CN110723530A - Car body in white assembly robot snatchs equipment - Google Patents
Car body in white assembly robot snatchs equipment Download PDFInfo
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- CN110723530A CN110723530A CN201910924446.6A CN201910924446A CN110723530A CN 110723530 A CN110723530 A CN 110723530A CN 201910924446 A CN201910924446 A CN 201910924446A CN 110723530 A CN110723530 A CN 110723530A
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- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 238000003825 pressing Methods 0.000 claims abstract description 38
- 230000007704 transition Effects 0.000 claims abstract description 15
- 238000007667 floating Methods 0.000 claims abstract description 14
- 230000005389 magnetism Effects 0.000 claims abstract description 9
- 238000003754 machining Methods 0.000 description 15
- 238000012946 outsourcing Methods 0.000 description 14
- 238000004519 manufacturing process Methods 0.000 description 10
- 229910000831 Steel Inorganic materials 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 230000009471 action Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 238000003466 welding Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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Abstract
The invention relates to a robot grabbing device for a body-in-white assembly of an automobile. The fixed supporting mechanism comprises a gripper frame, a transition flange, a valve island module, a supporting block, a proximity switch support A and a proximity switch A. The swing arm supporting mechanism comprises a swing arm, a pin shaft A, a fixing gasket, a stop pad, a fixing nut, a shaft sleeve A, a supporting block, a proximity switch support B, a proximity switch B, a standard cylinder, a cylinder trunnion, a Y-shaped joint, a dead gear, a proximity switch support C and a proximity switch C. The clamping mechanism comprises a supporting seat, a clamping cylinder with magnetism, a split pin, a pin shaft B, a flat pad, a shaft sleeve B, a pressing arm, a gasket, a pressing block A and a pressing block B. The positioning mechanism comprises a positioning support, a cylinder, a floating joint, a baffle, a guide seat, a shaft sleeve C, a guide rod and a positioning pin. The equipment has the advantages of simple and practical structure, stable and reliable performance, small occupied space and high working efficiency.
Description
Technical Field
The invention relates to automobile production equipment, in particular to automobile body-in-white assembly robot grabbing equipment.
Background
At present, the main automobile production enterprises at home and abroad often adopt large-scale upper computer equipment for grabbing at the offline position of an automobile body-in-white assembly, so that the occupied space is large, the stability is poor, the grabbing efficiency is low, and the cost is quite high.
Therefore, the robot grabbing equipment for the automobile body-in-white assembly is low in cost, high in applicability, reasonable in design, convenient to operate and high in safety, and becomes one of the problems to be solved urgently by technical personnel in the field.
Disclosure of Invention
The invention aims to overcome the defects and provide the robot grabbing equipment for the automobile body-in-white assembly, which has the advantages of low cost, strong applicability, reasonable design, convenience in operation, high safety and high production efficiency.
In order to achieve the purpose, the invention adopts the technical scheme that: a robot grabbing device for an automobile body-in-white assembly is characterized in that the device is formed by connecting a fixed supporting mechanism, a swing arm supporting mechanism, a clamping mechanism and a positioning mechanism; the fixed supporting mechanism is combined with the swing arm supporting mechanism, the clamping mechanism and the positioning mechanism through bolts, pin holes and pin shafts, and the swing arm supporting mechanism, the clamping mechanism and the positioning mechanism are arranged on a gripper frame arranged on the fixed supporting mechanism;
the fixed supporting mechanism comprises a gripper frame, a transition flange, a valve island module, a supporting block, a proximity switch bracket A and a proximity switch A; the gripper frame is connected with each part of the fixed supporting mechanism through the combination of a bolt and a pin hole; the transition flange is combined with the pin hole through a bolt and is arranged at the connecting end of the gripper frame and the robot; the valve island module is arranged on the right side face of the frame in front of the transition flange through a bolt; the supporting block is arranged at the top end of the supporting part at the lower part of the gripper frame through a bolt; the proximity switch bracket A is arranged on the right side surface of the lower supporting part of the gripper frame through a bolt; the proximity switch A is mounted on the proximity switch bracket A through a bolt;
the swing arm supporting mechanism comprises a swing arm, a pin shaft A, a fixed gasket, a stop pad, a fixed nut, a shaft sleeve A, a supporting block, a proximity switch bracket B, a proximity switch B, a standard cylinder, a cylinder trunnion, a Y-shaped joint, a dead gear, a proximity switch bracket C and a proximity switch C; the swing arm is connected with the gripper frame through a bolt and a pin shaft A; the pin shaft A is arranged on the gripper frame and the swing arm through a rotating hole; the fixed gasket is arranged between the gripper frame and the stop pad; the stop pad is arranged between the fixed gasket and the fixed nut; the fixing nut is arranged on the outer side of the stop pad; the outer ring of the shaft sleeve A is arranged at two ends of the rotary hole in a clearance fit manner; the support block is arranged on the swing arm through a bolt; the proximity switch bracket B is arranged on the swing arm through a bolt; the proximity switch B is mounted on the proximity switch bracket B through a bolt, and the standard cylinder is mounted on a cylinder trunnion through a pin shaft; the cylinder trunnion is arranged on the gripper frame through a bolt; the Y-shaped joint is connected with the swing arm through a pin shaft A; the dead gear is arranged on the swing arm through a bolt; the proximity switch bracket C is mounted on the gripper frame through a bolt; the proximity switch C is mounted on the proximity switch bracket C through a bolt;
the clamping mechanism comprises a supporting seat, a clamping cylinder with magnetism, a split pin, a pin shaft B, a flat pad, a shaft sleeve B, a pressing arm, a gasket, a pressing block A and a pressing block B; the supporting seat is combined with the pin hole through a bolt and is arranged on the gripper frame; the clamping cylinder with the magnetism is arranged on the supporting seat through a pin shaft B; the cotter pin is arranged on the pin shaft B; the pin shaft B is arranged on the supporting seat through a rotating hole; the flat pad is arranged on the pin B; the outer ring of the shaft sleeve B is arranged in the rotating hole in a clearance fit manner; the pressure arm is correspondingly arranged on the supporting seat through a pin shaft B; the gasket is arranged between the pressing arm and the pressing block; the pressing block A and the pressing block B are respectively arranged on the pressing arm through bolts;
the positioning mechanism comprises a positioning bracket, a cylinder, a floating joint, a baffle plate, a guide seat, a shaft sleeve C, a guide rod and a positioning pin; the positioning support is combined with the pin hole through a bolt and is arranged on the gripper frame; the cylinder is arranged on the positioning bracket through a bolt; the floating joint is arranged between the guide rod and the cylinder; the baffle plate is arranged on the guide seat through a bolt; the guide seat is combined with the pin hole through a bolt and is arranged on the positioning bracket; the outer ring of the shaft sleeve C is arranged on the guide seat in a clearance fit manner; the guide rod is connected with the floating joint through a guide hole of the guide seat.
The positioning pin is installed on the end of the guide rod through a bolt.
The valve terminal module adopts the following model: SMC EX600-VQC 4000.
The invention has the beneficial effects that: as the equipment is the robot grabbing equipment for the automobile body-in-white assembly, the grabbing efficiency is high, the stability is strong, and the occupied space is small. The robot grabbing equipment for the automobile body-in-white assembly fills the blank of related technologies at home and abroad; its structural design is reasonable, and manufacturing is simple, and the installation is simple and easy moreover, and hoist and mount are convenient, and it is little to occupy enterprise production space simultaneously, greatly reduced automobile manufacturer's manufacturing cost, effectively improved the utilization ratio of equipment, ensured the coming to the market in advance of producing new motorcycle type.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic side view of the overall structure of the present invention;
FIG. 3 is a schematic top view of the overall structure of the present invention;
FIG. 4 is a schematic cross-sectional view taken along line A-A of FIG. 2;
FIG. 5 is a schematic cross-sectional view taken along line B-B of FIG. 2;
FIG. 6 is a schematic cross-sectional view taken along line C-C in FIG. 2;
in the figure:
the fixed supporting mechanism:
1-1 gripper frame, 1-2 transition flange, 1-3 valve island module, 1-4 support block, 1-5 proximity switch bracket A, 1-6 proximity switch A;
swing arm supporting mechanism:
2-1 swing arm, 2-2 pin shaft A, 2-3 fixed gasket, 2-4 stop pad, 2-5 fixed nut, 2-6 shaft sleeve A, 2-7 support block, 2-8 proximity switch bracket B, 2-9 proximity switch B, 2-10 standard cylinder, 2-11 cylinder trunnion, 2-12Y type joint, 2-13 dead gear, 2-14 proximity switch bracket C and 2-15 proximity switch C;
a clamping mechanism:
3-1 supporting seat, 3-2 clamping cylinder with magnetism, 3-3 split pin, 3-4 pin shaft B, 3-5 flat pad, 3-6 shaft sleeve B, 3-7 pressing arm, 3-8 gasket, 3-9 pressing block A, and 3-10 pressing block B;
a positioning mechanism:
4-1 positioning support, 4-2 air cylinders, 4-3 floating joints, 4-4 baffle plates, 4-5 guide seats, 4-6 shaft sleeves C, 4-7 guide rods and 4-8 positioning pins.
Detailed Description
The following detailed description of specific embodiments, structures and features provided in accordance with the present invention can be read in conjunction with the accompanying drawings and the preferred embodiments as follows:
as shown in fig. 1-6, a robot grabbing device for a body-in-white assembly of an automobile is formed by connecting a fixed supporting mechanism, a swing arm supporting mechanism, a clamping mechanism and a positioning mechanism; the fixed supporting mechanism is used for installing the swing arm supporting mechanism, the clamping mechanism and the positioning mechanism on a gripper frame arranged on the fixed supporting mechanism in a mode of combining bolts, pin holes and pin shafts.
The fixed supporting mechanism comprises a hand grip frame 1-1, a transition flange 1-2, a valve island module 1-3, a support block 1-4, a proximity switch support A1-5 and a proximity switch A1-6. The gripper frame 1-1 is connected with other parts of the fixed supporting mechanism through the combination of bolts and pin holes; the transition flange 1-2 is combined with the pin hole through a bolt and is arranged at the connecting end of the gripper frame 1-1 and the robot; the valve island module 1-3 is arranged on the right side face of the frame in front of the transition flange 1-2 through bolts; the supporting block 1-4 is arranged at the top end of the supporting part at the lower part of the gripper frame 1-1 through a bolt; the proximity switch bracket A1-5 is installed on the right side surface of the lower supporting part of the gripper frame 1-1 through a bolt; the proximity switch A1-6 is mounted on the proximity switch bracket A1-5 through bolts.
The arrangement and the action characteristics of each part in the mechanism are as follows:
1-1 gripper frame: the frame is formed by welding steel plates, is made of Q235A, and is connected with other parts of the fixed supporting mechanism through the combination of bolts and pin holes.
1-2 transition flange: and a machining workpiece made of Q235A is arranged at the connecting end of the gripper frame 1-1 and the robot through the combination of a bolt and a pin hole.
1-3 valve island module: outsourcing spare, brand model: SMC EX600-VQC4000, install in the frame right side in front of transition flange 1-2 through the bolt. The magnetic clamping device is used for controlling the clamping actions of the standard air cylinder 2-10, the magnetic clamping air cylinder 3-2 and the air cylinder 4-2 by receiving feedback signals of the proximity switches 1-6 and the proximity switches 2-9.
1-4 support block: and machining a workpiece, wherein the workpiece is made of 45# steel and is arranged at the top end of the lower supporting part of the gripper frame 1-1 through bolts.
1-5 proximity switch bracket a: and a machined workpiece made of Q235A is mounted on the right side surface of the lower supporting part of the gripper frame 1-1 through bolts.
1-6 proximity switch A: a commercially available unit, brand OMRON E2A-M30KS15-M1-F1, was bolted to proximity switch bracket A1-5. The function of the system is that negative 24V voltage is output to the valve island module 1-3 by sensing a white automobile body workpiece, and the valve island module 1-3 transmits a signal to the robot so that the robot performs the next action.
The swing arm supporting mechanism comprises a swing arm 2-1, a pin shaft A2-2, a fixed gasket 2-3, a stop pad 2-4, a fixed nut 2-5, a shaft sleeve A2-6, a supporting block 2-7, a proximity switch bracket B2-8, a proximity switch B2-9, a standard cylinder 2-10, a cylinder trunnion 2-11, a Y-shaped joint 2-12, a dead gear 2-13, a proximity switch bracket C2-14 and a proximity switch C2-15. The swing arm 2-1 is connected with the gripper frame 1-1 through a bolt and a pin shaft A2-2; the pin shaft A2-2 is arranged on the gripper frame 1-1 and the swing arm 2-1 through a rotating hole; the fixed gasket 2-3 is arranged between the gripper frame 1-1 and the stop pad 2-4; the stop pad 2-4 is arranged between the fixed gasket 2-3 and the fixed nut 2-5; the fixing nut 2-5 is arranged on the outer side of the stop pad 2-4; the shaft sleeve A2-6 is arranged at the two ends of the rotating hole in a clearance fit mode; the support block 2-7 is arranged on the swing arm 2-1 through a bolt; the proximity switch bracket B2-8 is mounted on the swing arm 2-1 through a bolt; the proximity switch B2-9 is mounted on a proximity switch bracket B2-8 through a bolt; the standard air cylinder 2-10 is arranged on an air cylinder trunnion 2-11 through a pin shaft; the cylinder trunnion 2-11 is arranged on the gripper frame 1-1 through a bolt; the Y-shaped joint 2-12 is connected with the swing arm 2-1 through a pin shaft A2-2; the dead gear 2-13 is arranged on the swing arm 2-1 through a bolt; the proximity switch bracket C2-14 is installed on the gripper frame 1-1 through bolts; the proximity switch C2-15 is mounted on the proximity switch bracket C2-14 by bolts.
The arrangement and the action characteristics of each part in the mechanism are as follows:
2-1 swing arm: the welding piece is made of Q235A and is connected with the hand grab frame 1-1 through bolts and pin shafts.
2-2, pin shaft A: the machining workpiece is made of 45# steel and is arranged on the gripper frame 1-1 and the swing arm 2-1 through rotating holes.
2-3 fixing the gasket: a machined workpiece, material Q235A, is mounted between the gripper frame 1-1 and the stop pad 2-4.
2-4 stop pad: and a machined workpiece made of Q235A and arranged between the fixed gasket 2-3 and the fixed nut 2-5.
2-5, fixing the nut: outsourcing spare, model: M30X1.5, mounted on the outside of the stop pads 2-4.
2-6 shaft sleeve A: outsourcing spare, brand model: the Jiashan JFB 50X40X40 is arranged at two ends of the rotating hole in a clearance fit mode.
2-7, a supporting block: and a machining workpiece is made of 45# steel and is arranged on the swing arm 2-1 through a bolt.
2-8 proximity switch bracket B: and a machined workpiece made of Q235A is mounted on the swing arm 2-1 through a bolt.
2-9 proximity switch B: outsourcing spare, brand model: OMRON E2A-M30KS15-M1-F1 was bolted to proximity switch bracket B2-8.
2-10 standard cylinders: outsourcing spare, brand model: the SMC MDBT 63-125 is arranged on a cylinder trunnion 2-11 through a pin shaft.
2-11 cylinder trunnion: for machining, the material is Q235A, and is mounted on the gripper frame 1-1 by bolts.
2-12Y-type linker: outsourcing spare, model: GRP-CYH18-SMC is connected with the swing arm 2-1 through a pin shaft.
2-13 dead gear: and a machining workpiece is made of 45# steel and is arranged on the swing arm 2-1 through a bolt.
2-14 proximity switch bracket C: and machining a workpiece, wherein the material is Q235A, and the workpiece is installed on the gripper frame 1-1 through bolts.
2-15 proximity switch C: outsourcing spare, model: OMRON E2A-M18KS08-M1-F1 was bolted to proximity switch bracket C2-14.
The clamping mechanism comprises a supporting seat 3-1, a clamping cylinder with magnetism 3-2, a split pin 3-3, a pin shaft B3-4, a flat pad 3-5, a shaft sleeve B3-6, a pressing arm 3-7, a gasket 3-8, a pressing block A3-9 and a pressing block B3-10. The supporting seat 3-1 is combined with the pin hole through a bolt and is arranged on the gripper frame 1-1; the clamping cylinder 3-2 with the magnetism is arranged on the supporting seat 3-1 through a pin shaft; the cotter pin 3-3 is arranged on a pin shaft B3-4; the pin shaft B3-4 is arranged on the supporting seat 3-1 through a rotating hole; the flat pad 3-5 is arranged on a pin B3-4; the shaft sleeve B3-6 is arranged in the rotating hole in a clearance fit manner; the pressure arm 3-7 is arranged on the supporting seat 3-1 through a pin shaft; the gasket 3-8 is arranged between the pressing arm 3-7 and the pressing block A3-9; the pressing blocks A3-9 and the pressing blocks B3-10 are respectively arranged on the pressing arms 3-1 through bolts.
The arrangement and the action characteristics of each part in the mechanism are as follows:
3-1 supporting seat: and machining a workpiece made of Q235A, and mounting the workpiece on the gripper frame 1-1 through combination of bolts and pin holes.
3-2 with magnetic clamping cylinder: outsourcing spare, brand model: SMC CKG1A 63-100 YAZ is mounted on a support seat 3-1 through a pin shaft.
3-3 cotter pin: and the outsourcing part, brand GB, is arranged on the pin shaft 3-4.
3-4, pin B: the machined workpiece is made of Q235A and is mounted on the supporting seat 3-1 through a rotating hole.
3-5 flat cushion: and a machined workpiece made of Q235A and mounted on the pin shaft 3-4.
3-6 shaft sleeve B: outsourcing spare, brand model: the Jiashan SF-116X 14X16 is installed in the rotating hole in a clearance fit manner.
3-7, arm pressing: and a machining workpiece made of Q235A is arranged on the supporting seat 3-1 through a pin shaft.
3-8 spacer: cutting and blanking by adopting numerical control plasma, wherein the material is 60Si2Mn and is arranged between the pressing arm 3-7 and the pressing block 3-9.
3-9, pressing block A: and machining a workpiece, wherein the workpiece is made of 45# steel and is arranged on the pressure arm 3-1 through a bolt.
3-10, pressing into a block B: and machining a workpiece, wherein the workpiece is made of 45# steel and is arranged on the pressure arm 3-1 through a bolt.
The positioning mechanism comprises a positioning support 4-1, a cylinder 4-2, a floating joint 4-3, a baffle 4-4, a guide seat 4-5, a shaft sleeve C4-6, a guide rod 4-7 and a positioning pin 4-8. The positioning bracket 4-1 is combined with the pin hole through a bolt and is arranged on the gripper frame 1-1; the air cylinder 4-2 is mounted on the positioning bracket 4-1 through a bolt; the floating joint 4-3 is arranged between the guide rod 4-7 and the cylinder 4-2; the baffle 4-4 is arranged on the guide seat 4-5 through a bolt; the guide seat 4-5 is combined with the pin hole through a bolt and is arranged on the positioning bracket 4-1; the shaft sleeve C4-6 is arranged on the guide seat 4-5 in a clearance fit manner; the guide rod 4-7 is connected with the floating joint 4-3 through a guide hole; the positioning pins 4-8 are arranged at the ends of the guide rods 4-7 through bolts.
The arrangement and the action characteristics of each part in the mechanism are as follows:
4-1 positioning the bracket: and machining a workpiece made of Q235A, and mounting the workpiece on the gripper frame 1-1 through combination of bolts and pin holes.
4-2 cylinders: outsourcing spare, brand model: SMC MDBF40-75Z, is installed on the positioning bracket 4-1 through bolts.
4-3 floating joint: outsourcing spare, brand model: SMC JA40-14-150, installed between guide rod 4-7 and cylinder 4-2.
4-4 baffle: and machining a workpiece made of Q235A and mounted on the guide seat 4-5 through a bolt.
4-5 guide seat: and machining a workpiece made of Q235A, and mounting the workpiece on the positioning bracket 4-1 through combination of a bolt and a pin hole.
4-6 shaft sleeve C: outsourcing spare, brand model: and the Jiashan JFB-133X 25X30 is arranged on the guide seats 4-5 in a clearance fit mode.
4-7 guide rods: and machining a workpiece, wherein the material is 45# steel, and the workpiece is connected with the floating joint 4-3 through a guide hole.
4-8 positioning pins: outsourcing spare, brand model: MISUMI LP16.0-B40.0-G13 was bolted to the ends of guide rods 4-7.
The equipment is integrally connected: the fixed supporting mechanism, the swing arm supporting mechanism, the clamping mechanism and the positioning mechanism in the device are all connected through bolts/pins, pin holes are positioned, a dead gear is arranged, and a proximity switch is limited. The whole automobile body-in-white assembly robot grabbing equipment is controlled by the robot, so that the efficiency is high, the stability is strong, and the using effect is achieved.
The invention has the following working principle and main structural characteristics:
the fixed supporting mechanism: the gripper comprises a gripper frame, a transition flange, a valve island module, a support block, a proximity switch bracket and a proximity switch, wherein the gripper frame, the transition flange, the valve island module, the support block, the proximity switch bracket and the proximity switch are assembled in a symmetrical design mode of welding square pipes, and the support blocks are symmetrically arranged at two ends of the gripper frame; the structure is simple and the stability is strong.
Swing arm supporting mechanism: the swing arm, the pin shaft, the fixed gasket, the stop pad, the fixed nut, the shaft sleeve, the supporting block, the proximity switch bracket, the proximity switch, the standard cylinder, the cylinder trunnion, the Y-shaped joint, the dead gear, the proximity switch bracket and the proximity switch are connected by adopting a bolt connection and pin hole positioning mode; the structure is simple, and the space is effectively saved.
A clamping mechanism: the device is symmetrically designed, and is characterized in that a supporting seat, a clamping cylinder with magnetism, a cotter pin, a pin shaft, a flat gasket, a shaft sleeve, a pressing arm, a gasket, a pressing block A and a pressing block B are connected through a bolt and a pin hole; the structure is simple, and the occupied space is small.
A positioning mechanism: the positioning bracket, the air cylinder, the floating joint, the baffle plate, the guide seat, the shaft sleeve, the guide rod and the positioning pin are connected by adopting a bolt connection and pin hole positioning mode; the structure is simple and the stability is strong.
In a word, this equipment structural design is reasonable, and manufacturing is simple, and the installation is simple and easy, and stability is strong. The occupied production space of an enterprise is small, the production cost of an automobile manufacturer is greatly reduced, the utilization rate of equipment is effectively improved, and the advance marketing of producing new automobile models is guaranteed.
The process flow applied to the operation of various devices is as follows:
the robot grabbing equipment for the automobile body-in-white assembly achieves the using effect through robot control, and the working efficiency is extremely high; the equipment is convenient to process, manufacture, assemble, transport and install and is convenient to maintain.
The above detailed description of the automotive body in white assembly robotic grasping device with reference to the embodiments is illustrative and not limiting; thus, variations and modifications can be made without departing from the general inventive concept and, therefore, the scope of the present invention is to be determined.
Claims (3)
1. A robot grabbing device for an automobile body-in-white assembly is characterized in that the device is formed by connecting a fixed supporting mechanism, a swing arm supporting mechanism, a clamping mechanism and a positioning mechanism; the fixed supporting mechanism is combined with the swing arm supporting mechanism, the clamping mechanism and the positioning mechanism through bolts, pin holes and pin shafts, and the swing arm supporting mechanism, the clamping mechanism and the positioning mechanism are arranged on a gripper frame arranged on the fixed supporting mechanism;
the fixed supporting mechanism comprises a gripper frame, a transition flange, a valve island module, a supporting block, a proximity switch bracket A and a proximity switch A; the gripper frame is connected with each part of the fixed supporting mechanism through the combination of a bolt and a pin hole; the transition flange is combined with the pin hole through a bolt and is arranged at the connecting end of the gripper frame and the robot; the valve island module is arranged on the right side face of the frame in front of the transition flange through a bolt; the supporting block is arranged at the top end of the supporting part at the lower part of the gripper frame through a bolt; the proximity switch bracket A is arranged on the right side surface of the lower supporting part of the gripper frame through a bolt; the proximity switch A is mounted on the proximity switch bracket A through a bolt;
the swing arm supporting mechanism comprises a swing arm, a pin shaft A, a fixed gasket, a stop pad, a fixed nut, a shaft sleeve A, a supporting block, a proximity switch bracket B, a proximity switch B, a standard cylinder, a cylinder trunnion, a Y-shaped joint, a dead gear, a proximity switch bracket C and a proximity switch C; the swing arm is connected with the gripper frame through a bolt and a pin shaft A; the pin shaft A is arranged on the gripper frame and the swing arm through a rotating hole; the fixed gasket is arranged between the gripper frame and the stop pad; the stop pad is arranged between the fixed gasket and the fixed nut; the fixing nut is arranged on the outer side of the stop pad; the outer ring of the shaft sleeve A is arranged at two ends of the rotary hole in a clearance fit manner; the support block is arranged on the swing arm through a bolt; the proximity switch bracket B is arranged on the swing arm through a bolt; the proximity switch B is mounted on the proximity switch bracket B through a bolt, and the standard cylinder is mounted on a cylinder trunnion through a pin shaft; the cylinder trunnion is arranged on the gripper frame through a bolt; the Y-shaped joint is connected with the swing arm through a pin shaft A; the dead gear is arranged on the swing arm through a bolt; the proximity switch bracket C is mounted on the gripper frame through a bolt; the proximity switch C is mounted on the proximity switch bracket C through a bolt;
the clamping mechanism comprises a supporting seat, a clamping cylinder with magnetism, a split pin, a pin shaft B, a flat pad, a shaft sleeve B, a pressing arm, a gasket, a pressing block A and a pressing block B; the supporting seat is combined with the pin hole through a bolt and is arranged on the gripper frame; the clamping cylinder with the magnetism is arranged on the supporting seat through a pin shaft B; the cotter pin is arranged on the pin shaft B; the pin shaft B is arranged on the supporting seat through a rotating hole; the flat pad is arranged on the pin B; the outer ring of the shaft sleeve B is arranged in the rotating hole in a clearance fit manner; the pressure arm is correspondingly arranged on the supporting seat through a pin shaft B; the gasket is arranged between the pressing arm and the pressing block; the pressing block A and the pressing block B are respectively arranged on the pressing arm through bolts;
the positioning mechanism comprises a positioning bracket, a cylinder, a floating joint, a baffle plate, a guide seat, a shaft sleeve C, a guide rod and a positioning pin; the positioning support is combined with the pin hole through a bolt and is arranged on the gripper frame; the cylinder is arranged on the positioning bracket through a bolt; the floating joint is arranged between the guide rod and the cylinder; the baffle plate is arranged on the guide seat through a bolt; the guide seat is combined with the pin hole through a bolt and is arranged on the positioning bracket; the outer ring of the shaft sleeve C is arranged on the guide seat in a clearance fit manner; the guide rod is connected with the floating joint through a guide hole of the guide seat.
2. The robotic body in white assembly gripper apparatus of claim 1, wherein the positioning pin is mounted to the end of the guide rod by a bolt.
3. The automotive body-in-white assembly robotic gripper apparatus of claim 1, wherein the valve island module is of the type: SMC EX600-VQC 4000.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910924446.6A CN110723530B (en) | 2019-09-27 | 2019-09-27 | Robot grabbing equipment for automobile body-in-white assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910924446.6A CN110723530B (en) | 2019-09-27 | 2019-09-27 | Robot grabbing equipment for automobile body-in-white assembly |
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| Publication Number | Publication Date |
|---|---|
| CN110723530A true CN110723530A (en) | 2020-01-24 |
| CN110723530B CN110723530B (en) | 2024-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910924446.6A Active CN110723530B (en) | 2019-09-27 | 2019-09-27 | Robot grabbing equipment for automobile body-in-white assembly |
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| CN107175408A (en) * | 2017-07-04 | 2017-09-19 | 华工法利莱切焊系统工程有限公司 | White car body top cover welding equipment flexible grips and white car body top cover induction system |
| CN207957137U (en) * | 2018-02-02 | 2018-10-12 | 聊城大学 | A kind of robot palletizer |
| CN211254351U (en) * | 2019-09-27 | 2020-08-14 | 天津新玛特科技发展有限公司 | Car body in white assembly robot snatchs equipment |
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| CN105197578A (en) * | 2015-10-14 | 2015-12-30 | 江苏凯宫机械股份有限公司 | Novel bobbin gripping mechanism of sliver lap machine |
| CN105197524A (en) * | 2015-10-26 | 2015-12-30 | 天津市福臻机电工程有限公司 | Automatic vehicle positioning pin switching equipment in flexible welding line |
| CN106737810A (en) * | 2016-11-25 | 2017-05-31 | 拖（洛阳）汇德工装有限公司 | A kind of coring group core robot gripper |
| CN107175408A (en) * | 2017-07-04 | 2017-09-19 | 华工法利莱切焊系统工程有限公司 | White car body top cover welding equipment flexible grips and white car body top cover induction system |
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| CN211254351U (en) * | 2019-09-27 | 2020-08-14 | 天津新玛特科技发展有限公司 | Car body in white assembly robot snatchs equipment |
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|---|---|
| CN110723530B (en) | 2024-04-26 |
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