CN112959344A - Double-sided multifunctional floating gripper for rapid switching of production line equipment in cabin sending area - Google Patents
Double-sided multifunctional floating gripper for rapid switching of production line equipment in cabin sending area Download PDFInfo
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- CN112959344A CN112959344A CN202110178185.5A CN202110178185A CN112959344A CN 112959344 A CN112959344 A CN 112959344A CN 202110178185 A CN202110178185 A CN 202110178185A CN 112959344 A CN112959344 A CN 112959344A
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- tray
- rod
- friction rod
- friction
- connecting piece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Mechanical Engineering (AREA)
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- Optics & Photonics (AREA)
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Abstract
The invention belongs to the technical field of automobile equipment manufacturing, and particularly relates to a double-sided multifunctional floating gripper. A multi-functional unsteady tongs of two-sided for sending cabin area production line equipment fast switch over includes: a welding frame system comprising a main frame; the driving friction rod grabbing system is used for grabbing the driving friction rods and comprises two friction rod floating grabs which are arranged in bilateral symmetry; the tray grabbing and clamping system is used for grabbing and clamping the tray of the roller machine equipment and comprises two tray floating grippers which are symmetrically arranged up and down; the driving friction rod grabbing system and the tray grabbing and clamping system are respectively fixed on the front side and the rear side of the main frame. The automatic grabbing and releasing device can be used for switching different vehicle types of equipment and realizing accurate positioning, and meanwhile, the floating gripper of the friction rod and the floating gripper of the tray are integrated, so that the automatic grabbing and releasing replacement functions of the floating gripper of the friction rod and the driving friction rod are met.
Description
Technical Field
The invention belongs to the technical field of automobile equipment manufacturing, and particularly relates to a double-sided multifunctional floating gripper.
Background
With the rapid development of the domestic automobile industry and the updating and upgrading of automobile models, various automobile manufacturers widely adopt flexible production technology to shorten the development period of products and reduce the development cost, and the requirements on the automation degree and the precision in the automobile production process are higher and higher.
At present, in the welding process of a body-in-white, the pallet vehicle type switching and the driving friction rod switching of production line equipment in a cabin sending area need to be realized. The existing realization mode is that the tray of the production line equipment adopts a single-side grabbing, the driving friction rod adopts manual lifting to replace, the occupied space is large, the production rhythm is low due to the fact that the driving friction rod is replaced by manual lifting, the danger coefficient of production is increased by manual lifting and replacing the driving friction rod, and meanwhile the manual use proportion of the automatic production line is increased.
Disclosure of Invention
The invention aims to solve the technical problems of time and labor waste, large occupied space and low production efficiency of pallet vehicle type switching and driving friction rod switching of cabin distribution area production line equipment in the welding process of a white vehicle body, and aims to provide a double-sided multifunctional floating gripper for quickly switching cabin distribution area production line equipment.
A multi-functional unsteady tongs of two-sided for sending cabin area production line equipment fast switch over includes:
a welding frame system comprising a main frame;
the driving friction rod grabbing system is used for grabbing the driving friction rods and comprises two friction rod floating grabs which are arranged in bilateral symmetry;
the tray grabbing and clamping system is used for grabbing and clamping the tray of the roller machine equipment and comprises two tray floating grippers which are symmetrically arranged up and down;
the driving friction rod grabbing system and the tray grabbing and clamping system are respectively fixed on the front side and the rear side of the main frame.
The invention integrates the truck model switching and the driving friction rod switching of the production line equipment tray in the cabin sending area required to be realized in the welding process of the body in white into a whole through the main frame, and can simultaneously realize the grabbing switching of the rolling machine equipment tray and the grabbing switching of the driving friction rod. Meanwhile, the friction rods are driven to be lifted without manual work, the two friction rod floating grippers which are symmetrical left and right are directly adopted to grab, the production efficiency is improved, the manual use cost is reduced, and the production safety is improved.
The friction lever floating gripper comprises:
the fixed support is fixed on the front side of the main frame;
the friction rod self-locking cylinder is fixed on the fixed support and is provided with a friction rod piston rod which horizontally extends and retracts;
the friction rod gripper assembly comprises a friction rod connecting rod mechanical self-locking mechanism, two upper and lower bearings, two front and rear bearings, one end of the friction rod connecting rod mechanical self-locking mechanism is fixed with the friction rod piston rod, the other end of the friction rod connecting rod mechanical self-locking mechanism is provided with one upper and lower bearing and one front and rear bearing, and the fixed support is provided with the other upper and lower bearing and the other front and rear bearing;
two the axial of upper and lower bearing is horizontal, two the upper and lower bearing is in order to predetermine the distance and set up side by side symmetry from top to bottom, two the axial of fore-and-aft bearing is vertical, two the fore-and-aft bearing is in order to predetermine the distance and set up side by side symmetry side by side around the friction lever piston rod during horizontal concertina movement, through friction lever connecting rod mechanical self-locking mechanism drives the upper and lower bearing with fore-and-aft bearing is the seesaw, realizes two the upper and lower bearing and two the relative opening or the relative folio of fore-and-aft bearing.
The mechanical self-locking mechanism of the friction rod connecting rod comprises a first friction rod connecting piece, a friction rod pin seat, a second friction rod connecting piece, a third friction rod connecting piece and a fourth friction rod connecting piece, wherein the first friction rod connecting piece, the friction rod pin seat and the second friction rod connecting piece are sequentially and rotatably connected through friction rod pins, and the axial direction of the friction rod pins is transverse;
the first connecting piece of the friction rod is rotatably connected with the fixed support through another friction rod pin with the transverse axial direction, and the end of the first connecting piece of the friction rod, which is far away from the pin seat of the friction rod, is connected with the fixed support through another friction rod pin with the transverse axial direction;
the second connecting piece of the friction rod is also rotationally connected with the fixed support through another friction rod pin with the transverse axial direction;
the end part of the second friction rod connecting piece, which is far away from the pin seat of the friction rod, is respectively fixed with the upper and lower bearings through the third friction rod connecting piece and the front and rear bearings through the fourth friction rod connecting piece.
The fixed support is also provided with a friction rod position sensor for detecting the in-place position of the driving friction rod, the friction rod position sensor is arranged on one side of the upper bearing and the lower bearing which are fixed with the fixed support, and the sensing end of the friction rod position sensor faces downwards;
and the control ends of the two friction rod self-locking cylinders and the signal output ends of the two friction rod position sensors are respectively connected with a PLC control system of the robot.
The drive friction bar grasping system further includes:
the two friction rod limiting mechanisms are arranged in a bilateral symmetry mode, are used for limiting the driving friction rods in the left-right mode and are respectively located on the outer sides of the two friction rod floating grippers.
The friction lever limiting mechanism comprises:
the friction rod limiting cylinder is fixed on the main frame and is provided with a limiting piston rod which can do up-and-down telescopic motion;
and the pin limiting block is fixed with the limiting piston rod, and the end part of the pin limiting block is provided with a clamping groove for clamping the pin of the driving friction rod.
The pin stopper adopts L style of calligraphy structure, the vertical section of pin stopper pass through the connecting block with limiting piston rod is fixed, the horizontal segment lateral surface of pin stopper is dug and is equipped with the centre gripping groove.
The tray floating gripper comprises:
the tray self-locking cylinder is provided with a tray piston rod which horizontally stretches and retracts;
tray tongs subassembly, including the first connecting piece of tray and two tray connecting rod mechanical self-locking mechanism that bilateral symmetry set up, the first connecting piece front end of tray with tray piston rod rear end is fixed, the first connecting piece rear end of tray respectively with two tray connecting rod mechanical self-locking mechanism rotates and connects during the horizontal concertina movement of tray piston rod, through the first connecting piece of tray drives two tray connecting rod mechanical self-locking mechanism opens relatively or folds relatively.
The tray connecting rod mechanical self-locking mechanisms comprise tray second connecting pieces, tray third connecting pieces and tray pin bases, the tray first connecting pieces, the tray second connecting pieces, the tray pin bases and the tray third connecting pieces are sequentially connected in a rotating mode through tray pins, and the axial direction of the tray pins is vertical;
and the two tray connecting rod mechanical self-locking mechanisms are oppositely arranged to form a U-shaped self-locking structure.
The rear end part of the third connecting piece of the tray is provided with an inward folded edge, so that the two mechanical self-locking mechanisms of the tray connecting rod are oppositely arranged to form a U-shaped self-locking structure with the inward folded edge.
A tray position sensor for detecting the in-place of the tray of the roller machine equipment is arranged on the side edge between the two tray floating grippers, and the sensing end of the tray position sensor faces the inner side;
and the signal output end of the tray position sensor is connected with a PLC control system of the robot.
The welding frame system comprises a tray frame fixed on the rear side of the main frame, a tray sliding rail is arranged on the tray frame, a tray sliding seat is arranged above the tray sliding rail, a tray sliding block is arranged at the bottom of the tray sliding seat, and the tray sliding seat slides on the tray sliding rail through the tray sliding block;
the front end of the tray first connecting piece is fixed with the rear end of the tray piston rod through the tray sliding seat;
the tray self-locking air cylinder is fixed on the tray frame, and the two third tray connecting pieces in the tray gripper assembly are respectively connected with the tray frame in a rotating mode through tray pins which are vertical in the axial direction.
Two cylinder position sensors are arranged on the tray frame in parallel front and back, an approaching column is arranged on the side face of the tray sliding seat, and the two cylinder position sensors are arranged on the side edge of the approaching column;
and the control ends of the two tray self-locking air cylinders and the signal output ends of the four air cylinder position sensors are respectively connected with a robot PLC control system.
The tray sliding seat preferably adopts an L-shaped structure, the tray sliding block is positioned on the bottom surface of the transverse section of the tray sliding seat, and the tray piston rod and the tray first connecting piece are respectively fixed on the front side and the rear side of the vertical section of the tray sliding seat;
the approach column is fixed on the vertical section side wall of the tray sliding seat.
The main frame adopts the style of calligraphy of falling U frame, two friction lever tongs that float set up between two vertical sections of main frame, two tray tongs that float set up in the main frame horizontal segment rear side, two friction lever stop gear sets up two vertical section outsides of main frame.
The positive progress effects of the invention are as follows: the double-sided multifunctional floating gripper for fast switching of production line equipment in a cabin sending area is adopted, equipment of different vehicle types can be switched, accurate positioning is realized, and meanwhile, the floating gripper of the friction rod and the floating gripper of the tray are integrated, so that the automatic grabbing and releasing replacement functions of the floating gripper of the friction rod and the driving friction rod are met. In the grabbing and releasing process, the machine does not need to be stopped, the production rhythm is greatly improved, labor cost is saved due to the fact that the friction rod floating gripper is compared with the traditional method that a driving friction rod is manually replaced, the automatic switching and changing function is achieved for the driving friction rod, the production safety and the working efficiency are improved, and the machine halt time is reduced.
Drawings
FIG. 1 is a schematic view of an overall structure of the present invention;
FIG. 2 is a schematic diagram of a friction bar driving gripping system according to the present invention;
FIG. 3 is a schematic diagram of a friction bar floating grip according to the present invention;
FIG. 4 is a schematic structural diagram of a friction lever limiting mechanism according to the present invention;
FIG. 5 is a schematic view of a grip of the driving friction bar of the present invention;
FIG. 6 is a schematic diagram of a pallet gripping and clamping system of the present invention;
fig. 7 is a schematic diagram of a floating gripper for pallets according to the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific drawings.
Referring to fig. 1 to 7, a double-sided multifunctional floating gripper for fast switching of production line equipment in a cabin sending area comprises: a welding frame system 1, a driving friction rod grabbing system 2 and a pallet grabbing and clamping system 3. The welding frame system 1 includes a main frame 11 and a tray frame 12 fixed to a rear side of the main frame 11. The main frame 11 adopts an inverted U-shaped frame, and the tray frame 12 is fixed behind the transverse section of the main frame 11. Wherein, the driving friction rod grabbing system 2 is fixed at the front side of the main frame 11, and the tray grabbing and clamping system 3 is fixed on the tray frame 12.
Referring to fig. 2 and 5, the driving friction bar grasping system 2 is used for grasping the driving friction bar 9 and includes two friction bar floating grippers 21 arranged in bilateral symmetry and two friction bar limiting mechanisms 22 arranged in bilateral symmetry. The two friction rod limiting mechanisms 22 are respectively positioned outside the two friction rod floating grippers 21. Preferably, two friction bar floating grippers 21 are disposed between two vertical sections of the main frame 11, and two friction bar limiting mechanisms 22 are disposed outside the two vertical sections of the main frame 11.
Referring to fig. 3, each of the friction bar floating grippers 21 includes a fixed support 211 fixed to the front side of the main frame 11, a friction bar self-locking cylinder 212 fixed to the fixed support 211, and a friction bar gripper assembly. The friction rod self-locking cylinder 212 is provided with a friction rod piston rod which performs horizontal telescopic motion. Preferably, the friction lever self-locking cylinder 212 is disposed at the rear between two vertical sections of the main frame 11, and the fixing support 211 extends to the friction lever self-locking cylinder 212 and is fixed thereto.
The friction rod gripper assembly comprises a friction rod connecting rod mechanical self-locking mechanism, two upper and lower bearings 213 and two front and rear bearings 214, one end of the friction rod connecting rod mechanical self-locking mechanism is fixed with a friction rod piston rod of the friction rod self-locking cylinder 212, the other end of the friction rod connecting rod mechanical self-locking mechanism is provided with the upper and lower bearings 213 and the front and rear bearings 214, and the fixed support 211 is provided with the other upper and lower bearings 213 and the other front and rear bearings 214; the two upper and lower bearings 213 are arranged in a horizontal direction, and the two upper and lower bearings 213 are symmetrically arranged side by side up and down at a predetermined distance, wherein the upper and lower bearings 213 on the fixed support 211 are located above. The axial direction of the two front and rear bearings 214 is vertical, and the two front and rear bearings 214 are symmetrically arranged in front and rear side by side at a predetermined distance. Wherein the front and rear bearings 214 on the fixed support 211 are located at the rear side. The preset distance between the two upper and lower bearings 213 and the preset distance between the two front and rear bearings 214 may be determined according to the specification of the driving friction lever 9. When the friction rod piston rod horizontally extends and retracts, the upper and lower bearings 213 and the front and rear bearings 214 are driven to move back and forth by the friction rod connecting rod mechanical self-locking mechanism, so that the two upper and lower bearings 213 and the two front and rear bearings 214 are opened or closed relatively, and the driving friction rod 9 is limited up and down and back and forth by the two friction rod floating grippers 21.
The mechanical self-locking mechanism of the friction rod connecting rod comprises a first friction rod connecting piece 215, a friction rod pin seat 216, a second friction rod connecting piece 217, a third friction rod connecting piece 218 and a fourth friction rod connecting piece 219, wherein the first friction rod connecting piece 215, the friction rod pin seat 216 and the second friction rod connecting piece 217 are sequentially connected in a rotating mode through friction rod pins, and the axial direction of the friction rod pins is transverse. The friction lever first connecting member 215 is rotatably connected to the fixed support 211 at an end thereof remote from the friction lever pin holder 216 by another axially transverse friction lever pin. The second friction lever coupler 217 is also rotatably coupled to the fixed support 211 by another friction lever pin that is axially and laterally oriented. The end of the second connecting piece 217 of the friction lever far away from the pin seat 216 of the friction lever is respectively fixed with a third connecting piece 218 of the friction lever and a fourth connecting piece 219 of the friction lever, the third connecting piece 218 of the friction lever is fixed with an upper bearing 213 and a lower bearing 213, and the fourth connecting piece 219 of the friction lever is fixed with a front bearing 214 and a rear bearing 214.
The fixed support 211 is further provided with a friction lever position sensor 41 for detecting the driving friction lever in place, the friction lever position sensor 41 is provided on the side of the upper and lower bearings 213 fixed to the fixed support 211, and the sensing end of the friction lever position sensor 41 faces downward. The control ends of the two friction rod self-locking air cylinders 212 and the signal output ends of the two friction rod position sensors 41 are respectively connected with a robot PLC control system.
Referring to fig. 4, the friction lever limiting mechanism 22 is used for limiting the driving friction lever 9 in the left-right direction, and the friction lever limiting mechanism 22 includes a friction lever limiting cylinder 221 and a pin limiting block 222 fixed to the main frame 11. The friction rod limit cylinder 221 is provided with a limit piston rod which extends and retracts up and down. The pin stopper 222 is fixed to the stopper piston rod, and a holding groove for holding the pin 91 of the driving friction lever 9 is formed at an end of the pin stopper 222. Preferably, the pin limiting block 222 is of an L-shaped structure, a vertical section of the pin limiting block 222 is fixed with the limiting piston rod through a connecting block, and a clamping groove is dug in the outer side face of a transverse section of the pin limiting block 222. In addition, when the two friction lever stopper mechanisms 2 are fixed, the friction lever stopper cylinders 221 may be fixed to the two vertical sections of the main frame 11 by one connecting and fixing member 223, respectively.
Referring to fig. 5, when the friction rod 9 needs to be grabbed and driven, the two friction rod self-locking cylinders 212 and the friction rod limiting cylinders 221 are driven to limit and grab the upper surface, the lower surface, the front surface and the rear surface of the friction rod 9 through the two upper and lower bearings 213 and the two front and rear bearings 214 in the friction rod floating gripper 21. The pins 91 of the driving friction rod 9 are clamped by the two clamping grooves on the outer sides of the two pin limiting blocks 222, the left and right positions of the driving friction rod 9 are limited and grabbed, and finally the grabbing of the driving friction rod 9 is realized.
Referring to fig. 6 and 7, the pallet gripping and clamping system 3 is used for gripping and clamping a pallet of the roller machine equipment, and the pallet gripping and clamping system 3 comprises two pallet floating grippers 31 which are arranged up and down symmetrically. Two tray floating grippers 31 are arranged at the rear side of the transverse section of the main frame 11, specifically on the tray frame 12.
Referring to fig. 7, the tray floating gripper 31 includes a tray self-locking cylinder 311 and a tray gripper assembly. The tray self-locking cylinder 311 is provided with a tray piston rod which performs horizontal telescopic motion. The tray hand grab assembly comprises a first tray connecting piece 312 and two tray connecting rod mechanical self-locking mechanisms symmetrically arranged left and right, the front end of the first tray connecting piece 312 is fixed with the rear end of a tray piston rod of the tray self-locking cylinder 311, the rear end of the first tray connecting piece 312 is rotatably connected with the two tray connecting rod mechanical self-locking mechanisms respectively, and when the tray piston rod horizontally stretches and retracts, the first tray connecting piece 312 drives the two tray connecting rod mechanical self-locking mechanisms to be opened or closed relatively.
The tray connecting rod mechanical self-locking mechanisms respectively comprise a tray second connecting piece 313, a tray third connecting piece 314 and a tray pin seat 315, the tray first connecting piece 312, the tray second connecting piece 313, the tray pin seat 315 and the tray third connecting piece 314 are connected in a rotating mode through tray pins sequentially, and the axial direction of the tray pins is vertical. The two tray connecting rod mechanical self-locking mechanisms are oppositely arranged to form a U-shaped self-locking structure. The rear end part of the third tray connecting piece 314 is provided with an inward folded edge, so that the two tray connecting rod mechanical self-locking mechanisms are oppositely arranged to form a U-shaped self-locking structure provided with the inward folded edge.
Referring to fig. 6, a pallet position sensor 42 for detecting the pallet in-place of the roller bed equipment is arranged on the side edge between the two pallet floating grippers 31, the pallet position sensor 42 is fixed on the pallet frame 12, and the sensing end of the pallet position sensor 42 faces the inner side. The signal output end of the tray position sensor 42 is connected with the PLC control system of the robot.
A tray slide rail 316 is arranged on the tray frame 12, a tray slide 317 is arranged above the tray slide rail 316, a tray slide block is arranged at the bottom of the tray slide 317, and the tray slide 317 slides on the tray slide rail 316 through the tray slide block. The front end of the tray first connector 312 is fixed with the rear end of the tray piston rod through a tray slide 317. The tray self-locking cylinder 311 is fixed on the tray frame 12, and the two tray third connecting pieces 314 in the tray gripper assembly are respectively connected with the tray frame 12 in a rotating manner through tray pins with vertical axial directions.
Two cylinder position sensors 43 are arranged on the tray frame 12 in parallel front and back, an approaching column 318 is arranged on the side surface of the tray sliding seat 317, and the two cylinder position sensors 43 are arranged on the side edge of the approaching column 318; the control ends of the two tray self-locking air cylinders 311 and the signal output ends of the four air cylinder position sensors 43 are respectively connected with a robot PLC control system. The tray sliding base 317 preferably adopts an L-shaped structure, the tray sliding block is positioned on the bottom surface of the transverse section of the tray sliding base 317, and the tray piston rod and the tray first connecting piece 312 are respectively fixed on the front side and the rear side of the vertical section of the tray sliding base 317; the access posts 318 are fixed to the riser side walls of the pallet slide 317.
The invention integrates the truck model switching and the driving friction rod switching of the production line equipment tray in the cabin sending area required to be realized in the welding process of the body-in-white through the main frame 11, and can simultaneously realize the grabbing switching of the rolling machine equipment tray and the grabbing switching of the driving friction rod. Meanwhile, the friction rod is driven without manual lifting, the two friction rod floating grippers 21 which are symmetrical left and right are directly adopted for gripping, the production efficiency is improved, the manual use cost is reduced, and the production safety is improved.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (15)
1. The utility model provides a two-sided multi-functional unsteady tongs that is used for sending cabin region production line equipment fast switch-over which characterized in that includes:
a welding frame system comprising a main frame;
the driving friction rod grabbing system is used for grabbing the driving friction rods and comprises two friction rod floating grabs which are arranged in bilateral symmetry;
the tray grabbing and clamping system is used for grabbing and clamping the tray of the roller machine equipment and comprises two tray floating grippers which are symmetrically arranged up and down;
the driving friction rod grabbing system and the tray grabbing and clamping system are respectively fixed on the front side and the rear side of the main frame.
2. The double-sided, multi-functional, floating gripper for rapid switching of production line equipment in a launch area of claim 1, wherein said friction bar floating gripper comprises:
the fixed support is fixed on the front side of the main frame;
the friction rod self-locking cylinder is fixed on the fixed support and is provided with a friction rod piston rod which horizontally extends and retracts;
the friction rod gripper assembly comprises a friction rod connecting rod mechanical self-locking mechanism, two upper and lower bearings, two front and rear bearings, one end of the friction rod connecting rod mechanical self-locking mechanism is fixed with the friction rod piston rod, the other end of the friction rod connecting rod mechanical self-locking mechanism is provided with one upper and lower bearing and one front and rear bearing, and the fixed support is provided with the other upper and lower bearing and the other front and rear bearing;
two the axial of upper and lower bearing is horizontal, two the upper and lower bearing is in order to predetermine the distance and set up side by side symmetry from top to bottom, two the axial of fore-and-aft bearing is vertical, two the fore-and-aft bearing is in order to predetermine the distance and set up side by side symmetry side by side around the friction lever piston rod during horizontal concertina movement, through friction lever connecting rod mechanical self-locking mechanism drives the upper and lower bearing with fore-and-aft bearing is the seesaw, realizes two the upper and lower bearing and two the relative opening or the relative folio of fore-and-aft bearing.
3. The double-sided multifunctional floating gripper for fast switching of production line equipment in a cabin launching area as recited in claim 2, wherein the mechanical self-locking mechanism of the friction rod and the connecting rod comprises a first connecting piece of the friction rod, a pin seat of the friction rod, a second connecting piece of the friction rod, a third connecting piece of the friction rod and a fourth connecting piece of the friction rod, the first connecting piece of the friction rod, the pin seat of the friction rod and the second connecting piece of the friction rod are sequentially and rotatably connected through a pin of the friction rod, and the pin of the friction rod is in a transverse axial direction;
the first connecting piece of the friction rod is rotatably connected with the fixed support through another friction rod pin with the transverse axial direction, and the end of the first connecting piece of the friction rod, which is far away from the pin seat of the friction rod, is connected with the fixed support through another friction rod pin with the transverse axial direction;
the second connecting piece of the friction rod is also rotationally connected with the fixed support through another friction rod pin with the transverse axial direction;
the end part of the second friction rod connecting piece, which is far away from the pin seat of the friction rod, is respectively fixed with the upper and lower bearings through the third friction rod connecting piece and the front and rear bearings through the fourth friction rod connecting piece.
4. The double-sided multifunctional floating gripper for fast switching of production line equipment in a cabin sending area according to claim 2, wherein a friction rod position sensor for detecting the in-place of a driving friction rod is further arranged on the fixed support, the friction rod position sensor is arranged on one side of the upper bearing and the lower bearing fixed with the fixed support, and the sensing end of the friction rod position sensor faces downwards;
and the control ends of the two friction rod self-locking cylinders and the signal output ends of the two friction rod position sensors are respectively connected with a PLC control system of the robot.
5. The double-sided multifunctional floating gripper for rapid switching of production line equipment in a cabin taking area as claimed in any one of claims 1 to 4, wherein the driving friction bar gripping system further comprises:
the two friction rod limiting mechanisms are arranged in a bilateral symmetry mode, are used for limiting the driving friction rods in the left-right mode and are respectively located on the outer sides of the two friction rod floating grippers.
6. The double-sided multifunctional floating gripper for rapid switching of production line equipment in a cabin launching area as recited in claim 5, wherein the friction rod limiting mechanism comprises:
the friction rod limiting cylinder is fixed on the main frame and is provided with a limiting piston rod which can do up-and-down telescopic motion;
and the pin limiting block is fixed with the limiting piston rod, and the end part of the pin limiting block is provided with a clamping groove for clamping the pin of the driving friction rod.
7. The double-sided multifunctional floating gripper for rapid switching of production line equipment in a cabin release area according to claim 6, wherein the pin limiting block is of an L-shaped structure, a vertical section of the pin limiting block is fixed with the limiting piston rod through a connecting block, and the outer side surface of a horizontal section of the pin limiting block is dug with the clamping groove.
8. The double-sided multifunctional floating gripper for rapid switching of production line equipment in a cabin dispatching area as claimed in claim 1, wherein the tray floating gripper comprises:
the tray self-locking cylinder is provided with a tray piston rod which horizontally stretches and retracts;
tray tongs subassembly, including the first connecting piece of tray and two tray connecting rod mechanical self-locking mechanism that bilateral symmetry set up, the first connecting piece front end of tray with tray piston rod rear end is fixed, the first connecting piece rear end of tray respectively with two tray connecting rod mechanical self-locking mechanism rotates and connects during the horizontal concertina movement of tray piston rod, through the first connecting piece of tray drives two tray connecting rod mechanical self-locking mechanism opens relatively or folds relatively.
9. The double-sided multifunctional floating gripper for fast switching of production line equipment in a cabin distribution area according to claim 8, wherein the tray link mechanical self-locking mechanism comprises a tray second connecting piece, a tray third connecting piece and a tray pin base, the tray first connecting piece, the tray second connecting piece, the tray pin base and the tray third connecting piece are sequentially connected in a rotating manner through a tray pin, and the axial direction of the tray pin is vertical;
and the two tray connecting rod mechanical self-locking mechanisms are oppositely arranged to form a U-shaped self-locking structure.
10. The double-sided multifunctional floating gripper for rapid switching of production line equipment in cabin distribution areas according to claim 9, wherein the rear end of the third tray connecting piece is provided with an inward folded edge, so that the two tray connecting rod mechanical self-locking mechanisms are oppositely arranged to form a U-shaped self-locking structure provided with the inward folded edge.
11. The double-sided multifunctional floating gripper for rapid switching of production line equipment in a cabin distribution area according to claim 9, wherein the welding frame system comprises a tray rack fixed on the rear side of the main frame, a tray slide rail is arranged on the tray rack, a tray slide is arranged above the tray slide rail, a tray slide block is arranged at the bottom of the tray slide block, and the tray slide block slides on the tray slide rail through the tray slide block;
the front end of the tray first connecting piece is fixed with the rear end of the tray piston rod through the tray sliding seat;
the tray self-locking air cylinder is fixed on the tray frame, and the two third tray connecting pieces in the tray gripper assembly are respectively connected with the tray frame in a rotating mode through tray pins which are vertical in the axial direction.
12. The double-sided multifunctional floating gripper for fast switching of production line equipment in a cabin distribution area according to claim 11, wherein two cylinder position sensors are arranged on the tray frame side by side in front and back, an approach column is arranged on the side surface of the tray sliding seat, and the two cylinder position sensors are arranged on the side edge of the approach column;
and the control ends of the two tray self-locking air cylinders and the signal output ends of the four air cylinder position sensors are respectively connected with a robot PLC control system.
13. The double-sided multifunctional floating gripper for fast switching of production line equipment in a cabin distribution area according to claim 12, wherein the tray slide carriage is of an L-shaped structure, the tray slide block is located on the bottom surface of the transverse section of the tray slide carriage, and the tray piston rod and the tray first connecting piece are respectively fixed on the front side and the rear side of the vertical section of the tray slide carriage;
the approach column is fixed on the vertical section side wall of the tray sliding seat.
14. The double-sided multifunctional floating gripper for the rapid switching of production line equipment in a cabin sending area according to claim 1, wherein a tray position sensor for detecting the in-place of a roller bed equipment tray is arranged on the side edge between the two tray floating grippers, and the sensing end of the tray position sensor faces inwards;
and the signal output end of the tray position sensor is connected with a PLC control system of the robot.
15. The double-sided multifunctional floating gripper for rapid switching of production line equipment in a cabin distribution area according to claim 5, wherein the main frame is an inverted U-shaped frame, two floating grippers of the friction rod are arranged between two vertical sections of the main frame, two floating grippers of the tray are arranged at the rear side of a transverse section of the main frame, and two limiting mechanisms of the friction rod are arranged at the outer sides of two vertical sections of the main frame.
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