CN109014689A - A kind of bulk cargo gripper equipment for white body production-line body part - Google Patents
A kind of bulk cargo gripper equipment for white body production-line body part Download PDFInfo
- Publication number
- CN109014689A CN109014689A CN201811208667.5A CN201811208667A CN109014689A CN 109014689 A CN109014689 A CN 109014689A CN 201811208667 A CN201811208667 A CN 201811208667A CN 109014689 A CN109014689 A CN 109014689A
- Authority
- CN
- China
- Prior art keywords
- bulk cargo
- handgrip
- body part
- tooling platform
- gripper equipment
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to a kind of bulk cargo gripper equipments for white body production-line body part, including the tooling platform (1) for placing body part (3) and the bulk cargo handgrip (2) being located above tooling platform (1), the bulk cargo handgrip (2) is equipped with multiple handgrip units (21), positioning unit (5) are equipped between the bulk cargo handgrip (2) and tooling platform (1), are connected with industrial connector (4) between each handgrip unit (21) and tooling platform (1).Compared with prior art, the present invention is able to ascend production line beat, and it is high to grab precision.
Description
Technical field
The present invention relates to Trend of Auto Manufacturing Technologies fields, and in particular to a kind of bulk cargo for white body production-line body part is grabbed
Arm device.
Background technique
White body refers to the vehicle body before completing welding but non-coating, does not include the movement parts such as four-door two-lid.After coating
White body adds interior exterior trim (including instrument board, seat, windshield, carpet, trim guard etc.) and electronic apparatus system (sound
Sound, harness, switch etc.), add chassis system (including braking, suspension system etc.), along with power assembly system (including send out
Motivation, gearbox etc.) just constitute vehicle.Therefore the production of white body is important component in automobile production.
White body is assembled by numerous body parts, and when production needs to grab out these body parts from raw material station
Come, is then sent on other stations such as welding post and processes, ultimately form white body.Since white body production-line production capacity beat needs
It raises speed, multiple pick-and-place part will lead to body part, and there are dimensional discrepancys between piece uploading station and welding post, while manually welding
It connects station piece uploading and such as has dislocation and may cause welding quality unstable.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of productive temp is fast
Bulk cargo gripper equipment for white body production-line body part.
The purpose of the present invention can be achieved through the following technical solutions: a kind of dissipating for white body production-line body part
Expect that gripper equipment, the bulk cargo gripper equipment include the tooling platform for placing body part and dissipating above tooling platform
Expect that handgrip, the bulk cargo handgrip are equipped with multiple handgrip units, positioning unit be equipped between the bulk cargo handgrip and tooling platform,
Industrial connector is connected between each handgrip unit and tooling platform.Present invention eliminates original distributed piece uploading platforms, make
Tooling platform is consistent with positioning mounted welder basic fixed position structure snd size chain control, body part positions shape when artificial piece uploading
State is with being consistent property of relative position in 3D digital-to-analogue, and such bulk cargo handgrip crawl body part is toward more steady when positioning piece uploading in mounted welder
Fixed, productive temp is fast, and precision is higher；Meanwhile to be positioned between tooling platform and bulk cargo handgrip by positioning unit, it keeps away
Exempt from bulk cargo handgrip pick-and-place precision to place one's entire reliance upon robot repetitive positioning accuracy, to improve precision.
The handgrip unit includes six shaft mechanical arms and the cylinder for driving six shaft mechanical arms to move, six axis
The front end of mechanical arm is equipped with and the matched claw of body part.
The industrial connector is robot fast replacing device.Robot fast replacing device is by replacing robot automatically not
With end effector or peripheral equipment, keep the application of robot more flexible, tool fast replacing device can allow different media
Such as gas, electric signal, liquid, video, ultrasound etc. are communicated to end effector from robot arm.In the present invention, when certain
When one handgrip unit needs to run, by the corresponding fast replacing device of handgrip unit in conjunction with the fast replacing device on tooling platform,
So that the cylinder of the handgrip unit ventilates, is powered, the movement of six shaft mechanical arms can be driven.
The bulk cargo gripper equipment includes controller, and the controller is connected in handgrip unit by device people fast replacing device
Cylinder operation.After fast replacing device connection, cylinder is also realized with controller and is connected other than ventilating and being powered, so as to
To control the motion profile of handgrip unit by controller, so that crawl more automates.
Preferably, the controller is PLC controller.
The positioning unit includes the pin shaft being fixed on tooling platform and is arranged on bulk cargo handgrip and pin
The matched pin hole of axis.
Pin shaft on the tooling platform at least 2.
Compared with prior art, the beneficial effects of the present invention are embodied in following several respects:
(1) feeding precision is high: eliminating the dimensional discrepancy that may cause when artificial piece uploading, high-precision operation is protected as far as possible
Card automation；
(2) promote welding quality: multiple positioning clamping apparatus work can promote the quality of vehicle body tack weld and then improve vehicle
The body quality of production；
(3) it promotes production line beat: being manually as far as possible piece uploading operation, elongated the work that production line improves robot welding
Skill amount improves linear speed in turn；
(4) economy: various parts, which are made into standard component, can reduce processing cost, and structure can simply reduce debugging and peace
Dress up this.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Wherein, 1 is tooling platform, and 2 be bulk cargo handgrip, and 21 be handgrip unit, and 3 be body part, and 4 be fast replacing device, and 5 be fixed
Bit location.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
Embodiment 1
A kind of 2 device of bulk cargo handgrip for white body production-line body part 3, structure is as shown in Figure 1, include for putting
The tooling platform 1 of body part 3 and the bulk cargo handgrip 2 above tooling platform 1 are set, bulk cargo handgrip 2 is equipped with multiple handgrips
Unit 21 is equipped with positioning unit 5, connects between each handgrip unit 21 and tooling platform 1 between bulk cargo handgrip 2 and tooling platform 1
There is fast replacing device 4.
Wherein, handgrip unit 21 includes six shaft mechanical arms and the cylinder for driving six shaft mechanical arms to move, six axis machines
The front end of tool arm is equipped with and the matched claw of body part 3.2 device of bulk cargo handgrip includes controller, and controller passes through device people quick change
Device 4 connects the operation of the cylinder in handgrip unit 21.When fast replacing device 4 connect after, cylinder in addition to ventilate be powered other than, also with
Controller realizes connection, so as to control the motion profile of handgrip unit 21 by controller, so that crawl more automates.
Positioning unit 5 includes 2 pin shafts being fixed on tooling platform 1 and is arranged on bulk cargo handgrip 2 and 2
Matched 2 pin holes of pin shaft.
Present apparatus workflow is summarized as follows: when measuring phases, the positioning unit 5 on tooling platform 1 and bulk cargo handgrip 2 is equal
Adjustment is measured according to vehicle body coordinate system, guarantees the cooperation precision of tooling platform 1 and bulk cargo handgrip 2；When work, bulk cargo handgrip
2 on tooling platform 1 after pickup toward putting part in positioning mounted welder to good positioning pin and support, binding clasp locating clip on welding tooling
It is next, claw, which is determined, on bulk cargo handgrip 2 is open and disengaged from；Welding robot is subjected to, because of positioning after reduction automobile body welding
Possible dimensional discrepancy caused by mounted welder clamping point is on the low side.
Claims (7)
1. a kind of bulk cargo gripper equipment for white body production-line body part, which is characterized in that the bulk cargo gripper equipment includes
Bulk cargo handgrip (2) for placing the tooling platform (1) of body part (3) and being located above tooling platform (1), the bulk cargo are grabbed
Hand (2) is equipped with multiple handgrip units (21), is equipped with positioning unit (5) between the bulk cargo handgrip (2) and tooling platform (1),
Industrial connector (4) are connected between each handgrip unit (21) and tooling platform (1).
2. a kind of bulk cargo gripper equipment for white body production-line body part according to claim 1, which is characterized in that
The handgrip unit (21) includes six shaft mechanical arms and the cylinder for driving six shaft mechanical arms to move, six shaft mechanical
The front end of arm is equipped with and the matched claw of body part.
3. a kind of bulk cargo gripper equipment for white body production-line body part according to claim 2, which is characterized in that
The industrial connector (4) is robot fast replacing device.
4. a kind of bulk cargo gripper equipment for white body production-line body part according to claim 3, which is characterized in that
The bulk cargo gripper equipment includes controller, and the controller passes through the gas in device people fast replacing device connection handgrip unit (21)
The operation of cylinder.
5. a kind of bulk cargo gripper equipment for white body production-line body part according to claim 4, which is characterized in that
The controller is PLC controller.
6. a kind of bulk cargo gripper equipment for white body production-line body part according to claim 1, which is characterized in that
The positioning unit (5) includes being fixed at the pin shaft on tooling platform (1) and being arranged on bulk cargo handgrip (2) and pin
The matched pin hole of axis.
7. a kind of bulk cargo gripper equipment for white body production-line body part according to claim 6, which is characterized in that
Pin shaft on the tooling platform (1) at least 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811208667.5A CN109014689A (en) | 2018-10-17 | 2018-10-17 | A kind of bulk cargo gripper equipment for white body production-line body part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811208667.5A CN109014689A (en) | 2018-10-17 | 2018-10-17 | A kind of bulk cargo gripper equipment for white body production-line body part |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109014689A true CN109014689A (en) | 2018-12-18 |
Family
ID=64613210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811208667.5A Pending CN109014689A (en) | 2018-10-17 | 2018-10-17 | A kind of bulk cargo gripper equipment for white body production-line body part |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109014689A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203125529U (en) * | 2012-12-31 | 2013-08-14 | 济南吉利汽车有限公司 | Robot hand grab on cabin upper beam |
| CN104858580A (en) * | 2015-06-02 | 2015-08-26 | 广州瑞松北斗汽车装备有限公司 | Multi-vehicle type plugged platform |
| CN204711427U (en) * | 2015-05-14 | 2015-10-21 | 上海德梅柯汽车装备制造有限公司 | A kind of body in white open type flexible always spells welding equipment |
| DE102014112786A1 (en) * | 2014-09-05 | 2016-03-10 | Baier Engineering Gmbh | Gripper arrangement, in particular for an industrial robot |
| CN207840550U (en) * | 2018-02-08 | 2018-09-11 | 北京汽车研究总院有限公司 | A kind of side wall assembly handgrip |
| CN108638101A (en) * | 2018-05-15 | 2018-10-12 | 郑州万达科技发展有限公司 | A kind of carrying handgrip for chassis fore sub frame |
| CN209078086U (en) * | 2018-10-17 | 2019-07-09 | 博飞特（上海）汽车设备自动化有限公司 | A kind of bulk cargo gripper equipment for white body production-line body part |
-
2018
- 2018-10-17 CN CN201811208667.5A patent/CN109014689A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203125529U (en) * | 2012-12-31 | 2013-08-14 | 济南吉利汽车有限公司 | Robot hand grab on cabin upper beam |
| DE102014112786A1 (en) * | 2014-09-05 | 2016-03-10 | Baier Engineering Gmbh | Gripper arrangement, in particular for an industrial robot |
| CN204711427U (en) * | 2015-05-14 | 2015-10-21 | 上海德梅柯汽车装备制造有限公司 | A kind of body in white open type flexible always spells welding equipment |
| CN104858580A (en) * | 2015-06-02 | 2015-08-26 | 广州瑞松北斗汽车装备有限公司 | Multi-vehicle type plugged platform |
| CN207840550U (en) * | 2018-02-08 | 2018-09-11 | 北京汽车研究总院有限公司 | A kind of side wall assembly handgrip |
| CN108638101A (en) * | 2018-05-15 | 2018-10-12 | 郑州万达科技发展有限公司 | A kind of carrying handgrip for chassis fore sub frame |
| CN209078086U (en) * | 2018-10-17 | 2019-07-09 | 博飞特（上海）汽车设备自动化有限公司 | A kind of bulk cargo gripper equipment for white body production-line body part |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9031696B2 (en) | Robot system and processed object manufacturing method | |
| CN107571246B (en) | Part assembling system and method based on double-arm robot | |
| CN108161889B (en) | Industrial robot based on AGV | |
| US20110185556A1 (en) | Robot system, robot, and method of manufacturing product | |
| EP2511055B1 (en) | Robot system and method for operating robot system | |
| US10589420B2 (en) | Hand device | |
| WO2008002749A2 (en) | Assembly line vehicle body positioning | |
| KR101558676B1 (en) | Respot Jig | |
| CN109277708A (en) | The projection welding and spot welding of automobile body sheet metal part integrate robot welding system and method | |
| CN209078086U (en) | A kind of bulk cargo gripper equipment for white body production-line body part | |
| WO2015097102A1 (en) | Method for automated assembly at an assembly station, and associated automated assembly station | |
| JP4691118B2 (en) | Working apparatus and method | |
| CN109014689A (en) | A kind of bulk cargo gripper equipment for white body production-line body part | |
| EP2851163B1 (en) | Welding robot comprising a welding wire feeder placed on the forearm | |
| US20230103159A1 (en) | A High-Precision Mobile Robot Management and Scheduling System | |
| JP3518584B2 (en) | Production system | |
| CN110977262A (en) | Flexible cabin automatic welding line and welding method thereof | |
| JPH03292276A (en) | Molded ceiling mounting device for automobile | |
| CN215709916U (en) | Material posture adjustment equipment and adjustment system | |
| WO1992008582A1 (en) | Industrial robot provided with means for mounting work piece onto machine tool and removing work piece therefrom | |
| Chen et al. | Robotic wheel loading process in automotive manufacturing automation | |
| CN111843483A (en) | Automatic feeding and discharging equipment of boiler for steam ironing machine | |
| EP2463183B1 (en) | Workpiece positioning device and production system using it | |
| CN107414471B (en) | A kind of installation of screw and hole location precision positioning method | |
| CN215100567U (en) | Automatic unloading robot of die casting machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |