CN114986554A - Electromagnetic box part carrying and welding shared robot gripping apparatus - Google Patents

Electromagnetic box part carrying and welding shared robot gripping apparatus Download PDF

Info

Publication number
CN114986554A
CN114986554A CN202110229253.6A CN202110229253A CN114986554A CN 114986554 A CN114986554 A CN 114986554A CN 202110229253 A CN202110229253 A CN 202110229253A CN 114986554 A CN114986554 A CN 114986554A
Authority
CN
China
Prior art keywords
welding
frame
fixed
clamping mechanism
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110229253.6A
Other languages
Chinese (zh)
Inventor
陈刚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Junyi Industrial Automation Co Ltd
Original Assignee
Shanghai Junyi Industrial Automation Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Junyi Industrial Automation Co Ltd filed Critical Shanghai Junyi Industrial Automation Co Ltd
Priority to CN202110229253.6A priority Critical patent/CN114986554A/en
Publication of CN114986554A publication Critical patent/CN114986554A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • 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
    • B25J15/0019—End effectors other than grippers

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Resistance Welding (AREA)

Abstract

The invention relates to a robot gripping apparatus for carrying and welding electromagnetic box parts, which comprises: the frame is used as a fixed support of the robot gripper for carrying and welding the electromagnetic box parts; the welding assembly is fixed on one side of the frame; a first pneumatic clamping mechanism is fixed at one end of the other side of the frame; a second pneumatic clamping mechanism is fixed at the other end of the other side of the frame; a pneumatic fixing mechanism is fixed on the frame between the first pneumatic clamping mechanism and the second pneumatic clamping mechanism; a connecting flange is fixedly connected to the frame, and after the connecting flange is connected with a robot, the robot gripper shared by electromagnetic box part carrying and welding is turned over to switch between the electromagnetic box part carrying and welding; according to the embodiment of the invention, the welding assembly is used during welding, and the first pneumatic clamping mechanism, the second pneumatic clamping mechanism and the pneumatic fixing mechanism are used during transportation, so that two functions of welding and transportation are integrated on one gripper, and the effects of reducing switching time and reducing beats are achieved.

Description

Electromagnetic box part carrying and welding shared robot gripping apparatus
Technical Field
The embodiment of the invention relates to a robot gripper, in particular to a robot gripper shared by carrying and welding electromagnetic box parts.
Background
Robots have been used in mass production of automobiles, such as painting, welding, assembly, etc. The robot can only be used as a carrier, and a corresponding gripping apparatus is required to be practically applied. The robot has good interchangeability, and can switch different grippers to realize the application of different processes. The commonly used handover methods: 1. replacing the gripping apparatus manually at regular intervals; 2. and replacing the gripping apparatus by adopting an automatic gun plate replacing system. However, both of the two modes require switching time, so that the beat is increased, and meanwhile, the occupied area of equipment and the cost of the equipment are increased; in the existing production process of electromagnetic box parts, the mode of replacing the gripping apparatus manually at regular intervals is adopted, the switching time is needed, the beat is increased, and therefore welding and carrying need to be concentrated on one robot gripping apparatus when the electromagnetic box parts are produced, the switching time is shortened, and the beat is reduced.
Disclosure of Invention
The invention aims to provide a robot gripper used for carrying and welding electromagnetic box parts, and mainly aims to reduce switching time and reduce takt time.
In order to achieve the above object, an embodiment of the present invention provides a gripper for a robot used for both carrying and welding parts of an electromagnetic box, including:
the frame is used as a fixed support of the robot gripper shared by the electromagnetic box part carrying and welding;
the welding assembly is fixed on one side of the frame;
the first pneumatic clamping mechanism is fixed at one end of the other side of the frame;
the second pneumatic clamping mechanism is fixed at the other end of the other side of the frame;
a pneumatic fixing mechanism for fixing the pneumatic fixing mechanism on the frame between the first pneumatic clamping mechanism and the second pneumatic clamping mechanism;
and after the connecting flange is connected with a robot, the electromagnetic box part carrying and welding robot gripper is turned over to switch between the electromagnetic box part carrying and welding.
Further, the frame further comprises:
a cross beam is arranged in the middle of the frame;
two cantilevers are respectively fixed at two ends of the cross beam, and the first pneumatic clamping mechanism and the second pneumatic clamping mechanism are fixed on the cantilevers in opposite directions; one end of the first pneumatic clamping mechanism and one end of the second pneumatic clamping mechanism are fixed on one side of the cross beam;
fixing a support member above the cross beam; and a welding gun bumper is fixed above the supporting piece, and the welding assembly is fixed above the welding gun bumper.
Further, the first pneumatic clamping mechanism further comprises:
one end of a first air cylinder is fixed on one side of a cantilever on the frame, two first buckles are movably connected to a piston rod of the first air cylinder, and one end of each first buckle is movably connected to a first air cylinder connecting block through a pin shaft;
one end of a first positioning supporting block is fixed below the cantilever on one side of the first cylinder, and a first clamping groove is formed in the other end of the first positioning supporting block and used for positioning a workpiece.
Further, the second pneumatic clamping mechanism further comprises:
one end of a second air cylinder is fixed on one side of a cantilever on the frame, two second buckles are movably connected on a piston rod of the second air cylinder, and one end of each second buckle is movably connected on a second air cylinder connecting block through a pin shaft;
one end of a second positioning supporting block is fixed below the cantilever at one side of the second cylinder, and a second clamping groove is formed in the other end of the second positioning supporting block and used for positioning a workpiece.
Further, the pneumatic fixing mechanism further comprises:
fixing one end of a third cylinder on one side of a cross beam on the frame and close to one side of the welding assembly; the piston rod of the third cylinder is movably connected with a clamping hook arranged below through a pin shaft, one end of the clamping hook is connected to a driving connecting block of the third cylinder through the pin shaft, and the third cylinder is opened and locked through a telescopic driving clamping hook.
Further, the welding assembly further comprises:
the welding gun bumper is connected to one end of the support piece of the frame; the welding gun is movably connected with the welding gun bumper through the first support.
Further, the welding gun is a Mig welding gun.
Furthermore, an electric control box is arranged above the frame, and a motion control system of the robot gripping apparatus shared by the electromagnetic box part conveying and welding is arranged in the electric control box.
Furthermore, a second bracket is fixed below one end of the frame, and a code scanning sensor is fixed below the second bracket and used for scanning and reading the DMC code on the workpiece.
Furthermore, an inductor is fixed on one side of the third cylinder through a supporting strip.
Compared with the prior art, the welding assembly, the first pneumatic clamping mechanism, the second pneumatic clamping mechanism and the pneumatic fixing mechanism are respectively arranged on two sides of the frame; the welding assembly is used during welding, the first pneumatic clamping mechanism, the second pneumatic clamping mechanism and the pneumatic fixing mechanism are used during carrying, two functions of welding and carrying are integrated on one gripper, switching of the gripper without two different processes is achieved, switching time is shortened, and beat is reduced.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view in front elevation of FIG. 1;
FIG. 3 is a schematic view in top view of FIG. 1;
fig. 4 is a schematic view in the left-hand direction of fig. 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solutions claimed in the claims of the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
A first embodiment of the present invention relates to a gripper for a robot used for both carrying and welding parts of an electromagnetic box, as shown in fig. 1, 2, 3, and 4, the gripper including:
the frame 1 is used as a fixed bracket of the robot gripping apparatus shared by the electromagnetic box part transportation and welding in the embodiment; for supporting and securing other components.
The welding assembly 10 is fixed on one side of the frame 1; the welding assembly 10 is mainly used for welding parts of the electromagnetic box, so that the welding assembly 10 is fixed to one side of the frame 1, and the robot is convenient to overturn at the time.
A first pneumatic clamping mechanism 20 is fixed at one end of the other side of the frame 1; a second pneumatic clamping mechanism 30 is fixed at the other end of the other side of the frame 1; the first pneumatic clamping mechanism 20 and the second pneumatic clamping mechanism 30 are used to grip and fix the workpiece 6.
Fixing a pneumatic fixing mechanism 40 on the frame 1 between the first pneumatic clamping mechanism 20 and the second pneumatic clamping mechanism 30; the pneumatic fixing mechanism 40 is used for hooking the workpiece 6; the first pneumatic clamping mechanism 20, the second pneumatic clamping mechanism 30, and the pneumatic fixing mechanism 40 can function to pick up, clamp, and fix the workpiece 6.
Meanwhile, a connecting flange 2 is fixedly arranged on the frame 1, and the connecting flange 2 is mainly used for mounting the whole robot gripper shared by electromagnetic box part carrying and welding on an arm of a robot through the connecting flange 2 and controlling the whole robot gripper shared by electromagnetic box part carrying and welding. After the connecting flange 2 is connected with the robot, the robot gripping apparatus shared by the electromagnetic box part carrying and welding is turned over, and the electromagnetic box part carrying and welding are switched. The whole electromagnetic box part carrying and welding shared robot gripping apparatus is installed by a robot, and a welding assembly 10, a first pneumatic clamping mechanism 20, a second pneumatic clamping mechanism 30 and a pneumatic fixing mechanism 40 are respectively arranged on two sides of a frame 1; use the welding subassembly 10 when the welding, when the transport, use first pneumatic clamping mechanism 20, second pneumatic clamping mechanism 30, pneumatic fixed establishment 40, carry the transport of whole electromagnetism box part and the robot gripping apparatus of welding sharing through the robot and overturn, thereby realize that two kinds of functions of welding and transport are concentrated on a tongs, play the switching that need not carry out the tongs of two kinds of different technologies, play and reduce the switching time, reduce the effect of beat, the tongs of having solved two kinds of different technologies among the prior art need switch over the technical problem, and is with low costs, save the switching time, reduce the technological effect of beat.
In order to achieve the above technical effects, as shown in fig. 1, 2, 3, and 4, the frame 1 further includes:
a cross beam 11 is arranged in the middle of the frame 1; the cross beam 11 serves as a transverse fixing structure of the frame 1 and mainly plays a role in bearing.
A cantilever 12 is respectively fixed at two ends of the cross beam 11, and the first pneumatic clamping mechanism 20 and the second pneumatic clamping mechanism 30 are oppositely fixed on the cantilever 12; one ends of the first pneumatic clamping mechanism 20 and the second pneumatic clamping mechanism 30 are fixed on one side of the cross beam 11;
fixing a support 13 above the cross beam 11; a welding gun bumper 14 is fixed above the support 13 and the welding assembly 10 is fixed above the welding gun bumper 14. The frame 1 is used as a fixed bracket of the robot gripping apparatus shared by the electromagnetic box part transportation and welding in the embodiment; the support is used for supporting and fixing other components and plays a role in supporting.
In order to achieve the above technical effects, as shown in fig. 1, 2, 3, and 4, the first pneumatic clamping mechanism 20 further includes:
one end of a first air cylinder 7 is fixed on one side of a cantilever 12 on the frame 1, two first buckles 21 are movably connected on a piston rod of the first air cylinder 7, and one end of each first buckle 21 is movably connected on a first air cylinder connecting block 22 through a pin shaft;
one end of a first positioning support block 23 is fixed below the cantilever 12 on one side of the first cylinder 7, and a first clamping groove 24 is arranged on the other end of the first positioning support block 23 and used for positioning the workpiece 6.
Similarly, in order to achieve the above technical effects, as shown in fig. 1, 2, 3, and 4, the second pneumatic clamping mechanism 30 further includes:
one end of a second cylinder 8 is fixed on one side of a cantilever 12 on the frame 1, two second buckles 31 are movably connected on a piston rod of the second cylinder 8, and one end of each second buckle 31 is movably connected on a second cylinder connecting block 32 through a pin shaft;
one end of a second positioning support block 33 is fixed below the cantilever 12 on one side of the second cylinder 8, and a second clamping groove 34 is arranged on the other end of the second positioning support block 33 and used for positioning the workpiece 6.
In the above-described configuration, when the workpiece 6 is conveyed, the first cylinder 7 and the second cylinder 8 drive the first hook 21 and the second hook 31 to clamp the workpiece 6, and the workpiece 6 is conveyed, and in order to position the workpiece 6 during clamping, the second positioning support block 33 is provided with the second notch 34 to position the workpiece 6 during clamping.
Meanwhile, in order to smoothly perform the gripping process, as shown in fig. 1, 2, 3, and 4, the pneumatic fixing mechanism 40 further includes:
one end of the third cylinder 4 is fixed on one side of the cross beam 12 on the frame 1, close to the side of the welded assembly 10; the piston rod of the third cylinder 4 is movably connected with a hook 41 arranged below through a pin shaft, one end of the hook 41 is connected to a driving connecting block 42 of the third cylinder 4 through a pin shaft, and the third cylinder 4 is opened and locked through a telescopic driving hook 41.
The structure can perform the technical functions of positioning, clamping and the like on the workpiece 6, and conveying the whole electromagnetic box part in the embodiment to realize welding and conveying.
In order to achieve the welding function, as shown in fig. 1, 2, 3, and 4, the welding assembly 10 further includes:
the welding gun bumper 14 is connected to one end of the support piece 13 of the frame 1; the welding gun 3 is movably connected with the welding gun anti-collision device 14 through the first support 15, so that the welding gun 3 can move up and down on the welding gun anti-collision device 14, the welding gun 3 obtains a certain moving space, certain flexibility is achieved during welding, and the welding gun 3 in the embodiment adopts a Mig welding gun.
In order to electrically connect the gripper for the robot shared for the conveyance of electromagnetic box parts and the welding in the present embodiment, an electric control box 9 is provided above the frame 1, and a motion control system of the gripper for the robot shared for the conveyance of electromagnetic box parts and the welding is provided in the electric control box 9.
To facilitate reading of the DMC code, as shown in fig. 1, a second bracket 16 is fixed below one end of the frame 1, and a code scanning sensor 17 is fixed below the second bracket 16 for scanning and reading the DMC code on the workpiece. The method mainly plays a role in recording the DMC codes of the products, and can play a role in tracing the products subsequently.
As shown in fig. 2, the inductor 5 is fixed at one side of the third cylinder 4 by a support bar 18. The inductor 5 plays a role of inducing the workpiece 6, so that the position of the workpiece 6 can be ensured to be correct in the process of early clamping.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of practicing the invention, and that various changes in form and detail may be made therein without departing from the spirit and scope of the invention in practice.

Claims (10)

1. The utility model provides an electromagnetism box part transport and welding sharing robot gripping apparatus which characterized in that includes:
the frame is used as a fixed bracket of the robot gripper shared by the electromagnetic box part carrying and welding;
the welding assembly is fixed on one side of the frame;
the first pneumatic clamping mechanism is fixed at one end of the other side of the frame;
the second pneumatic clamping mechanism is fixed at the other end of the other side of the frame;
a pneumatic fixing mechanism for fixing the pneumatic fixing mechanism on the frame between the first pneumatic clamping mechanism and the second pneumatic clamping mechanism;
the connecting flange is fixed on the frame and connected with the robot, and then the electromagnetic box part carrying and welding shared robot gripper is turned over to switch between the electromagnetic box part carrying and welding.
2. A common robotic gripper for parts handling and welding for electromagnetic boxes according to claim 1 wherein said frame further comprises:
a cross beam is arranged in the middle of the frame;
fixing a cantilever at each of two ends of the cross beam, and fixing the first pneumatic clamping mechanism and the second pneumatic clamping mechanism on the cantilever in opposite directions; one end of the first pneumatic clamping mechanism and one end of the second pneumatic clamping mechanism are fixed on one side of the cross beam;
fixing a support piece above the cross beam; and a welding gun bumper is fixed above the support piece, and the welding assembly is fixed above the welding gun bumper.
3. A gripper robot for handling parts for electromagnetic boxes and welding as set forth in claim 1, wherein said first pneumatic clamping mechanism further comprises:
one end of a first air cylinder is fixed on one side of a cantilever on the frame, two first buckles are movably connected to a piston rod of the first air cylinder, and one end of each first buckle is movably connected to a first air cylinder connecting block through a pin shaft;
one end of a first positioning supporting block is fixed below the cantilever on one side of the first cylinder, and a first clamping groove is formed in the other end of the first positioning supporting block and used for positioning a workpiece.
4. A gripper robot for handling parts for electromagnetic boxes and welding as set forth in claim 1, wherein said second pneumatic clamping mechanism further comprises:
one end of a second air cylinder is fixed on one side of a cantilever on the frame, two second buckles are movably connected on a piston rod of the second air cylinder, and one end of each second buckle is movably connected on a second air cylinder connecting block through a pin shaft;
one end of a second positioning supporting block is fixed below the cantilever at one side of the second cylinder, and a second clamping groove is formed in the other end of the second positioning supporting block and used for positioning a workpiece.
5. A gripper robot for handling parts and welding parts for electromagnetic boxes according to claim 1, wherein said pneumatic holding means further comprises:
fixing one end of a third cylinder on one side of a cross beam on the frame and close to one side of the welding assembly; the piston rod of the third cylinder is movably connected with a clamping hook arranged below through a pin shaft, one end of the clamping hook is connected to a driving connecting block of the third cylinder through the pin shaft, and the third cylinder is opened and locked through a telescopic driving clamping hook.
6. A gripper robot for handling parts and welding of electromagnetic boxes according to claim 1, wherein said welding assembly further comprises:
the welding gun bumper is connected to one end of the supporting piece of the frame; the welding gun is movably connected with the welding gun bumper through the first support.
7. The electromagnetic box parts handling and welding common robotic gripper of claim 6, wherein said welding gun is a Mig welding gun.
8. The gripper of claim 1, wherein an electrical control box is disposed above the frame, and a motion control system of the gripper is disposed in the electrical control box.
9. The electromagnetic pod parts handling and welding robot gripper as recited in claim 8, wherein a second cradle is secured below one end of said frame, and a code scanning sensor is secured below said second cradle for scanning and reading DMC codes on the workpiece.
10. A gripper robot for parts handling and welding of electromagnetic boxes according to claim 5, characterized in that the inductors are fixed by means of support bars on one side of said third cylinder.
CN202110229253.6A 2021-03-02 2021-03-02 Electromagnetic box part carrying and welding shared robot gripping apparatus Pending CN114986554A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110229253.6A CN114986554A (en) 2021-03-02 2021-03-02 Electromagnetic box part carrying and welding shared robot gripping apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110229253.6A CN114986554A (en) 2021-03-02 2021-03-02 Electromagnetic box part carrying and welding shared robot gripping apparatus

Publications (1)

Publication Number Publication Date
CN114986554A true CN114986554A (en) 2022-09-02

Family

ID=83018494

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110229253.6A Pending CN114986554A (en) 2021-03-02 2021-03-02 Electromagnetic box part carrying and welding shared robot gripping apparatus

Country Status (1)

Country Link
CN (1) CN114986554A (en)

Similar Documents

Publication Publication Date Title
CN102990256B (en) Automotive body welding device
CN114013536B (en) Vehicle assembly line and vehicle assembly process
CN210639861U (en) Teaching is with automatic logistics production line
JPH1190641A (en) Work handling and welding method in assembly line
CN214724332U (en) Electromagnetic box part carrying and welding shared robot gripping apparatus
CN214109309U (en) Feeding and discharging system for nut welding of automobile door connecting piece
CN114986554A (en) Electromagnetic box part carrying and welding shared robot gripping apparatus
CN108381067B (en) Welding tractor suitable for all products
CN114435945A (en) Positioning system and positioning method for deformed gripper and deformed packing equipment
US20200223034A1 (en) Positioning and clamping system and method
CN217071058U (en) Multi-station plug-in welding robot
JPS643611B2 (en)
JPH0466753B2 (en)
CN111376014A (en) Elastic metal clamp and soundproof cotton assembling equipment
CN218708932U (en) Cargo transferring device
CN110666826A (en) Gripper device and truss robot
CN216369896U (en) Nested stamping workpiece overturning mechanism suitable for automatic stamping line and stamping line
CN215699085U (en) Positioning mechanism of conveying trolley and vehicle body conveying equipment
CN217946811U (en) Dirt box clamp
CN215149050U (en) Connecting rod type four-shaft workpiece taking and spraying integrated manipulator
CN217452731U (en) Positioning system of flexible carrying gripper and line side deformation clamp
CN219649194U (en) Front frame production line
KR100435667B1 (en) Side otr assembly system in vehicle
CN218342118U (en) Robot assembly
CN213793884U (en) Workpiece carrying device suitable for multi-station press and multi-station press

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination