CN110142788A - A kind of grabbing device of automobile door cover inner panel - Google Patents
A kind of grabbing device of automobile door cover inner panel Download PDFInfo
- Publication number
- CN110142788A CN110142788A CN201810140658.0A CN201810140658A CN110142788A CN 110142788 A CN110142788 A CN 110142788A CN 201810140658 A CN201810140658 A CN 201810140658A CN 110142788 A CN110142788 A CN 110142788A
- Authority
- CN
- China
- Prior art keywords
- inner panel
- positioning
- clamping
- removably fixed
- main body
- 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
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 238000012360 testing method Methods 0.000 claims description 8
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The present invention discloses a kind of grabbing device of automobile door cover inner panel, including attachment base, main body rack, detection device, control device, at least two clamping devices and at least two positioning devices, attachment base can release formula with robot and connect, main body rack is removably fixed in attachment base front side portion and rear lower, positioning device is removably fixed in positioned at the left and right ends lower part of the main body rack of attachment base front side portion, positioning device can release formula with inner panel pin hole and connect, clamping device is removably fixed in positioned at the main body rack lower part of attachment base rear lower, clamping device and hole in piece part can release formula and clamp connection, detection device is removably fixed in the outside of positioning device and clamping device, control device respectively with clamping device, positioning device is connected with detection device.A kind of grabbing device of automobile door cover inner panel of the invention, structure is simple, light and handy, can reduce robot operating range, is conducive to multi-vehicle-type handgrip and arranges there is wide applicability and generalization.
Description
Technical field
The present invention relates to automobile door cover inner panel handgrip technical field, the crawl more particularly to a kind of automobile door cover inner panel is filled
It sets.
Background technique
In car door production area, in order to meet the needs of automated production, door closure inner panel needs to use machine by handgrip
People carries or robot grabs inner panel and carries out automatic glue application.In existing technology, inner panel handgrip uses the foundation structure of eight-corner tube
It is designed splicing.It is able to satisfy general production requirement, but is had the following problems in use.Occupied space is big, robot
Actuating range becomes larger；Structure is complicated；The parking space that ground is occupied when switching handgrip is big.
Summary of the invention
The present invention is completed to solve in the prior art insufficient, and the object of the present invention is to provide a kind of car doors
The grabbing device of lid inner panel, structure is simple, light and handy and occupied area is small, can reduce robot operating range, be conducive to more vehicles
Type handgrip arrangement, has wide applicability and generalization.
A kind of grabbing device of automobile door cover inner panel of the invention, including attachment base, main body rack, detection device, control
Device, at least two clamping devices and at least two positioning devices, the attachment base can release formula with robot and connect, the master
Body support frame is removably fixed in the attachment base front side portion and rear lower, and the positioning device is removably fixed in positioned at the company
The left and right ends lower part of the main body rack of joint chair front side portion, the positioning device and the inner panel pin hole of door closure inner panel can release
Formula connection, the clamping device are removably fixed in positioned at the main body rack lower part of the attachment base rear lower, the folder
The hole in piece part of tight device and the door closure inner panel can release formula and clamp connection, and the detection device is removably fixed in the positioning
The outside of device and the clamping device, the control device respectively with the clamping device, detection device and the positioning
Device connection.
A kind of grabbing device of automobile door cover inner panel of the invention may also is that
The clamping device includes at least two clamping devices, and the clamping device is removably fixed in positioned at the connection
The hole in piece part of the main body rack lower part of seat rear lower, the clamping device and the door closure inner panel can release formula clamping
Connection, the control device are connect with the clamping device.
Clamping cylinder is equipped in front of the clamping device, the clamping cylinder is connect with clamping device formula able to turn on or off,
The clamping device is connect by the clamping cylinder with the control device.
The positioning device includes that at least two positioning are struck out, and the positioning, which is struck out, to be removably fixed in positioned at the connection
The left and right ends lower part of the main body rack of seat front side portion, the positioning are struck out and can release formula with the inner panel pin hole and connect,
The positioning is struck out to be connect with the control device.
The positioning, which is struck out rear portion and is equipped with, strikes out cylinder, and the cylinder of striking out is struck out formula able to turn on or off and connect with described position,
The positioning is struck out to be struck out cylinder and is connect with the control device by described.
The detection device includes piece test switch, and the piece test switch is removably fixed in the positioning device
With the outside portion of the clamping device.
The main body rack includes a cross bar being laterally arranged and two longitudinally disposed vertical poles, before two vertical poles
It is detachably fixed and connect in the middle part of end and the cross bar, the positioning device is removably fixed under the cross bar left and right ends
Portion, the clamping device are removably fixed in the vertical pole lower part.
At least two pieces of supporting blocks, the supporting block is equipped on the cross bar and the vertical pole lower surface to be removably fixed in
On the lower surface of the cross bar and the vertical pole.
At least two dowel holes are additionally provided on the main body rack, the dowel hole is removably fixed in the main body
On bracket, the dowel hole can release formula with rack and connect.
The attachment base longitudinal section shape is circle.
A kind of grabbing device of automobile door cover inner panel of the invention, including attachment base, main body rack, detection device, control
Device, at least two clamping devices and at least two positioning devices, the attachment base can release formula with robot and connect, the master
Body support frame is removably fixed in the attachment base front side portion and rear lower, and the positioning device is removably fixed in positioned at the company
The left and right ends lower part of the main body rack of joint chair front side portion, the positioning device and the inner panel pin hole of door closure inner panel can release
Formula connection, the clamping device are removably fixed in positioned at the main body rack lower part of the attachment base rear lower, the folder
The hole in piece part of tight device and the door closure inner panel can release formula and clamp connection, and the detection device is removably fixed in the positioning
The outside of device and the clamping device, the control device respectively with the clamping device, detection device and the positioning
Device connection.In this way, the grabbing device of door closure inner panel of the invention, by attachment base, main body rack, detection device, control device,
At least two clamping devices and at least two positioning devices composition, in use, robot and attachment base are attached, robot
When holding grabbing device crawl door closure inner panel, the inner panel pin hole of positioning device insertion door closure inner panel is simultaneously attached with door closure inner panel,
Then the hole in piece part of clamping device and door closure inner panel being attached again, detection device detects door closure inner panel within the specified scope,
Then control device control positioning device and clamping device are clamped operation to door closure inner panel, and then door closure inner panel is grabbed
It rises.It picks up after reaching designated position, control device controls the connection of positioning device release and the inner panel pin hole of door closure inner panel, simultaneously
Also control clamping device unclamps the connection with the hole in piece part of door closure inner panel, after so that door closure inner panel is placed on specified position, completes
Entire crawl work.A kind of grabbing device of automobile door cover inner panel of the invention, structure is simple, light and handy and occupied area is small,
Robot operating range can be reduced, is conducive to multi-vehicle-type handgrip and arranges that there is wide applicability and generalization.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the grabbing device of automobile door cover inner panel of the invention.
Fig. 2 is the inverse layer structure figure of Fig. 1.
Fig. 3 is a kind of main view of the grabbing device of automobile door cover inner panel of the invention.
Fig. 4 is a kind of top view of the grabbing device of automobile door cover inner panel of the invention.
Fig. 5 is a kind of left view of the grabbing device of automobile door cover inner panel of the invention.
Figure number explanation
1 ... attachment base 2 ... clamping device 3 ... clamping cylinder
4 ... positioning strike out 5 ..., and striking out cylinder 6 ..., piece test switchs
7 ... cross bar 8 ... vertical pole 9 ... supporting blocks
10 ... dowel holes
Specific embodiment
Fig. 1 to Fig. 5 with reference to the accompanying drawing makees a kind of grabbing device of automobile door cover inner panel of the invention further detailed
It describes in detail bright.
A kind of grabbing device of automobile door cover inner panel of the invention, please refers to Fig. 1-5, including attachment base 1, main body rack,
Detection device, control device, at least two clamping devices and at least two positioning devices, the attachment base 1 can be solved with robot
Except formula connects, the main body rack is removably fixed in 1 front side portion of attachment base and rear lower, the positioning device are detachable
The left and right ends lower part of the main body rack positioned at 1 front side portion of attachment base is fixed on, in the positioning device and door closure
The inner panel pin hole of plate can release formula connection, and the clamping device is removably fixed in positioned at described in 1 rear lower of attachment base
The hole in piece part of main body rack lower part, the clamping device and the door closure inner panel can release formula and clamp connection, the detection device
It is removably fixed in the outside of the positioning device and the clamping device, the control device is filled with the clamping respectively
It sets, the positioning device is connected with the detection device.In this way, the grabbing device of door closure inner panel of the invention, by attachment base 1,
Main body rack, detection device, control device, at least two clamping devices and at least two positioning devices composition, in use, by machine
Device people is attached with attachment base 1, and when grabbing device crawl door closure inner panel is held by robot, positioning device is inserted into the interior of door closure inner panel
Plate pin hole is simultaneously attached with door closure inner panel, is then again attached the hole in piece part of clamping device and door closure inner panel, detection dress
Set detection door closure inner panel within the specified scope, then control device control positioning device and clamping device press from both sides door closure inner panel
Tight operation, then door closure inner panel is picked up.It picks up after reaching designated position, control device controls positioning device release and door closure
The connection of the inner panel pin hole of inner panel, while also control clamping device unclamps the connection with the hole in piece part of door closure inner panel, makes in door closure
After plate is placed on specified position, entire crawl work is completed.A kind of grabbing device of automobile door cover inner panel of the invention, knot
Structure is simple, light and handy and occupied area is small, can reduce robot operating range, is conducive to multi-vehicle-type handgrip and arranges, has extensive
Practicability and generalization.
A kind of grabbing device of automobile door cover inner panel of the invention, please refers to Fig. 1-5, the technical solution described in front
On the basis of it may also is that the clamping device includes at least two clamping devices 2, the clamping device 2 is removably fixed in position
In the main body rack lower part of 1 rear lower of attachment base, the hole in piece part of the clamping device 2 and the door closure inner panel
Formula can be released and clamp connection, the control device is connect with the clamping device 2.Folder is clamped in this way, controlling by control device
The hole in piece part for having 2 pairs of door closure inner panels is clamped operation, thus keep grabbing device more firm when picking up door closure inner panel, it will not
Because clamping relaxation causes door closure inner panel to fall during picking up.Further preferred embodiment is: before the clamping device 2
Side is equipped with clamping cylinder 3, and the clamping cylinder 3 is connect with the clamping device 2 formula able to turn on or off, and the clamping device 2 passes through institute
Clamping cylinder 3 is stated to connect with the control device.In this way, the control that clamping device 2 is clamped and is unclamped by clamping cylinder 3
System operation, control device control the starting and closing of clamping cylinder 3, to make the preferably clamping door closure inner panel of clamping device 2.
A kind of grabbing device of automobile door cover inner panel of the invention, please refers to Fig. 1-5, the technical solution described in front
On the basis of it may also is that the positioning device includes that at least two positioning strike out 4, the positioning strikes out 4 and is removably fixed in position
In the left and right ends lower part of the main body rack of 1 front side portion of attachment base, the positioning strikes out 4 can with the inner panel pin hole
The connection of releasing formula, the positioning are struck out 4 and are connect with the control device.In this way, striking out 4 on the door by control device control positioning
The inner panel pin hole of lid inner panel position and clamp operation, so that it is more firm when picking up door closure inner panel so that positioning is struck out 4.Into
The preferred embodiment of one step is: the positioning, which is struck out 4 rear portions and is equipped with, strikes out cylinder 5, described to strike out cylinder 5 and the positioning strikes out 4
Formula able to turn on or off connection, the positioning strike out 4 and strike out cylinder 5 by described and connect with the control device.In this way, by striking out gas
The 4 control operations for being clamped and unclamping are struck out in 5 pairs of cylinder positioning, and 4 starting and closing is struck out in control device control positioning, thus
Positioning is set to strike out 4 better positioning and clamping door closure inner panels.It may also is that the detection device includes piece test switch 6, institute
State the outside portion that piece test switch 6 is removably fixed in the positioning device and the clamping device.In this way, when positioning is struck out
4 and clamping device 2 to door closure inner panel carry out locating clip it is next, piece test switch 6 detects door closure inner panel in the range of setting
It is interior, i.e., expression door closure in Board position it is effective, thus by control device to positioning strike out 4 and clamping device 2 to door closure inner panel into
Row clamps and picks up operation.
A kind of grabbing device of automobile door cover inner panel of the invention, please refers to Fig. 1-5, the technical solution described in front
On the basis of it may also is that the main body rack includes a cross bar 7 being laterally arranged and two longitudinally disposed vertical poles 8, two
It is detachably fixed and connect in the middle part of 8 front end of vertical pole and the cross bar 7, the positioning device is removably fixed in the cross bar
7 left and right ends lower part, the clamping device are removably fixed in 8 lower part of vertical pole.In this way, main body rack is by a cross bar 7
It is formed with two vertical poles 8, positioning device is mounted on 7 left and right ends lower part of cross bar, and clamping device is separately mounted under two vertical poles 8
Portion keeps positioning device corresponding with the hole in piece part of door closure inner panel and inner panel pin hole position with clamping device, to preferably clamp door
Lid inner panel.Further preferred embodiment is: at least two pieces of supporting blocks 9 are equipped on 8 lower surface of the cross bar 7 and the vertical pole,
The supporting block 9 is removably fixed on the lower surface of the cross bar 7 and the vertical pole 8.In this way, on cross bar 7 and vertical pole 8
Supporting block 9 is arranged to be supported grabbing device when supporting block 9 is placed on rack for grabbing device.It may also is that
At least two dowel holes 10 are additionally provided on the main body rack, the dowel hole 10 is removably fixed in the main body rack
On, the dowel hole 10 can release formula with rack and connect.In this way, dowel hole 10 is arranged on main body rack, work as crawl
When device leaves unused, when grabbing device is placed on rack, fixes dowel hole 10 preferably with rack, prevent from grabbing
Device the risks such as falls and occurs.It may also is that 1 longitudinal section shape of attachment base is circle.In this way, 1 section shape of attachment base
Shape is circle, can be very good to be attached with robot.
It is above-mentioned that only several specific embodiments in the present invention are illustrated, but can not be as protection model of the invention
Enclose, it is all according to the present invention in design spirit made by equivalent change or modification or equal proportion zoom in or out, should all
Think to fall into protection scope of the present invention.
Claims (10)
1. a kind of grabbing device of automobile door cover inner panel, it is characterised in that: including attachment base, main body rack, detection device, control
Device, at least two clamping devices and at least two positioning devices, the attachment base can release formula with robot and connect, the master
Body support frame is removably fixed in the attachment base front side portion and rear lower, and the positioning device is removably fixed in positioned at the company
The left and right ends lower part of the main body rack of joint chair front side portion, the positioning device and the inner panel pin hole of door closure inner panel can release
Formula connection, the clamping device are removably fixed in positioned at the main body rack lower part of the attachment base rear lower, the folder
The hole in piece part of tight device and the door closure inner panel can release formula and clamp connection, and the detection device is removably fixed in the positioning
The outside of device and the clamping device, the control device respectively with the clamping device, the positioning device and described
Detection device connection.
2. the grabbing device of automobile door cover inner panel according to claim 1, it is characterised in that: the clamping device includes extremely
Few two clamping devices, the clamping device are removably fixed under the main body rack of the attachment base rear lower
Portion, the hole in piece part of the clamping device and the door closure inner panel, which can release formula and clamp, to be connected, the control device with it is described
Clamping device connection.
3. the grabbing device of automobile door cover inner panel according to claim 2, it is characterised in that: set in front of the clamping device
There is clamping cylinder, the clamping cylinder is connect with clamping device formula able to turn on or off, and the clamping device passes through the clamping gas
Cylinder is connect with the control device.
4. the grabbing device of automobile door cover inner panel described in -3 any one claims according to claim 1, it is characterised in that:
The positioning device includes that at least two positioning are struck out, and the positioning, which is struck out, to be removably fixed in positioned at the attachment base front side portion
The main body rack left and right ends lower part, the positioning strikes out and can release formula with the inner panel pin hole and connect, the positioning
It strikes out and is connect with the control device.
5. the grabbing device of automobile door cover inner panel according to claim 4, it is characterised in that: the positioning is struck out rear portion and set
Strike out cylinder, it is described strike out cylinder and strike out formula able to turn on or off with the positioning connect, it is described position to strike out strikes out gas by described
Cylinder is connect with the control device.
6. the grabbing device of automobile door cover inner panel described in -3 any one claims according to claim 1, it is characterised in that:
The detection device includes piece test switch, and the piece test switch is removably fixed in the positioning device and the folder
The outside portion of tight device.
7. the grabbing device of automobile door cover inner panel described in -3 any one claims according to claim 1, it is characterised in that:
The main body rack includes a cross bar being laterally arranged and two longitudinally disposed vertical poles, two vertical pole front ends and institute
It states and is detachably fixed connection in the middle part of cross bar, the positioning device is removably fixed in cross bar left and right ends lower part, the folder
Tight device is removably fixed in the vertical pole lower part.
8. requiring the grabbing device of the automobile door cover inner panel according to claim 7, it is characterised in that: the cross bar and described
At least two pieces of supporting blocks, the supporting block is equipped on vertical pole lower surface to be removably fixed under the cross bar and the vertical pole
On surface.
9. the grabbing device of automobile door cover inner panel described in -3 any one claims according to claim 1, it is characterised in that:
At least two dowel holes are additionally provided on the main body rack, the dowel hole is removably fixed on the main body rack,
The dowel hole can release formula with rack and connect.
10. the grabbing device of automobile door cover inner panel described in -3 any one claims, feature exist according to claim 1
In: the attachment base longitudinal section shape is circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810140658.0A CN110142788A (en) | 2018-02-11 | 2018-02-11 | A kind of grabbing device of automobile door cover inner panel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810140658.0A CN110142788A (en) | 2018-02-11 | 2018-02-11 | A kind of grabbing device of automobile door cover inner panel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110142788A true CN110142788A (en) | 2019-08-20 |
Family
ID=67588791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810140658.0A Pending CN110142788A (en) | 2018-02-11 | 2018-02-11 | A kind of grabbing device of automobile door cover inner panel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110142788A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114538078A (en) * | 2022-03-18 | 2022-05-27 | 上汽通用五菱汽车股份有限公司 | Deformed gripper and positioning method |
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| WO2008068249A1 (en) * | 2006-12-04 | 2008-06-12 | Renault S.A.S. | Gripper for gripping sheet metal parts of different sizes and/or types |
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| CN106863298A (en) * | 2017-01-19 | 2017-06-20 | 昆山斯比得自动化设备有限公司 | A kind of automobile product pickup cleft hand |
| CN106956263A (en) * | 2017-04-28 | 2017-07-18 | 广州瑞松北斗汽车装备有限公司 | Automobile component vision guide handgrip |
| CN206590569U (en) * | 2017-02-28 | 2017-10-27 | 上海道多汽车设备有限公司 | A kind of auto production line two-sided handgrip of top cover buckling plate |
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2018
- 2018-02-11 CN CN201810140658.0A patent/CN110142788A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008068249A1 (en) * | 2006-12-04 | 2008-06-12 | Renault S.A.S. | Gripper for gripping sheet metal parts of different sizes and/or types |
| CN106113070A (en) * | 2016-07-28 | 2016-11-16 | 广州瑞松北斗汽车装备有限公司 | A kind of auto parts and components position special handgrip |
| CN106393120A (en) * | 2016-12-05 | 2017-02-15 | 沈阳高精数控智能技术股份有限公司 | Reconfigurable device of robot tail end executor |
| CN106863298A (en) * | 2017-01-19 | 2017-06-20 | 昆山斯比得自动化设备有限公司 | A kind of automobile product pickup cleft hand |
| CN206590569U (en) * | 2017-02-28 | 2017-10-27 | 上海道多汽车设备有限公司 | A kind of auto production line two-sided handgrip of top cover buckling plate |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114538078A (en) * | 2022-03-18 | 2022-05-27 | 上汽通用五菱汽车股份有限公司 | Deformed gripper and positioning method |
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