CN207656685U - A kind of robot gripper regulating device for auto production line - Google Patents
A kind of robot gripper regulating device for auto production line Download PDFInfo
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- CN207656685U CN207656685U CN201721507943.9U CN201721507943U CN207656685U CN 207656685 U CN207656685 U CN 207656685U CN 201721507943 U CN201721507943 U CN 201721507943U CN 207656685 U CN207656685 U CN 207656685U
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- regulating device
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Abstract
The utility model provides a kind of robot gripper regulating device for auto production line, it includes handgrip ontology, switching mechanism and control unit, the handgrip ontology includes fixing bracket, clamping device, at least two detent mechanisms, first guide rail and at least two the second guide rails, first guide rail and the second guide rail are respectively arranged on fixing bracket, the clamping device is connected on first guide rail, the detent mechanism is connected on second guide rail, first guide rail is arranged vertically with second guide rail, the switching mechanism includes can be with the positioning device of the detent mechanism and the clamping device location fit, the clamping device and the detent mechanism are electrically connected with described control unit respectively.The handgrip regulating device has the function of high-precision adjustment positioning, and the operation that the rear surrounding baffle workpiece of vehicle not of the same race is carried and positioned can be realized by handgrip, and accuracy is high, and the course of work is reliable, and overall structure is simple and using easy to operate.
Description
Technical field
The utility model is related to a kind of robot gripper regulating devices for auto production line.
Background technology
The annual output of Automobile Enterprises, depends on the beat speed of production line, and a current production line can meet various
Mixed production, employee switch corresponding vehicle frock clamp by the production schedule, so that it may carry out corresponding vehicle life to press process layout
Production.Auto production line includes punching press, is welded, four big technique of application and general assembly, wherein be welded, quantity more with device category
Greatly, high degree of automation, the features such as welding process flow is complicated, welding transfer matic inner machine people will carry workpiece, typically first
It after clamping workpiece using handgrip, then is transported on welding fixture, workpiece welding is carried out by welding robot.With new model
It constantly imports, auto production line will be faced with equipment investment rationalization, personnel's efficiency maximization, production cost minimum etc.
Need the key subjects solved.
In the prior art, production different automobile types need to carry the workpiece of different model, are carried out when to various sizes of workpiece
When carrying, generally use is after robot replaces different types of carryings handgrip, then will carry handgrip and robot passes through one kind
From the method moved gun apparatus ATC and be reliably connected, or using by servo motor work is used on handgrip to control
The positioning pin of part positioning, the method being spatially adjusted in order to the position of positioning pin are completed；But replace inhomogeneity
There are spaces not enough in transfer robot motion range in production line to store multiple copy mechanically for the method for the carrying handgrip of type
The defect of handgrip；And the method for using Serve Motor Control then needs that system is transformed accordingly, to which there are systems to set
Count the defects of difficulty is larger, cost of investment is high, long in time limit.
Utility model content
In order to solve the above technical problems, the purpose of this utility model is to provide a kind of robots for auto production line
Handgrip regulating device, the handgrip regulating device have the function of high-precision adjustment positioning, can be realized to not of the same race by handgrip
The operation that the rear surrounding baffle workpiece of vehicle is carried and positioned, accuracy is high, and the course of work is reliable, and overall structure is simple and makes
With easy to operate.
Based on this, the utility model proposes a kind of robot gripper regulating devices for auto production line comprising
Handgrip ontology, switching mechanism and control unit, the handgrip ontology include fixing bracket, clamping device, at least two localization machines
Structure, the first guide rail and at least two the second guide rails, first guide rail and second guide rail are respectively arranged in the fixed branch
On frame, the clamping device is connected on first guide rail, and the detent mechanism is connected on second guide rail, and described
One guide rail is arranged vertically with second guide rail, and the switching mechanism includes can be with the detent mechanism and the clamping device
The positioning device of location fit, the clamping device and the detent mechanism are electrically connected with described control unit respectively.
Optionally, be separately installed with band brake apparatus on first guide rail and second guide rail, the band brake apparatus with
Described control unit is electrically connected.
Optionally, the clamping device includes clamping cylinder and fixture, and the fixture is rotatablely connected with the clamping
The output end of cylinder, the clamping cylinder are installed on first guide rail, and the clamping cylinder and described control unit electricity
Connection.
Optionally, the detent mechanism includes positioning cylinder, and swingable being installed on of the positioning cylinder described second is led
On rail, and the positioning cylinder is electrically connected with described control unit.
Further, step switch, the step switch are respectively arranged on the positioning cylinder and the clamping cylinder
It is electrically connected with described control unit.
Optionally, the switching mechanism includes fixed column, and the positioning device is fixedly connected in the fixed column, and institute
Positioning device is stated equipped with first positioning hole corresponding with the fixture and the second positioning corresponding with the positioning cylinder
Hole.
Optionally, the positioning device includes the first support and the second support, first support and second support
It is vertically connected and connects, one end of first support is fixedly connected on the side of the upper end of the fixed column, the first positioning hole
Positioned at the other end of first support, the second location hole is located at the free end of second support.
Further, first guide rail and second guide rail are located at described support bracket fastened the same side.
Optionally, first guide rail is located at the support bracket fastened midpoint, to pass through the support bracket fastened midpoint
And the plane parallel with first guide rail, as reference plane, each second guide rail is in the support bracket fastened width direction
On it is symmetrical about the reference plane.
Optionally, the fixing bracket is equipped with the terminal pad for the handgrip ontology to be connected with robot.
Implement the utility model embodiment, has the advantages that：
The robot gripper regulating device for auto production line of the utility model include handgrip ontology, switching mechanism and
Control unit, the handgrip ontology include fixing bracket, clamping device, at least two detent mechanisms, the first guide rail and at least two
The second guide rail of item, first guide rail and second guide rail are respectively arranged on the fixing bracket, and the clamping device connects
It is connected on first guide rail, the detent mechanism is connected on second guide rail, and first guide rail is led with described second
Rail is arranged vertically, and the switching mechanism includes that can be filled with the positioning of the detent mechanism and the clamping device location fit
It sets, the clamping device and the detent mechanism are electrically connected with described control unit respectively, in the rear surrounding baffle work for carrying out automobile
When the carrying of part, the detent mechanism can be positioned on the rear surrounding baffle workpiece of automobile, convenient for carrying out rear surrounding baffle
It is fixed, it is convenient by workpiece put into production line when can carry out fast and accurately location and installation；The clamping device then can
The clamping to rear surrounding baffle workpiece is realized, to ensure the stability of workpiece in the handling process；Clamping device and detent mechanism exist
It is moved on the first guide rail and the second guide rail respectively under the control of described control unit, by changing clamping device and positioning
Position of the overall structure of mechanism on fixing bracket carries out preliminary adjusting to the working condition of the handgrip, then will clamping
The cooperation that mechanism or detent mechanism are positioned with the positioning device is changed hands by this after ontology installed with robot
When being worked, robot drives fixing bracket to be moved under pre-designed program, at this time detent mechanism or clamping
Mechanism is remained stationary due to the reason with positioning device location fit, so detent mechanism or clamping device are relative to institute
Stating support bracket fastened position can occur to change accordingly so that the handgrip ontology can more accurately realize and different model
Automobile rear wall baffle workpiece corresponding position on cooperation, improve handgrip carry workpiece accuracy, make carrying work
Carry out it is relatively reliable.The adjustment process of entire handgrip is under the control of described control unit, by handgrip ontology and switching machine
Premised on structure location fit, the accurate cooperation for the workpiece that the gripper equipment of robot is carried with needs is realized, regulating device
Overall structure is fairly simple, easy to operate, and the course of work is reliable.
Further, band brake apparatus, the band brake apparatus are separately installed on first guide rail and second guide rail
It is electrically connected with described control unit, during handgrip ontology is adjusted, the band brake apparatus is opened, and adjusting finishes position
It sets after determining, band brake apparatus is locked, in order to be able to the detent mechanism on the clamping device and the second guide rail on the first guide rail
Adjustment after position be fixed, ensure the precision of its respective position, improve the reliability of workpiece handling process；Clamping device
Including clamping cylinder and fixture, clamping cylinder moves on the first guide rail, and clamping cylinder is electrically connected with control unit, the folder
The workpiece that tool can carry needs is clamped, and ensures to be reliably fixed workpiece in handling process, the clamping cylinder is then
Corresponding position adjustment can be carried out on the first guide rail under the control of the control unit, to drive fixture and different model
Workpiece is coordinated；The detent mechanism includes positioning cylinder, the positioning cylinder it is swingable be installed on second guide rail
On, movement and itself stretching motion of the positioning cylinder on the second guide rail can be realized to difference under the control of the control unit
The workpiece of model is accurately positioned, and ensures workpiece in standard mobile and in the installation process of production line with the positioning of other parts
True property improves working efficiency；The step switch being arranged on positioning cylinder and clamping cylinder is electrically connected with control unit, and can be passed through
The step switch feeds back the working condition of positioning cylinder and clamping cylinder to described control unit, control unit according to
The feedback information received carries out action judgement, in order to execute the carrying work of workpiece；Positioning device includes being vertically connected to connect
The first support and the second support, be respectively equipped with first positioning hole corresponding with the fixture in the first support and the second support
The corresponding second location hole with the positioning cylinder, structure is very simple, using by fixture and positioning cylinder respectively with
The two is fixed the mode that a positioning hole and second location hole carry out location fit, facilitates handgrip in the drive of robot
Under fixture and positioning cylinder are further accurately adjusted；First guide rail and second guide rail are located at the fixation
The same side of holder facilitates the progress of adjustment work, and first guide rail is located at the support bracket fastened midpoint, to pass through
It states support bracket fastened midpoint and the plane parallel with first guide rail is as reference plane, each second guide rail is described solid
Symmetrical about the reference plane in the width direction of fixed rack, i.e., positioning cylinder can realize YZ two on the second guide rail
The positioning in direction adjusts, and folder inlet casing can then realize the adjustment of XZ both directions on the first guide rail, the two cooperate into
Row work enables to the location fit of handgrip and workpiece more accurate；Fixing bracket is equipped with for by the handgrip ontology
The terminal pad being connected with robot, fixing bracket are attached and are detached with robot by the terminal pad, when not needing
Using described in this when handgrip ontology, handgrip ontology being removed from robot by the terminal pad, is received on storage rack
Collection and arrangement.
Description of the drawings
Fig. 1 is the axis side of the handgrip ontology of the robot gripper regulating device for auto production line described in the present embodiment
Schematic diagram；
Fig. 2 is the vertical view of the handgrip ontology of the robot gripper regulating device for auto production line described in the present embodiment
Structural schematic diagram；
Fig. 3 is that the handgrip ontology of the robot gripper regulating device for auto production line described in the present embodiment is placed on
Structural schematic diagram on storage rack；
Fig. 4 is the structure of the switching construction of the robot gripper regulating device for auto production line described in the present embodiment
Schematic diagram；
Fitted shaft side when Fig. 5 is the robot gripper adjustment device work for auto production line described in the present embodiment
Schematic diagram；
Cooperation side view when Fig. 6 is the robot gripper adjustment device work for auto production line described in the present embodiment
Structural schematic diagram.
Reference sign：
1, handgrip ontology, 11, fixing bracket, 12, clamping device, 121, clamping cylinder, 122, fixture, 13, detent mechanism,
131, positioning cylinder, the 14, first guide rail, the 15, second guide rail, 2, switching mechanism, 21, positioning device, the 211, first support,
2111, first positioning hole, the 212, second support, 2121, second location hole, 22, fixed column, 3, band brake apparatus, 4, terminal pad, 5,
Solenoid valve, 6, positioning pin, 7, storage rack, 8, detection switch in place, 9, detection switch in place, 10, action detection switch.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
The every other embodiment obtained, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be understood that the orientation of the instructions such as term "upper", "lower", "left", "right"
Or position relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the utility model and simplification is retouched
It states, does not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration and operation,
Therefore it should not be understood as limiting the present invention.
Referring to Fig. 1 to Fig. 6, the robot gripper regulating device for auto production line described in this preferred embodiment includes
Handgrip ontology 1, switching mechanism 2 and control unit, the handgrip ontology 1 include fixing bracket 11, clamping device 12, at least two
Detent mechanism 13, the first guide rail 14 and at least two the second guide rails 15, in the present embodiment, detent mechanism 13 and the second guide rail 15
Quantity is both preferably two, and first guide rail 14 and second guide rail 15 are respectively arranged on the fixing bracket 11, institute
It states clamping device 12 to be connected on first guide rail 14, the detent mechanism 13 is connected on second guide rail 15, described
First guide rail 14 is arranged vertically with second guide rail 15, and the switching mechanism 2 includes can be with the detent mechanism 13 and institute
State the positioning device 21 of 12 location fit of clamping device, the clamping device 12 and the detent mechanism 13 respectively with the control
Unit is electrically connected.
Based on the above structure, during workpiece is carried by the robot on auto production line, by handgrip ontology 1 and machine
People is in mating connection in order to proceed by the carrying work of workpiece, when needing replacing production vehicle in production process, then needs
Will on handgrip ontology 1 detent mechanism 13 and clamping device 12 be adjusted, in order to meet the rear surrounding baffle of different automobile types
The positioning and carrying of workpiece.The type for the automobile rear wall baffle workpiece that needs after robot and control unit are replaced are carried
Number and size after, robot be linked to handgrip ontology 1 according to the Sequence motion to switching mechanism 2 of setting themselves at, by localization machine
Structure 13 and positioning device 21 on switching mechanism 2 matches after positioning, then by robot according to being set in control unit
Program drives the fixing bracket 11 of handgrip ontology 1 to be moved, and enables detent mechanism 13 in the prescribed direction of the second guide rail 15
On moved, to complete adjustment to 13 relative position of detent mechanism, by detent mechanism 13 and positioning after the completion of adjustment work
Device 21 detaches, and then replaces the adjustment that another detent mechanism 13 continues position, two detent mechanisms 13 have adjusted
Bi Hou, then clamping device 12 and positioning device 21 are subjected to location fit, enable clamping device 12 in the rule of the first guide rail 14
Determine to be moved on direction, to be also adjusted correspondingly clamping device 12, after the completion of the adjustment of entire location fit, this is grabbed
Hand ontology 1 can carry out accurate location fit and clamping with the rear surrounding baffle workpiece for replacing vehicle, in order to complete vapour
The work of subsequent carrying and production installation on vehicle production line, the effective working efficiency improved on production line, and to automobile zero
The positioning of part is reliable, and accuracy is high.The structure and Principles of Regulation of the regulating device of the robot gripper are very simple, this work
The reliability of process is high, and easy to operate.
Wherein, it is separately installed with band brake apparatus 3 on the first guide rail 14 and the second guide rail 15, and band brake apparatus 3 and control are single
Member electrical connection, after the completion location fit of positioning device 21 of detent mechanism 13 or clamping device 12 and switching mechanism 2, control is single
It is first then control band brake apparatus 3 opening so that detent mechanism 13 or clamping device 12 are discharged, thus detent mechanism 13 and be clamped
The movement that mechanism 12 can then be set in the second guide rail 15 and 14 enterprising line position of the first guide rail respectively, completes the update of self-position,
After the position of detent mechanism 13 or clamping device 12, which obtains, to be determined, control unit control band brake apparatus 3 is locked, to fixed
Position mechanism 13 and the current location of clamping device 12 are fixed, to surrounding baffle workpiece after enabling handgrip ontology 1 to carry out
It positioning and carries, and the handling process of rear surrounding baffle workpiece and rear surrounding baffle workpiece and other parts is made to carry out the mistake of installation cooperation
Cheng Gengjia stablizes, safety higher.Referring to Fig. 1 to Fig. 3, clamping device 12 includes clamping cylinder 121 and fixture 122, fixture 122
It is connected to the output end of clamping cylinder 121, clamping cylinder 121 is installed on the first guide rail 14, clamping cylinder 121 and control unit
Electrical connection, under the control of the control unit, when robot drives handgrip ontology 1 to be moved at switching mechanism 2, by fixture 122 with
21 location fit of positioning device, when fixing bracket 11 moves, clamping cylinder 121 can be in the prescribed direction of the first guide rail 14
It is moved, to change the position of oneself, to adapt to the automobile rear wall baffle workpiece of different model, control unit can also be controlled
The stretching motion of itself of clamping cylinder 121 processed, to drive fixture 122 to carry out the movement of position, i.e., close to or far from fixed
Holder 11, to adapt to the size for the workpiece that different needs are carried；Detent mechanism 13 includes positioning cylinder 131, positioning cylinder 131
Swingable is installed on the second guide rail 15, and positioning cylinder 131 is electrically connected with control unit, and control unit controls robot band
When dynamic handgrip ontology 1 is moved at switching mechanism 2, positioning cylinder 131 and positioning device 21 are subjected to location fit, fixing bracket
When 11 movement so that positioning cylinder 131 can be moved in the prescribed direction of the second guide rail 15, further, make positioning
Cylinder 131 is swung relative to the second guide rail 15, and to complete the more accurate position adjustment of itself, control unit also can
Enough control positioning cylinders 131 carry out stretching motion, in order to which the output end of positioning cylinder 131 is inserted into the rear surrounding baffle of automobile
In the corresponding position of workpiece, reliable positioning is completed；It is respectively arranged with step switch on positioning cylinder 131 and clamping cylinder 121,
Step switch is electrically connected with control unit, and the action control of positioning cylinder 131 and clamping cylinder 121 is all made of solenoid valve and pneumatically controls
It makes, solenoid valve 5 is installed on fixing bracket 11, which is electrically connected with control unit, and in the actual work, positions gas
Step switch on cylinder 131 and clamping cylinder 121 is communicated with control unit, to complete to positioning cylinder 131 and clamp gas
The feedback of the working condition of cylinder 121, control unit is according to the feedback information received, the judgement acted, is carried out to solenoid valve 5
Control positioning cylinder 131 and the work of clamping cylinder 121 are to execute the operation for carrying workpiece.
Referring to Fig. 4, switching mechanism 2 includes fixed column 22, and positioning device 21 is fixedly connected in fixed column 22, positioning device
21 are equipped with first positioning hole 2111 corresponding with fixture 122 and second location hole 2121 corresponding with positioning cylinder 131,
When carrying out the adjustment of position to detent mechanism 13 and clamping device 12, fixture 122 and first positioning hole 2111 are positioned
Cooperation, thus fixes fixture 122, robot drives handgrip ontology 1 to be first moved to setting under the preset program of control unit
Good origin position, then further according to the program of the size of the rear surrounding baffle relative to respective model setting for 122 phase of fixture
The position of the clamping cylinder 121 of connection is adjusted, and is locked using band brake apparatus 3 after being adjusted in place；By positioning cylinder 131
Output end matched with second location hole 2121, thus positioning cylinder 131 is fixed, then positioning cylinder is controlled by control unit
131 return to origin position, are then carried out by the program of the size of the rear surrounding baffle relative to respective model of control unit setting
The adjustment of positioning cylinder 131 can also pass through the positioning cylinder 131 can accurately be positioned to rear surrounding baffle workpiece
The required precision of positioning when surrounding baffle workpiece coordinates with rear floor after realization.Positioning device 21 includes the first support 211 and the
Two support 212, the first support 211 are vertically connected with the second support 212 and connect, and one end of the first support 211 is fixedly connected on fixation
The side of the upper end of column 22, first positioning hole 2111 are located at the other end of the first support 211, and second location hole 2121 is located at second
The free end of support 212, positioning cylinder 131 carry out location fit by its output end, and fixture 122 is determined by its side
Position support carries out location fit, and the direction of positioning cylinder 131 is mutually perpendicular to the direction for positioning support, therefore the of positioning device 21
One support 211 and the second support 212 are mutually perpendicular to arrange, facilitate the fixation of the position of handgrip ontology 1 and switching mechanism 2, be not necessarily to
Direction is stretched into change, can be sequentially completed the positioning and adjustment of fixture 122 and positioning cylinder 131, be made entire adjustment process more
Add simply, operation is more convenient.
In addition, the first guide rail 14 and the second guide rail 15 are located at the same side of fixing bracket 11, convenient for detent mechanism 13 and folder
It holds mechanism 12 to be coordinated, keeps handgrip ontology 1 more convenient to the carrying of workpiece and positioning work；First guide rail 14, which is located at, to be fixed
The midpoint of holder 11, using the midpoint Jing Guo fixing bracket 11 and the plane parallel with the first guide rail 14 is as reference plane, respectively
Second guide rail 15 is symmetrical about reference plane in the width direction of fixing bracket 11, i.e., the first guide rail 14 is located at fixing bracket
At 11 point midway, to ensure fixture 122 when workpiece is clamped, the relatively intermediate position of workpiece can be corresponded to,
The stability higher of clamping handling process, the second guide rail 15 is set then to be symmetrically distributed in the both sides of the first guide rail 14, it can be in workpiece
Both sides symmetrically positioned, it is relatively reliable to match the process carried with fixture 122, needs and other parts carry out
Positioning accuracy higher when cooperation；First guide rail 14 and the second guide rail 15 are perpendicular arrangement, so determine when handgrip ontology 1
When position cylinder 131 is matched with the positioning device 21 of switching mechanism 2, robot drives fixing bracket under the control of the control unit
11 are moved according to the program set, and positioning cylinder 131 is moved and adjusted in 15 directions upper edge YZ of the second guide rail at this time
It is whole；When the fixture 122 of handgrip ontology 1 is matched with the positioning device 21 of switching mechanism 2, control of the robot in control unit
Lower drive fixing bracket 11 is moved according to the program set, and the clamping cylinder 121 being connected at this time with fixture 122 is
One guide rail, 14 directions upper edge XZ are moved and are adjusted, thus, it is possible to realize entire handgrip ontology 1 on tri- directions XYZ with need
The workpiece to be carried is adjusted correspondingly so that handgrip ontology 1 and the positioning of workpiece are relatively reliable.
Referring to Fig. 1 and Fig. 3, fixing bracket 11 is equipped with ATC modules (Atuo Tool Change), and automatic tool exchanges system
The abbreviation of system, is used as the attachment device that robot replaces handgrip ontology 1 in the present embodiment, and the handgrip ontology 1 passes through ATC
The terminal pad 4 of module is connected with robot, and robot then drives handgrip ontology 1 according to control by the terminal pad 4 of ATC modules
The program that unit is set in advance is moved, and ensures the smoothness of 1 movement of handgrip ontology；Positioning there are two being set on fixing bracket 11
Pin 6, two positioning pins 6 are arranged symmetrically in support bracket fastened width direction about the reference plane, and handgrip ontology 1 can pass through
Two positioning pins 6 carry out location fit with robot, facilitate the connection and installation of handgrip ontology 1 and robot.It is grabbed when to this
It after the completion of the use of hand ontology 1, is detached with robot by the terminal pad of ATC modules 4, the handgrip ontology 1 removed is put
It sets and is collected and arranges on storage rack 7, save the stowed location of working site.It is in place it to be provided with workpiece on handgrip ontology 1
Detection switch 8 facilitates the position of detection workpiece, handgrip ontology 1 is moved to the relative position of workpiece；Detent mechanism 13 and folder
During holding the progress position adjustment of mechanism 12, it is equipped with detection switch 9 in place at origin position, determines before adjustment starts convenient for confirming
Whether position cylinder 131 and clamping cylinder 121 are moved at origin；On band brake apparatus 3 on first guide rail 14 and the second guide rail 15
Equipped with action detection switch 10, control unit is provided signals to by action detection switch 10 after band brake apparatus 3 acts, with
The action that robot carries out next step is controlled convenient for it；The zero datum position for there are tri- directions T, B, H is made on handgrip ontology 1
It sets, can be used in the displacement distance for measuring positioning cylinder 131 and clamping cylinder 121 on handgrip ontology 1, improve entire handgrip ontology
The accuracy of upper detent mechanism and the adjustment of clamping device position.
The robot gripper regulating device for auto production line of the utility model include handgrip ontology, switching mechanism and
Control unit, the handgrip ontology include fixing bracket, clamping device, at least two detent mechanisms, the first guide rail and at least two
The second guide rail of item, first guide rail and second guide rail are respectively arranged on the fixing bracket, and the clamping device connects
It is connected on first guide rail, the detent mechanism is connected on second guide rail, and first guide rail is led with described second
Rail is arranged vertically, and the switching mechanism includes that can be filled with the positioning of the detent mechanism and the clamping device location fit
It sets, the clamping device and the detent mechanism are electrically connected with described control unit respectively, in the rear surrounding baffle work for carrying out automobile
When the carrying of part, the detent mechanism can be positioned on the rear surrounding baffle workpiece of automobile, convenient for carrying out rear surrounding baffle
It is fixed, it is convenient by workpiece put into production line when can carry out fast and accurately location and installation；The clamping device then can
The clamping to rear surrounding baffle workpiece is realized, to ensure the stability of workpiece in the handling process；Clamping device and detent mechanism exist
It is moved on the first guide rail and the second guide rail respectively under the control of described control unit, by changing clamping device and positioning
Position of the overall structure of mechanism on fixing bracket carries out preliminary adjusting to the working condition of the handgrip, then will clamping
The cooperation that mechanism or detent mechanism are positioned with the positioning device is changed hands by this after ontology installed with robot
When being worked, robot drives fixing bracket to be moved under pre-designed program, at this time detent mechanism or clamping
Mechanism is remained stationary due to the reason with positioning device location fit, so detent mechanism or clamping device are relative to institute
Stating support bracket fastened position can occur to change accordingly so that the handgrip ontology can more accurately realize and different model
Automobile rear wall baffle workpiece corresponding position on cooperation, improve handgrip carry workpiece accuracy, make carrying work
Carry out it is relatively reliable.The adjustment process of entire handgrip is under the control of described control unit, by handgrip ontology and switching machine
Premised on structure location fit, the accurate cooperation for the workpiece that the gripper equipment of robot is carried with needs is realized, regulating device
Overall structure is fairly simple, easy to operate, and the course of work is reliable.
It should be understood that describing various information, but these using term " first ", " second " etc. in the utility model
Information should not necessarily be limited by these terms, these terms are only used for same type of information being distinguished from each other out.For example, not departing from this
In the case of utility model range, " first " information can also be referred to as " second " information, similar, and " second " information can also
It is referred to as " first " information.
The above is preferred embodiments of the present invention, it is noted that for the ordinary skill of the art
For personnel, without departing from the principle of this utility model, several improvement and deformations can also be made, these improve and become
Shape is also considered as the scope of protection of the utility model.
Claims (10)
1. a kind of robot gripper regulating device for auto production line, which is characterized in that including handgrip ontology, switching mechanism
And control unit, the handgrip ontology include fixing bracket, clamping device, at least two detent mechanisms, the first guide rail and at least
Two the second guide rails, first guide rail and second guide rail are respectively arranged on the fixing bracket, the clamping device
It is connected on first guide rail, the detent mechanism is connected on second guide rail, first guide rail and described second
Guide rail is arranged vertically, and the switching mechanism includes that can be filled with the positioning of the detent mechanism and the clamping device location fit
It sets, the clamping device and the detent mechanism are electrically connected with described control unit respectively.
2. the robot gripper regulating device according to claim 1 for auto production line, which is characterized in that described
It is separately installed with band brake apparatus on one guide rail and second guide rail, the band brake apparatus is electrically connected with described control unit.
3. the robot gripper regulating device according to claim 2 for auto production line, which is characterized in that the folder
It includes clamping cylinder and fixture to hold mechanism, and the fixture is rotatablely connected with the output end of the clamping cylinder, the clamping
Cylinder is installed on first guide rail, and the clamping cylinder is electrically connected with described control unit.
4. the robot gripper regulating device according to claim 3 for auto production line, which is characterized in that described fixed
Position mechanism include positioning cylinder, the positioning cylinder is swingable to be installed on second guide rail, and the positioning cylinder with
Described control unit is electrically connected.
5. the robot gripper regulating device according to claim 4 for auto production line, which is characterized in that described fixed
It is respectively arranged with step switch on position cylinder and the clamping cylinder, the step switch is electrically connected with described control unit.
6. the robot gripper regulating device according to claim 4 for auto production line, which is characterized in that described to cut
Converting mechanism includes fixed column, and the positioning device is fixedly connected in the fixed column, and the positioning device is equipped with and institute
State the corresponding first positioning hole of fixture and second location hole corresponding with the positioning cylinder.
7. the robot gripper regulating device according to claim 6 for auto production line, which is characterized in that described fixed
Position device includes the first support and the second support, and first support is vertically connected with second support and connects, described first
One end of part is fixedly connected on the side of the upper end of the fixed column, and the first positioning hole is located at the another of first support
End, the second location hole are located at the free end of second support.
8. the robot gripper regulating device according to any one of claims 1 to 7 for auto production line, feature exists
In first guide rail and second guide rail are located at described support bracket fastened the same side.
9. the robot gripper regulating device according to claim 8 for auto production line, which is characterized in that described
One guide rail is located at the support bracket fastened midpoint, with by the support bracket fastened midpoint and parallel with first guide rail
Plane as reference plane, each second guide rail symmetrically divides in the support bracket fastened width direction about the reference plane
Cloth.
10. the robot gripper regulating device according to claim 1 for auto production line, which is characterized in that described
Fixing bracket is equipped with the terminal pad for the handgrip ontology to be connected with robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721507943.9U CN207656685U (en) | 2017-11-13 | 2017-11-13 | A kind of robot gripper regulating device for auto production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721507943.9U CN207656685U (en) | 2017-11-13 | 2017-11-13 | A kind of robot gripper regulating device for auto production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207656685U true CN207656685U (en) | 2018-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721507943.9U Expired - Fee Related CN207656685U (en) | 2017-11-13 | 2017-11-13 | A kind of robot gripper regulating device for auto production line |
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| CN (1) | CN207656685U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114434435A (en) * | 2022-03-18 | 2022-05-06 | 上汽通用五菱汽车股份有限公司 | High-flexibility side wall assembly pre-installation gripper, side wall installation station and deviation correction method thereof |
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2017
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114434435A (en) * | 2022-03-18 | 2022-05-06 | 上汽通用五菱汽车股份有限公司 | High-flexibility side wall assembly pre-installation gripper, side wall installation station and deviation correction method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180727 Termination date: 20191113 |