assembly (101) and a clamp assembly (102); the trolley assembly (101) comprises a BASE plate (4); the clamp assembly (102) comprises a clamp frame and a clamping structure; the clamp frame is fixedly or detachably connected with the BASE plate (4), and one or more clamping structures are arranged on the clamp frame; the clamping structure comprises a clamping jaw, a clamping cylinder and a cylinder bracket, wherein the clamping jaw and the clamping cylinder are both arranged on the cylinder bracket; the clamping jaws comprise movable clamping jaws and/or fixed clamping jaws, and the movable clamping jaws are connected with the clamping cylinder. The invention has high positioning precision on the workpiece, and is suitable for working conditions with higher requirements on the positioning precision, such as grinding and polishing; the feeding and discharging of the irregular parts of the car door frame can be realized, and labor cost and time cost are saved.

Description

A door frame anchor clamps that is used for robot intelligence to grind to throw

Technical Field

The invention relates to the field of grinding and polishing equipment, in particular to a car door frame clamp for intelligent grinding and polishing of a robot.

Background

At present, at the automatic assembly line station of robots such as automobile parts, the welding seam is polished mainly by manual polishing after the arc welding of the door frame, the efficiency is lower, the surface quality is unstable, and the damage to the human body is large. The improved grinding station automatically grinds by using a robot, but because the requirement on the positioning precision of a workpiece is higher in the grinding process, a clamp used in welding is generally used in the station, the error is larger, and the requirement that the thickness of a welded joint after grinding is 0.5mm cannot be met.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a car door frame clamp for intelligent grinding and polishing of a robot.

The door frame clamp for the intelligent grinding and polishing of the robot comprises a trolley assembly and a clamp assembly; the trolley assembly comprises a BASE plate; the clamp assembly comprises a clamp frame and a clamping structure;

the fixture frame is fixedly or detachably connected with the BASE plate, and one or more clamping structures are arranged on the fixture frame;

the clamping structure comprises a clamping jaw, a clamping cylinder and a cylinder bracket, wherein the clamping jaw and the clamping cylinder are both arranged on the cylinder bracket; the clamping jaws comprise movable clamping jaws and/or fixed clamping jaws, and the movable clamping jaws are connected with the clamping cylinder.

Preferably, the trolley assembly further comprises an integral frame, the BASE plate is fixedly connected with the integral frame, a mounting plane is arranged on the BASE plate, screw holes and/or positioning pin holes are arranged on the mounting plane, and the clamp frame is mounted on the mounting plane through screws and/or positioning pins;

the mounting plane is also provided with a threading hole.

Preferably, the integral frame is further provided with a mounting and positioning mechanism, and the mounting and positioning mechanism comprises any one or more of the following structures:

-a rigid castor;

-a castor;

-a bearing;

-a locating pin.

Preferably, the integral frame is provided with an electrical mounting plate, and the electrical mounting plate is provided with a junction box, a Hadin joint and an electromagnetic valve;

still the fastening installation has handle installation pipe on the BASE board, demountable installation has handle spare in the handle installation pipe, handle spare and handle installation pipe are through the bolt connection of taking the tongue that sets up.

Preferably, the fixture frame comprises a fixture portal frame, the fixture portal frame comprises a beam and a column which are tightly connected, and the plurality of clamping structures are mounted on mounting brackets on the beam and/or the column;

the clamping structure arranged on the cross beam forms an adaptive clamping structure, and the clamping structure arranged on the stand column forms a fixed-width clamping structure.

Preferably, the adaptive clamping structure comprises a telescopic cylinder, one of two ends of the telescopic cylinder along the traveling direction is fixedly arranged on the mounting bracket, and the other end of the telescopic cylinder is connected with the cylinder bracket through a cylinder front end flange;

and the cylinder support of the fixed-width clamping structure is directly and tightly mounted on the mounting support.

Preferably, the movable clamping jaw and/or the fixed clamping jaw are/is provided with a profiling surface, and the profiling surface is positioned on the end surface of the movable clamping jaw and/or the fixed clamping jaw in the length extending direction;

and an adjusting gasket is arranged between the movable clamping jaw and the cylinder bracket.

Preferably, the clamp frame is also provided with a profile block in a fastening way.

Preferably, the clamp frame is also provided with a proximity switch bracket;

and the proximity switch is arranged on the shape-imitating block and/or the proximity switch bracket.

Preferably, one or more tie fixing seats are further mounted on the clamp frame.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention has high positioning precision on the workpiece, and is suitable for working conditions with higher requirements on the positioning precision, such as grinding and polishing;

2. the invention can realize the loading and unloading of the irregular part of the car door frame, and save the labor cost and the time cost;

3. for production lines with various product types, the automobile door frame polishing device can adapt to polishing processing of vehicle door frames without different types by only replacing the upper clamp part and quickly replacing the trolley, and is convenient and quick;

4. the invention can generate alarm information for various emergency situations, and meets the requirement of safe production.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a three-dimensional structure diagram of a door clamp for polishing and grinding provided by the invention;

FIG. 2 is a top view down perspective view of the carriage assembly;

FIG. 3 is a bottom view-down perspective view of the carriage assembly;

FIG. 4 is a detail view of a portion of the caster;

FIG. 5 is a perspective view of the clamp assembly looking down in front elevation;

FIG. 6 is a perspective view of the clamp assembly looking down from the back;

FIG. 7 is a detailed view of a portion of the arrangement of contoured surfaces and adjustment pads on the reaction jaw.

The figures show that:

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

As shown in FIG. 1, the door frame clamp for the intelligent grinding and polishing of the robot provided by the invention mainly comprises a trolley assembly 101 and a clamp assembly 102, wherein the trolley assembly 101 and the clamp assembly 102 are positioned by a positioning pin structure and fixed by a screw structure. The clamp assembly 102 can be designed into different forms according to different car door frames, and the clamp of the trolley assembly 101 can be replaced conveniently and quickly.

The trolley assembly 101 comprises a BASE plate 4; the clamp assembly 102 includes a clamp frame and a clamping structure; the clamp frame is fixedly or detachably connected with the BASE plate 4, and one or more clamping structures are arranged on the clamp frame; the clamping structure comprises a clamping jaw, a clamping cylinder (such as a first clamping cylinder 25, a second clamping cylinder 31, a third clamping cylinder 40 and a fourth clamping cylinder 48) and a cylinder support (such as a first cylinder support 26, a second cylinder support 32, a third cylinder support 39 and a fourth cylinder support 49), wherein the clamping jaw and the clamping cylinder are both arranged on the cylinder support; the plurality of clamping jaws comprise movable clamping jaws (such as a first movable clamping jaw 28, a second movable clamping jaw 29, a third movable clamping jaw 33 and a fourth movable clamping jaw 34) and/or fixed clamping jaws (such as a first fixed clamping jaw 30 and a second fixed clamping jaw 35), and the movable clamping jaws are connected with a clamping cylinder. The trolley assembly 101 further comprises an integral frame 7, the BASE plate 4 is fixedly connected with the integral frame 7, the BASE plate 4 is provided with a mounting plane 5, the mounting plane 5 is provided with a screw hole and/or a positioning pin hole, and the clamp frame is mounted on the mounting plane 5 through a screw and/or a positioning pin; the mounting plane 5 is also provided with a threading hole 6. The integral frame 7 is also provided with an installation positioning mechanism, and the installation positioning mechanism comprises any one or more of the following structures: a fixed caster 9; a universal caster 16; a bearing 22; positioning pins (e.g., first positioning pin 10, second positioning pin 14). An electric mounting plate 12 is mounted on the integral frame 7, and a junction box 17, a Hadin joint 18 and an electromagnetic valve 19 are arranged on the electric mounting plate 12; still the fastening installation has handle installation pipe 2 on the BASE board 4, and demountable installation has handle spare 1 in the handle installation pipe 2, handle spare 1 is connected through the bolt 3 of taking the tongue that sets up with handle installation pipe 2.

The fixture framework comprises a fixture portal frame 42, the fixture portal frame 42 comprises a beam and a column which are tightly connected, and a plurality of clamping structures are arranged on mounting brackets (such as a first mounting bracket 41, a second mounting bracket 44, a third mounting bracket 46 and a fourth mounting bracket 50) on the beam and/or the column; the clamping structure arranged on the cross beam forms an adaptive clamping structure, and the clamping structure arranged on the stand column forms a fixed-width clamping structure. The adaptive clamping structure comprises telescopic cylinders (such as a first telescopic cylinder 45 and a second telescopic cylinder 47), one of two ends of each telescopic cylinder along the advancing direction is fixedly arranged on the mounting bracket, and the other end of each telescopic cylinder is connected with the cylinder bracket through a cylinder front end flange (such as a first cylinder front end flange 27 and a second cylinder front end flange 36); and the cylinder support of the fixed-width clamping structure is directly and tightly mounted on the mounting support. The movable clamping jaw and/or the fixed clamping jaw are/is provided with profiling surfaces (such as a first profiling surface 70, a second profiling surface 71 and a third profiling surface 72) which are arranged on the end surface of the movable clamping jaw and/or the fixed clamping jaw in the length extending direction; an adjusting shim 73 is arranged between the movable clamping jaw and the cylinder support. The clamp frame is also provided with a profiling block (such as a first profiling block 55 and a second profiling block 67) in a fastening way. Proximity switch brackets (such as a first proximity switch bracket 54 and a second proximity switch bracket 68) are also arranged on the clamp frame; proximity switches (such as a first proximity switch 53, a second proximity switch 57, a third proximity switch 66, a fourth proximity switch 69) are mounted on the profile block and/or the proximity switch bracket. One or more strap holders 43 are also mounted on the clamp frame.

As shown in fig. 2, fig. 3, and fig. 4, the trolley assembly 101 mainly includes a handle 1, a handle mounting tube 2, a latch with tongue 3, a BASE plate 4, a mounting plane 5, a threading hole 6, an integral frame 7, a first caster mounting plate 8, a fixed caster 9, a first positioning pin 10, a first positioning pin mounting plate 11, an electrical mounting plate 12, a second positioning pin mounting plate 13, a second positioning pin 14, a second caster mounting plate 15, a universal caster 16, a junction box 17, a hartshod joint 18, an electromagnetic valve 19, a first mounting plate 20, a bearing seat 21, a bearing 22, a locking plate 23, and a bearing mounting shaft 24. Wherein, handle spare 1 is installed to handle installation pipe 2 through clearance fit to fixed through taking tongue bolt 3, take tongue bolt 3 dismouting that can be very convenient, consequently can install handle spare 1 fast when changing anchor clamps, also can pack up handle spare 1 fast after the change is accomplished, does not influence normal production. Handle mounting tube 2, BASE board 4, first truckle mounting panel 8, first locating pin mounting panel 11, second locating pin mounting panel 13, second truckle mounting panel 15, first mounting panel 20 all weld on whole frame 7, and electric mounting panel 12 passes through the fix with screw on whole frame 7. The fixed caster 9 passes through the bolt fastening to first truckle mounting panel 8, and the universal caster 16 passes through the bolt fastening to second truckle mounting panel 15, and the fixed caster 9 pushes away the assigned position with the dolly when 16 mutually supporting conveniently change anchor clamps with the universal caster. First locating pin 10, second locating pin 14 are respectively through the fix with screw on first locating pin mounting panel 11, second locating pin mounting panel 13 to through transition cooperation location, first locating pin 10 can accurate location with the cooperation of second locating pin 14, guarantee that the position of changing anchor clamps at every turn is unanimous, and locating pin structure surface is through high-frequency hardening, and its life-span is showing and is improving, can use for a long time. Bearing frame 21 passes through the fix with screw on first mounting panel 20, and bearing installation axle 24 is installed on bearing frame 21 through transition fit to fix a position through locking plate 23, locking plate 23 passes through the fix with screw on bearing frame 21, and bearing 22 passes through interference fit and installs on bearing installation axle 24, and the bearing assembly that bearing frame 21, bearing 22, locking plate 23, bearing installation axle 24 are constituteed has higher positioning accuracy, can let anchor clamps keep unanimous in the direction of height. The junction box 17 is fixed on the electric installation plate 12 through screws, and can be quickly plugged and pulled out through the Hauding joint 18 when the clamp is replaced, so that the trouble of rewiring is saved, and the time for replacing the clamp is greatly reduced. The BASE plate 4 is provided with the mounting plane 5 after finish machining, so that the precision of the whole clamp can be ensured, the machining surface is reduced, the machining cost is saved, and the wiring of equipment is facilitated through the wiring hole 6.

As shown in fig. 5, 6 and 7, the clamp assembly 102 mainly includes a first clamping cylinder 25, a first cylinder bracket 26, a first cylinder front end flange 27, a first movable clamping jaw 28, a second movable clamping jaw 29, a first fixed clamping jaw 30, a second clamping cylinder 31, a second cylinder bracket 32, a third movable clamping jaw 33, a fourth movable clamping jaw 34, a second fixed clamping jaw 35, a second cylinder front end flange 36, a fifth movable clamping jaw 37, a third fixed clamping jaw 38, a third cylinder bracket 39, a third clamping cylinder 40, a first mounting bracket 41, a clamp portal frame 42, a band fixing seat 43, a second mounting bracket 44, a first telescopic cylinder 45, a third mounting bracket 46, a second telescopic cylinder 47, a fourth clamping cylinder 48, a fourth cylinder bracket 49, a fourth mounting bracket 50, a fixed bracket 51, a movable bracket 52, a first proximity switch 53, a first proximity switch bracket 54, a second telescopic cylinder 47, a fourth telescopic cylinder 48, a fourth clamping cylinder 49, a movable bracket 51, a movable bracket 52, a first proximity switch 53, a second proximity, The device comprises a first profile block 55, a profile block mounting plate 56, a second proximity switch 57, a third positioning pin 58, a third positioning pin seat 59, a first L-shaped connecting block 60, a fifth mounting bracket 61, a sixth mounting bracket 62, a second L-shaped connecting block 63, a fourth positioning pin seat 64, a fourth positioning pin 65, a third proximity switch 66, a second profile block 67, a second proximity switch bracket 68 and a fourth proximity switch 69. The first clamping cylinder 25 is connected with the first cylinder support 26 through screws, the first cylinder support 26 and the second telescopic cylinder 47 are connected and fixed on the third mounting bracket 46 through screws, the first cylinder front end flange 27 is connected with the telescopic cylinder 47 through screws, the first fixed clamping jaw 30 is fixed on the telescopic cylinder 47 through screws, the first movable clamping jaw 28 is fixed on the clamping cylinder 25 through screws, the movable clamping jaw 29 is connected with the movable clamping jaw 28 through screws, the clamping cylinder 25, the cylinder support 26, the cylinder front end flange 27, the first movable clamping jaw 28, the second movable clamping jaw 29, the first fixed clamping jaw 30, the third mounting bracket 46 and the second telescopic cylinder 47 form a clamping structure which is fixed on the clamp portal frame 42 through screws. A clamping structure consisting of a second clamping cylinder 31, a second cylinder bracket 32, a third movable clamping jaw 33, a fourth movable clamping jaw 34, a second fixed clamping jaw 35, a second cylinder front end flange 36, a second mounting bracket 44 and a first telescopic cylinder 45 is fixed on the clamp portal frame 42 through screws, and all parts are connected through screws; a clamping structure consisting of a fifth movable clamping jaw 37, a third fixed clamping jaw 38, a third air cylinder bracket 39, a third clamping air cylinder 40 and a first mounting bracket 41 is fixed on a clamp portal frame 42 through screws, and all parts are connected through screws; the fourth clamping cylinder 48, the fourth cylinder bracket 49, the fourth mounting bracket 50, the fixed bracket 51 and the movable bracket 52 form a clamping structure which is fixed on the fixture portal frame 42 through screws, and all parts are connected through screws. All processed first profile surface 70, second profile surface 71 and third profile surface 72 on second movable clamping jaw 29, first movable clamping jaw 28 and the first fixed clamping jaw 30, through processing with the cooperation of door model, the laminating is better when pressing from both sides tightly, the atress is more even, can not hinder the workpiece surface, the profile surface all adopts high frequency quenching to handle, clamping jaw number of times of use has been increased, the life of whole anchor clamps has been improved, the clamping jaw can finely tune through adjusting shim 73 when the installation, ensure that the door does not produce the deviation when pressing from both sides tightly. The first proximity switch 53 is fixed on the first proximity switch bracket 54 through self threads, the first proximity switch bracket 54 is fixed on the first profile block 55 through a screw, the first profile block 55 is installed on the fixture portal frame 42 through a profile block installation plate 56 and is fixed through a screw, and the first profile block 55 can be better attached to the surface of a workpiece through profile machining. The second proximity switch 57 and the third positioning pin 58 are both fixed on the third positioning pin seat 59 through self threaded connection, the third positioning pin seat 59 is connected with the first L-shaped connecting block 60 through screws, the first L-shaped connecting block 60 is connected with the fifth mounting bracket 61 through screws, the fifth mounting bracket 61 is fixed on the fixture portal frame 42 through screws, the third proximity switch 66 and the fourth positioning pin 65 are both fixed on the fourth positioning pin seat 64 through self threaded connection, the fourth positioning pin seat 64 is connected with the second L-shaped connecting block 63 through screws, the second L-shaped connecting block 63 is connected with the sixth mounting bracket 62 through screws, the sixth mounting bracket 62 is fixed on the fixture portal frame 42 through screws, and the two positioning pins are matched with each other to accurately position the car door frame. The fourth proximity switch 69 is fixed on the second proximity switch bracket 68 through self threads, the second proximity switch bracket 68 is fixed on the second profile block 67 through screws and is fixed on the fixture portal frame 42 through screws, and the second profile block 67 can be better attached to the surface of a workpiece through profile machining. The ribbon fixing seat 43 is fixed on the fixture portal frame 42 through a screw, a square or round wire routing hole is further formed in the fixture portal frame 42, wiring is facilitated, the fixture portal frame 42 is integrally processed in a welding mode, processing cost is reduced, and the weight of the whole device is reduced.

When the workpiece is automatically replaced, the robot can grab the workpiece to pass through the third positioning pin 58 and the fourth positioning pin 65, the workpiece is controlled to be attached to the first contour block 55 and the second contour block 67, after the first proximity switch 53, the second proximity switch 57, the third proximity switch 66 and the fourth proximity switch 69 have signals, the first telescopic cylinder 45 and the second telescopic cylinder 47 act, the first fixed clamping jaw 30 and the second fixed clamping jaw 35 rise along with the signals, after the signals rise to the right position, the magnetic switches on the cylinders send signals, the third clamping cylinder 40 and the fourth clamping cylinder 48 act to clamp the workpiece, at the moment, the workpiece is loosened and separated by the feeding robot, finally, the first clamping cylinder 25 and the second clamping cylinder 31 act to clamp the workpiece again, and the whole feeding process is completed after the signals are sent by the cylinder sensors.

The invention mainly solves the problem of grinding and polishing the clamp in the automatic assembly line of the automobile door frame robot, can ensure that the positions of workpieces are kept consistent after the workpieces are replaced each time through the high-precision positioning automobile door clamp, and has more stable workpiece surface quality through the matching use with a double grinding and polishing device. The invention also solves the problem of automatic feeding and discharging, and the trouble of manual feeding and discharging is saved by matching with a feeding robot. In the production line of producing more types of door frames, the required anchor clamps of change that can also be convenient save time cost.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (6)

1. A car door frame clamp for intelligent grinding and polishing of a robot is characterized by comprising a trolley assembly (101) and a clamp assembly (102); the trolley assembly (101) comprises a BASE plate (4); the clamp assembly (102) comprises a clamp frame and a clamping structure;

the fixture frame is fixedly connected or detachably connected with the BASE plate (4), and a plurality of clamping structures are arranged on the fixture frame;

the clamping structure comprises a clamping jaw, a clamping cylinder and a cylinder bracket, wherein the clamping jaw and the clamping cylinder are both arranged on the cylinder bracket; the clamping jaws comprise movable clamping jaws and fixed clamping jaws, and the movable clamping jaws are connected with the clamping cylinder;

the fixture frame comprises a fixture portal frame (42), the fixture portal frame (42) comprises a beam and an upright which are tightly connected, and a plurality of clamping structures are arranged on mounting brackets on the beam and the upright;

the clamping structure arranged on the cross beam forms an adaptive clamping structure, and the clamping structure arranged on the stand column forms a fixed-width clamping structure;

the movable clamping jaw and/or the fixed clamping jaw are/is provided with profiling surfaces, and the profiling surfaces are positioned on the end faces of the movable clamping jaw and/or the fixed clamping jaw in the length extending direction;

an adjusting gasket (73) is arranged between the movable clamping jaw and the cylinder bracket;

the adaptive clamping structure comprises a telescopic cylinder, one of two ends of the telescopic cylinder along the traveling direction is fixedly arranged on the mounting bracket, and the other end of the telescopic cylinder is connected with the cylinder bracket through a cylinder front end flange;

the cylinder bracket contained in the fixed-width clamping structure is directly and tightly mounted on the mounting bracket;

and the clamp frame is also fixedly provided with a profiling block.

2. The door frame fixture for the intelligent robot grinding and polishing of claim 1, wherein the trolley assembly (101) further comprises an integral frame (7), the BASE plate (4) is fixedly connected with the integral frame (7), a mounting plane (5) is arranged on the BASE plate (4), a screw hole and/or a positioning pin hole are/is arranged on the mounting plane (5), and the fixture frame is mounted on the mounting plane (5) through a screw and/or a positioning pin;

the mounting plane (5) is also provided with a threading hole (6).

3. The door frame fixture for the intelligent robot grinding and polishing as claimed in claim 2, wherein the integral frame (7) is further provided with a mounting and positioning mechanism, and the mounting and positioning mechanism comprises any one or more of the following structures: -fixed castors (9);

-a universal caster (16);

-a bearing (22);

-a locating pin.

4. The car door frame clamp for the intelligent robot grinding and polishing according to claim 2, wherein an electrical mounting plate (12) is mounted on the integral frame (7), and a junction box (17), a Harding joint (18) and an electromagnetic valve (19) are arranged on the electrical mounting plate (12);

still the fastening installation has handle installation pipe (2) on BASE board (4), demountable installation has handle spare (1) in handle installation pipe (2), handle spare (1) is connected through taking tongue bolt (3) that set up with handle installation pipe (2).

5. The door frame fixture for intelligent robot grinding and polishing as claimed in claim 1, wherein a proximity switch bracket is further arranged on the fixture frame;

and the proximity switch is arranged on the shape-imitating block and/or the proximity switch bracket.

6. The door frame fixture for robotic intelligent grinding and polishing as claimed in claim 1, wherein one or more tie holders (43) are further mounted on the fixture frame.

Images