CN110723530B - Robot grabbing equipment for automobile body-in-white assembly - Google Patents
Robot grabbing equipment for automobile body-in-white assembly Download PDFInfo
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- CN110723530B CN110723530B CN201910924446.6A CN201910924446A CN110723530B CN 110723530 B CN110723530 B CN 110723530B CN 201910924446 A CN201910924446 A CN 201910924446A CN 110723530 B CN110723530 B CN 110723530B
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- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 238000003825 pressing Methods 0.000 claims abstract description 37
- 238000007667 floating Methods 0.000 claims abstract description 14
- 230000007704 transition Effects 0.000 claims abstract description 14
- 239000000463 material Substances 0.000 description 17
- 238000012946 outsourcing Methods 0.000 description 15
- 238000004519 manufacturing process Methods 0.000 description 10
- 229910000831 Steel Inorganic materials 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 238000013461 design Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 238000003754 machining Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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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
Abstract
The invention relates to a robot grabbing device for an automobile body-in-white assembly, which is formed by connecting a fixed supporting mechanism, a swing arm supporting mechanism, a clamping mechanism and a positioning 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 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 clamping mechanism comprises a supporting seat, a magnetic clamping cylinder, a cotter 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 bracket, an air cylinder, a floating joint, a baffle, a guide seat, a shaft sleeve C, a guide rod and a positioning pin. The device 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, main automobile production enterprises at home and abroad grab at the offline position of an automobile body-in-white assembly, large-sized upper computer equipment is often adopted, the occupied space is large, the stability is poor, the grabbing efficiency is low, and the cost is quite high.
Therefore, the robot grabbing device for the automobile body-in-white assembly, which has the advantages of low cost, strong applicability, reasonable design, convenient operation and high safety, is one of the problems to be solved by the technicians in the field.
Disclosure of Invention
The invention aims to overcome the defects and provide the grabbing equipment for the automobile body-in-white assembly robot, which has the advantages of low cost, strong applicability, reasonable design, convenience in operation, high safety and high production efficiency.
The technical scheme adopted by the invention for achieving the purpose is as follows: the grabbing equipment for the automobile body-in-white assembly robot is characterized by comprising a fixed supporting mechanism, a swing arm supporting mechanism, a clamping mechanism and a positioning mechanism which are connected; 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 through the combination of bolts, pin holes and pin shafts;
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 combined with the pin holes through bolts and connected with all parts of the fixed supporting mechanism; the transition flange is arranged at the connecting end of the handle frame and the robot through the combination of bolts and pin holes; the valve island module is arranged on the right side surface of the frame in front of the transition flange through bolts; the supporting blocks are arranged at the top end of the lower supporting part of the gripper frame through bolts; the proximity switch bracket A is arranged on the right side surface of the lower supporting part of the gripper frame through bolts; 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 the 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 fixed 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 rotating hole in a clearance fit manner; the supporting blocks are mounted on the swing arms through bolts; the proximity switch bracket B is mounted on the swing arm through a bolt; the proximity switch B is arranged on the proximity switch bracket B through a bolt, and the standard cylinder is arranged on a cylinder trunnion through a pin shaft; the cylinder trunnion is mounted on the gripper frame through bolts; the Y-shaped joint is connected with the swing arm through a pin shaft A; the dead stop is mounted on the swing arm through a bolt; the proximity switch bracket C is mounted on the gripper frame through bolts; the proximity switch C is mounted on the proximity switch bracket C through bolts;
The clamping mechanism comprises a supporting seat, a magnetic clamping cylinder, a cotter 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 magnetic clamping cylinder 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 shaft B; the outer ring of the shaft sleeve B is arranged in the rotating hole in a clearance fit manner; the pressing 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 blocks A and B are respectively arranged on the pressing arm through bolts;
The positioning mechanism comprises a positioning bracket, an air cylinder, a floating joint, a baffle, 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 air cylinder is arranged on the positioning bracket through a bolt; the floating joint is arranged between the guide rod and the air cylinder; the baffle is arranged on the guide seat through bolts; 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 locating pin is installed at the guide rod end through a bolt.
The valve island module adopts the model: SMC EX600-VQC4000.
The beneficial effects of the invention are as follows: the device is the grabbing device of the automobile body-in-white assembly robot, and has the advantages of high grabbing efficiency, strong stability and small occupied space. The robot grabbing equipment for the white automobile body assembly fills the blank of related technologies at home and abroad; the novel automobile type lifting device is reasonable in structural design, simple to process and manufacture, simple and easy to install, convenient to hoist, small in production space of an occupied enterprise, and capable of greatly reducing the production cost of automobile manufacturers, effectively improving the utilization rate of equipment, and guaranteeing the advanced marketing of new automobile types.
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 view of the cross-sectional structure taken along B-B in FIG. 2;
FIG. 6 is a schematic view of the cross-sectional structure taken along line C-C in FIG. 2;
in the figure:
and a fixed supporting mechanism:
1-1 of a handle frame, 1-2 of a transition flange, 1-3 of a valve island module, 1-4 of a supporting block, 1-5 of a proximity switch bracket A and 1-6 of a proximity switch A;
swing arm supporting mechanism:
2-1 swing arms, 2-2 pin shafts A,2-3 fixed gaskets, 2-4 stop pads, 2-5 fixed nuts, 2-6 shaft sleeves A,2-7 support blocks, 2-8 proximity switch brackets B,2-9 proximity switches B,2-10 standard cylinders, 2-11 cylinder trunnions, 2-12Y connectors, 2-13 dead gears, 2-14 proximity switch brackets C and 2-15 proximity switches C;
And a clamping mechanism:
3-1 supporting seats, 3-2 magnetic clamping cylinders, 3-3 cotter pins, 3-4 pin shafts B,3-5 flat gaskets, 3-6 shaft sleeves B,3-7 pressing arms, 3-8 gaskets, 3-9 pressing blocks A and 3-10 pressing blocks B;
positioning mechanism:
The device comprises a 4-1 positioning bracket, a 4-2 cylinder, a 4-3 floating joint, a 4-4 baffle, a 4-5 guide seat, a 4-6 shaft sleeve C, a 4-7 guide rod and a 4-8 positioning pin.
Detailed Description
The following detailed description, structures, and features provided in accordance with the present invention are provided in connection with the accompanying drawings and the preferred embodiments:
as shown in fig. 1-6, a robot gripping device for an automobile body-in-white assembly is formed by connecting a fixed supporting mechanism, a swing arm supporting mechanism, a clamping mechanism and a positioning mechanism; the swing arm supporting mechanism, the clamping mechanism and the positioning mechanism are arranged on the 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 gripper frame 1-1, a transition flange 1-2, a valve island module 1-3, a supporting block 1-4, a proximity switch bracket 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 arranged at the connecting end of the gripper frame 1-1 and the robot through the combination of bolts and pin holes; the valve island module 1-3 is arranged on the right side surface of the front frame of the transition flange 1-2 through bolts; the supporting blocks 1-4 are arranged at the top end of the lower supporting part of the handle frame 1-1 through bolts; the proximity switch bracket A1-5 is arranged on the right side surface of the lower supporting part of the handle frame 1-1 through bolts; the proximity switch A1-6 is mounted on the proximity switch bracket A1-5 through bolts.
The arrangement and function characteristics of each part in the mechanism are as follows:
1-1 gripper frame: the frame 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: the machining workpiece is made of Q235A, and is installed at the connecting end of the gripper frame 1-1 and the robot through the combination of bolts and pin holes.
1-3 Valve island module: outsourcing piece, brand model: SMC EX600-VQC4000 is mounted on the right side surface of the front frame of the transition flange 1-2 through bolts. The device is used for controlling clamping actions of the standard cylinder 2-10, the magnetic clamping cylinder 3-2 and the magnetic clamping cylinder 4-2 by receiving feedback signals of the proximity switch 1-6 and the proximity switch 2-9.
1-4 Supporting blocks: the machining work piece is made of 45# steel and is mounted on the top end of the lower supporting part of the gripper frame 1-1 through bolts.
1-5 Approach switch bracket a: the machined workpiece is made of Q235A and is mounted on the right side face of the lower supporting part of the gripper frame 1-1 through bolts.
1-6 Approach switch a: the outsourcing part is arranged on the proximity switch bracket A1-5 through bolts, and the brand model OMRON E2A-M30KS15-M1-F1 is arranged on the proximity switch bracket A1-5 through bolts. The valve island module 1-3 is used for transmitting signals to the robot to enable the robot to perform the next action by sensing the white car body workpiece and outputting negative 24V voltage to the valve island module 1-3.
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 bolts and the pin shafts 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 fixed nut 2-5 is arranged outside the stop pad 2-4; the shaft sleeves A2-6 are arranged at two ends of the rotating hole in a clearance fit manner; the supporting blocks 2-7 are arranged on the swing arms 2-1 through bolts; the proximity switch bracket B2-8 is arranged on the swing arm 2-1 through bolts; the proximity switch B2-9 is arranged on the proximity switch bracket B2-8 through bolts; the standard cylinder 2-10 is arranged on the cylinder trunnion 2-11 through a pin shaft; the cylinder trunnion 2-11 is mounted on the gripper frame 1-1 through bolts; 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 mounted on the swing arm 2-1 through bolts; the proximity switch bracket C2-14 is mounted on the handle frame 1-1 through bolts; the proximity switch C2-15 is mounted on the proximity switch bracket C2-14 through bolts.
The arrangement and function 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 gripper frame 1-1 through bolts and pin shafts.
2-2 Pin A: the workpiece is machined, the material is 45# steel, and the workpiece is arranged on the gripper frame 1-1 and the swing arm 2-1 through the rotating holes.
2-3 Fixing gasket: the workpiece is machined, material Q235A, and is mounted between the gripper frame 1-1 and the stop pad 2-4.
2-4 Stop pad: the workpiece is machined, the material of which is Q235A, and is arranged between the fixed gasket 2-3 and the fixed nut 2-5.
2-5 Fixing nut: outsourcing piece, model: M30X1.5 mounted outside the stop pad 2-4.
2-6 Shaft sleeve A: outsourcing piece, brand model: jiashan JFB 50X40 are mounted at both ends of the rotation hole in a clearance fit manner.
2-7 Supporting blocks: the workpiece is machined, the material is 45# steel, and the workpiece is mounted on the swing arm 2-1 through bolts.
2-8 Approach switch bracket B: the workpiece is machined, the material is Q235A, and the workpiece is mounted on the swing arm 2-1 through bolts.
2-9 Proximity switch B: outsourcing piece, brand model: OMRON E2A-M30KS15-M1-F1 is mounted on the proximity switch bracket B2-8 by bolts.
2-10 Standard cylinder: outsourcing piece, brand model: the SMC MDBT 63-125 is mounted on the cylinder trunnion 2-11 by a pin.
2-11 Cylinder trunnion: for machining, the material is Q235A, and is mounted on the gripper frame 1-1 through bolts.
2-12Y-linker: outsourcing piece, model: GRP-CYH18-SMC is connected with the swing arm 2-1 through a pin shaft.
2-13 Dead stops: the workpiece is machined, the material is 45# steel, and the workpiece is mounted on the swing arm 2-1 through bolts.
2-14 Approach switch bracket C: the workpiece is machined, the material of which is Q235A, and is mounted on the gripper frame 1-1 through bolts.
2-15 Proximity switch C: outsourcing piece, model: OMRON E2A-M18KS08-M1-F1 is mounted on the proximity switch bracket C2-14 by bolts.
The clamping mechanism comprises a supporting seat 3-1, a magnetic clamping cylinder 3-2, a cotter 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 bolts and is arranged on the gripper frame 1-1; the magnetic clamping cylinder 3-2 is arranged on the supporting seat 3-1 through a pin shaft; the cotter pin 3-3 is arranged on the pin shaft B3-4; the pin shaft B3-4 is arranged on the supporting seat 3-1 through a rotary hole; the flat pad 3-5 is arranged on the pin shaft B3-4; the shaft sleeve B3-6 is arranged in the rotating hole in a clearance fit manner; the pressing 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 B3-10 are respectively arranged on the pressing arm 3-1 through bolts.
The arrangement and function characteristics of each part in the mechanism are as follows:
3-1 supporting seat: the machined workpiece, the material of which is Q235A, is mounted on the gripper frame 1-1 through the combination of bolts and pin holes.
3-2 Clamping cylinder with magnet: outsourcing piece, brand model: SMC CKG1A 63-100 YAZ is mounted on a support 3-1 by a pin.
3-3 Cotter pin: and the outsourcing part, brand GB, is arranged on the pin shaft 3-4.
3-4 Pin B: the workpiece is machined, the material is Q235A, and the workpiece is mounted on the supporting seat 3-1 through the rotary hole.
3-5 Flat pad: the workpiece is machined, the material is Q235A, and the workpiece is arranged on the pin shaft 3-4.
3-6 Shaft sleeve B: outsourcing piece, brand model: jiashan SF-1 16X14X16 is mounted in a clearance fit manner in the rotation hole.
3-7 Press arms: the workpiece is machined, the material is Q235A, and the workpiece is arranged on the supporting seat 3-1 through a pin shaft.
3-8 Gaskets: and (3) adopting numerical control plasma cutting and blanking, wherein the material is 60Si2Mn, and the numerical control plasma cutting and blanking is arranged between the pressing arm 3-7 and the pressing block 3-9.
3-9 Briquetting A: the workpiece is machined, the material is 45# steel, and the workpiece is mounted on the pressing arm 3-1 through bolts.
3-10 Briquetting B: the workpiece is machined, the material is 45# steel, and the workpiece is mounted on the pressing arm 3-1 through bolts.
The positioning mechanism comprises a positioning bracket 4-1, an air 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 arranged on the gripper frame 1-1 through the combination of bolts and pin holes; the air cylinder 4-2 is mounted on the positioning bracket 4-1 through bolts; 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 bolts; 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 locating pin 4-8 is mounted at the end of the guide rod 4-7 through a bolt.
The arrangement and function characteristics of each part in the mechanism are as follows:
4-1 positioning support: the machined workpiece, the material of which is Q235A, is mounted on the gripper frame 1-1 through the combination of bolts and pin holes.
4-2 Cylinder: outsourcing piece, brand model: SMC MDBF40-75Z are mounted on the positioning bracket 4-1 by bolts.
4-3 Floating joint: outsourcing piece, brand model: SMC JA40-14-150 is mounted between guide rod 4-7 and cylinder 4-2.
4-4 Baffle: the workpiece is machined, the material is Q235A, and the workpiece is mounted on the guide seat 4-5 through bolts.
4-5 Guide seats: the machined workpiece is made of Q235A and is mounted on the positioning bracket 4-1 through the combination of bolts and pin holes.
4-6 Shaft sleeve C: outsourcing piece, brand model: jiashan JFB-1 33X25X30 is arranged on the guide seat 4-5 in a clearance fit mode.
4-7 Guide rod: the machined workpiece is made of 45# steel and is connected with the floating joint 4-3 through a guide hole.
4-8 Locating pins: outsourcing piece, brand model: MISUMI LP 16.0.0-B40.0-G13 are mounted on the ends of the guide rods 4-7 by bolts.
The whole equipment is connected with: the fixed supporting mechanism, the swing arm supporting mechanism, the clamping mechanism and the positioning mechanism in the device are all connected by bolts/pin shafts, pin holes are positioned, and the dead stop and the proximity switch are limited. The whole automobile body-in-white assembly robot grabbing device is high in efficiency and high in stability through robot control, and achieves the use effect.
The working principle and the main structural characteristics of the invention are as follows:
And a fixed supporting mechanism: the method comprises the steps of adopting a symmetrical design form of square pipe welding, symmetrically installing support blocks at two ends, adopting a bolt connection and pin hole positioning mode, and assembling a gripper frame, a transition flange, a valve island module, the support blocks, a proximity switch bracket and a proximity switch; the structure is simple, and the stability is strong.
Swing arm supporting mechanism: the method comprises the following steps of connecting a swing arm, a pin shaft, a fixed gasket, a stop pad, a fixed nut, a shaft sleeve, a supporting block, a proximity switch bracket, a proximity switch, a standard cylinder, a cylinder trunnion, a Y-shaped joint, a dead gear, a proximity switch bracket and a proximity switch in a pin hole positioning mode; the structure is simple, and the space is effectively saved.
And a clamping mechanism: symmetrically designed, wherein a supporting seat, a magnetic clamping cylinder, a cotter pin, a pin shaft, a flat pad, a shaft sleeve, a pressing arm, a gasket, a pressing block A and a pressing block B are connected through the combination of bolts and pin holes; the structure is simple, and the occupied space is small.
Positioning mechanism: the positioning bracket, the air cylinder, the floating joint, the baffle, 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 processing manufacturing is simple, and the installation is simple and easy, and stability is strong. The occupied production space of enterprises is small, the production cost of automobile manufacturers is greatly reduced, the utilization rate of equipment is effectively improved, and the advanced marketing of new automobile types is ensured.
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 a using effect through robot control, and is extremely high in working efficiency; the equipment is convenient to process, manufacture, assemble, transport and install, and is convenient to maintain.
The detailed description of the robotic gripping device of an automotive body-in-white assembly described above with reference to the embodiments is illustrative and not limiting; and thus, variations and modifications may be made without departing from the general inventive concept and are intended to be within the scope of the present invention.
Claims (1)
1. The grabbing equipment for the automobile body-in-white assembly robot is characterized by comprising a fixed supporting mechanism, a swing arm supporting mechanism, a clamping mechanism and a positioning mechanism which are connected; 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 through the combination of bolts, pin holes and pin shafts;
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 combined with the pin holes through bolts and connected with all parts of the fixed supporting mechanism; the transition flange is arranged at the connecting end of the handle frame and the robot through the combination of bolts and pin holes; the valve island module is arranged on the right side surface of the frame in front of the transition flange through bolts; the supporting blocks are arranged at the top end of the lower supporting part of the gripper frame through bolts; the proximity switch bracket A is arranged on the right side surface of the lower supporting part of the gripper frame through bolts; 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 stop, 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 the 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 fixed 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 rotating hole in a clearance fit manner; the supporting blocks are mounted on the swing arms through bolts; the proximity switch bracket B is mounted on the swing arm through a bolt; the proximity switch B is arranged on the proximity switch bracket B through a bolt, and the standard cylinder is arranged on a cylinder trunnion through a pin shaft; the cylinder trunnion is mounted on the gripper frame through bolts; the Y-shaped joint is connected with the swing arm through a pin shaft A; the dead stop is mounted on the swing arm through a bolt; the proximity switch bracket C is mounted on the gripper frame through bolts; the proximity switch C is mounted on the proximity switch bracket C through bolts;
The clamping mechanism comprises a supporting seat, a magnetic clamping cylinder, a cotter 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 magnetic clamping cylinder 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 shaft B; the outer ring of the shaft sleeve B is arranged in the rotating hole in a clearance fit manner; the pressing 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 blocks A and B are respectively arranged on the pressing arm through bolts;
The positioning mechanism comprises a positioning bracket, an air cylinder, a floating joint, a baffle, 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 air cylinder is arranged on the positioning bracket through a bolt; the floating joint is arranged between the guide rod and the air cylinder; the baffle is arranged on the guide seat through bolts; 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 locating pin is arranged at the end of the guide rod through a bolt;
The valve island module adopts the model: SMC EX600-VQC4000.
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 CN110723530A (en) | 2020-01-24 |
| CN110723530B true 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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| 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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