CN210655218U

CN210655218U - Front floor gripping device and robot

Info

Publication number: CN210655218U
Application number: CN201921437836.2U
Authority: CN
Inventors: 樊水晶; 高颖阁; 许丽虹
Original assignee: SAIC GM Wuling Automobile Co Ltd
Current assignee: SAIC GM Wuling Automobile Co Ltd
Priority date: 2019-08-30
Filing date: 2019-08-30
Publication date: 2020-06-02
Anticipated expiration: 2029-08-30

Abstract

The utility model discloses a preceding floor tongs device and robot, this preceding floor tongs device includes the frame and sets up the clamping mechanism in the frame and inhales the material subassembly, clamping mechanism includes first clamping component and second clamping component, the both ends of frame are located respectively to first clamping component and second clamping component, first clamping component includes first tight piece of clamp and first drive assembly, first drive assembly is used for driving first tight piece of clamp to rise or descend, second clamping component includes the tight piece of clamp of second and second drive assembly, the tight piece of second drive assembly drive second clamp is close to or keeps away from the material, it includes first sucking disc and second sucking disc to inhale the material subassembly. The utility model uses the second sucker to suck the material, and then uses the first sucker to correct the material, so that the material can be better sucked to the position of the gripper; then the front end and the rear end of the material are clamped tightly through the matching between the first clamping component and the second clamping component, and the material is accurately grabbed.

Description

Front floor gripping device and robot

Technical Field

The utility model relates to a material snatchs technical field, concretely relates to preceding floor tongs device and robot.

Background

The part of putting on the car body line splicing line is divided into a front car body assembly, a rear lower car body welding assembly and a front floor assembly, when the front floor assembly is put on the part, the part is wrapped to an accurate trolley only by front and rear groups of clamping, or a robot directly grabs the front floor part from a material frame through a gripper device to carry out line putting, and the gripper clamps the edge of the part through two positioning pins and a single-side two groups of clamps in the grabbing process and carries to a main line. However, in the process of grabbing parts, the surfaces of some parts are uneven, and the conventional grabbing device cannot correct the parts before grabbing, so that the grabbing effect is influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a preceding floor tongs and robot to solve the problem that current preceding floor tongs can't rectify the material.

In order to achieve the above object, the present invention provides a front floor gripper device for gripping a material on a front floor, the front floor gripper device comprising a frame, and a clamping mechanism and a material sucking component arranged on the frame, the clamping mechanism comprising a first clamping component and a second clamping component, the first clamping component and the second clamping component being respectively disposed at two ends of the frame, the first clamping component and the second clamping component cooperate to clamp the material, the first clamping component comprising a first clamping block and a first driving component, the first driving component being configured to drive the first clamping block to ascend or descend, the second clamping component comprising a second clamping block and a second driving component, the second driving component driving the second clamping block to approach or keep away from the material, the material sucking component comprising a first suction cup and a second suction cup, the first sucking disc is used for being matched with the second sucking disc to suck the materials.

Preferably, the first driving assembly comprises a first lifting cylinder and a first vertical sliding rail arranged on the rack, a first mounting seat is arranged on the first lifting cylinder, a first sliding block is arranged on the first mounting seat and is in sliding fit with the first vertical sliding rail, the first clamping block is connected with the first lifting cylinder, and the first lifting cylinder is used for driving the first clamping block to ascend or descend.

Preferably, the second driving assembly comprises a second lifting cylinder, a connecting frame and a second vertical sliding rail arranged on the rack, a second mounting seat is arranged on the second lifting cylinder, a second sliding block is arranged on the second mounting seat, and the second sliding block is in sliding fit with the second vertical sliding rail; one side of the vertical slide rail of second is provided with horizontal limiting plate, horizontal limiting plate with the cooperation of the first end sliding contact of the tight piece of second clamp, the one end of link with the second lift cylinder is connected, the other end of link with the second end of the tight piece of second clamp is connected, the second lift cylinder is used for the drive the link rises or descends, in order to drive the tight piece of second clamp is kept away from or is faced the removal of first clamp piece.

Preferably, the number of the first clamping assemblies and the number of the second clamping assemblies are two, the two groups of the first clamping assemblies are located at the first end of the rack, the two groups of the second clamping assemblies are located at the second end of the rack, and the first clamping assemblies and the second clamping assemblies are arranged in a one-to-one correspondence manner.

Preferably, the first suckers are electromagnetic suckers, the number of the first suckers is four, two of the first suckers are respectively arranged on two first installation bases, and the other two first suckers are respectively arranged on two second installation bases.

Preferably, the quantity of second sucking disc is two, two the second sucking disc is equallyd divide and is located the both sides of frame just are close to the second end setting of frame.

Preferably, the frame is provided with a connecting rod, the two ends of the connecting rod are respectively provided with a camera, and the two cameras all face towards the front floor.

Preferably, the connecting rod is provided with a positioning pin, and the positioning pin is arranged close to one end of the connecting rod.

Preferably, a gun changing disc and a connecting plate are further arranged above the rack, and the gun changing disc is connected with the rack through the connecting plate.

Further, the utility model discloses still provide a robot, the robot includes as above preceding floor tongs.

In the technical scheme of the utility model, a first clamping component and a second clamping component are respectively arranged at two ends of a frame of a front floor gripper device, a first driving component in the first clamping component is used for driving a first clamping block to ascend or descend, and a second driving component in the second clamping component drives a second clamping block to be close to or far away from a material, so that the first clamping block and the second clamping block are matched to clamp or loosen the material; the rack is also provided with a first sucker and a second sucker which are matched with each other to suck materials. The utility model uses the second sucker to suck the material, and then uses the first sucker to correct the material, so that the material can be better sucked to the position of the gripper; then the front end and the rear end of the material are clamped tightly through the matching between the first clamping component and the second clamping component, and the material is accurately grabbed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural view of a front floor gripper according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a first clamping assembly in the front floor gripper according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a second clamping assembly in the front floor gripper according to an embodiment of the present invention.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				10	Rack	34	Second mounting seat
20	First clamping assembly	35	Second slide block
				21	First clamping block	36	Connecting frame
22	First lifting cylinder	37	Transverse limiting plate
				23	First vertical slide rail	40	First suctionDish
24	First mounting seat	50	Second suction cup
				25	First slide block	60	Connecting rod
30	Second clamping assembly	70	Camera head
				31	Second clamping block	80	Locating pin
32	Second lifting cylinder	90	Gun changing plate
				33	Second vertical slide rail

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, the technical solutions between the embodiments of the present invention can be combined with each other, but it is necessary to be able to be realized by a person having ordinary skill in the art as a basis, and when the technical solutions are contradictory or cannot be realized, the combination of such technical solutions should be considered to be absent, and is not within the protection scope of the present invention.

Referring to fig. 1 to 3, in an embodiment of the present invention, a front floor gripper for gripping materials on a front floor is provided, the front floor gripping device comprises a rack 10, a clamping mechanism and a material sucking assembly, wherein the clamping mechanism and the material sucking assembly are arranged on the rack 10, the clamping mechanism comprises a first clamping assembly 20 and a second clamping assembly 30, the first clamping assembly 20 and the second clamping assembly 30 are respectively arranged at two ends of the rack 10, the first clamping assembly 20 and the second clamping assembly 30 are matched to clamp materials, the first clamping assembly 20 comprises a first clamping block 21 and a first driving assembly, the first driving assembly is used for driving the first clamping block 21 to ascend or descend, the second clamping assembly 30 comprises a second clamping block 31 and a second driving assembly, the second driving assembly drives the second clamping block 31 to be close to or far away from the materials, the material sucking assembly comprises a first suction cup 40 and a second suction cup 50, and the first suction cup 40 is used for being matched with the second suction cup 50 to suck the materials.

In this embodiment, a first clamping assembly 20 and a second clamping assembly 30 are respectively arranged at two ends of the frame 10, in the process of grabbing materials, a first driving assembly in the first clamping assembly 20 drives the first clamping block 21 to descend to the materials, a second driving assembly in the second clamping assembly 30 drives the second clamping block 31 to move towards the first clamping block 21, and the purpose of clamping the materials is achieved through the front-back clamping cooperation of the first clamping block 21 and the second clamping block 31; the frame 10 is also provided with a plurality of first suckers 40 and second suckers 50, the utility model uses the first suckers 40 to correct the material after the second suckers 50 suck the material, so that the material is better sucked to the position of the front floor gripper device; and then the front end and the rear end of the material are clamped through the matching between the first clamping component 20 and the second clamping component 30, so that the material can be accurately grabbed. The materials in this embodiment are described by taking a front floor member as an example.

As shown in fig. 2, the first driving assembly includes a first lifting cylinder 22 and a first vertical slide rail 23 disposed on the frame 10, a first mounting seat 24 is disposed on the first lifting cylinder 22, a first slider 25 is disposed on the first mounting seat 24, the first slider 25 is in sliding fit with the first vertical slide rail 23, the first clamping block 21 is connected with the first lifting cylinder 22, and the first lifting cylinder 22 is used for driving the first clamping block 21 to ascend or descend. In a preferred embodiment, the first lifting cylinder 22 is slidably disposed on the first vertical slide rail 23 through the first slider 25, and the first lifting cylinder 22 can slide up and down along the direction of the first vertical slide rail 23, so as to change the distance between the first lifting cylinder 22 and the material and drive the first lifting cylinder 22 to adjust the distance between the first clamping block 21 and the material. When the material needs to be grabbed, the first lifting cylinder 22 drives the first clamping block 21 to descend towards the material, and after the material is conveyed, the first lifting cylinder 22 drives the first clamping block 21 to ascend to the original position.

As shown in fig. 3, the second driving assembly includes a second lifting cylinder 32, a connecting frame 36 and a second vertical slide rail 33 arranged on the rack 10, a second mounting seat 34 is arranged on the second lifting cylinder 32, a second sliding block 35 is arranged on the second mounting seat 34, and the second sliding block 35 is in sliding fit with the second vertical slide rail 33; one side of the second vertical slide rail 33 is provided with a horizontal limiting plate 37, the first end sliding contact cooperation of horizontal limiting plate 37 and second clamp piece 31, the one end and the second lift cylinder 32 of link 36 are connected, the other end and the second end of second clamp piece 31 of link 36 are connected, second lift cylinder 32 drive link 36 rises or descends to drive second clamp piece 31 keep away from or move towards first clamp piece 21. In a preferred embodiment, the second lifting cylinder 32 slides up and down along the direction of the second vertical slide rail 33, so as to change the distance between the second lifting cylinder 32 and the material and drive the second lifting cylinder 32 to adjust the distance between the second clamping block 31 and the material; when the material needs to be grabbed, the second lifting cylinder 32 drives the connecting frame 36 to descend, so that the second clamping block 31 is driven to slide towards the first clamping block 21 on the transverse limiting plate 37, and thus the first clamping block 21 and the second clamping block 31 are matched to clamp the material; when the material handling is completed, the second lifting cylinder 32 drives the connecting frame 36 to ascend, so as to drive the second clamping block 31 to slide on the transverse limiting plate 37 in the direction away from the first clamping block 21, and thus the second clamping block 31 returns to the original position.

The number of the first clamping assemblies 20 and the number of the second clamping assemblies 30 are two, the two sets of the first clamping assemblies 20 are located at the first end of the rack 10, the two sets of the second clamping assemblies 30 are located at the second end of the rack 10, and the first clamping assemblies 20 and the second clamping assemblies 30 are arranged in a one-to-one correspondence manner. In a preferred embodiment, the first end is the front end of the frame 10, the second end is the rear end of the frame 10, two sets of first clamping assemblies 20 are respectively disposed at the positions of the front end of the frame 10 and the positions of the left and right sides of the frame 10, two sets of second clamping assemblies 30 are respectively disposed at the positions of the rear end of the frame 10 and the positions of the left and right sides of the frame 10, and the first clamping assemblies 20 and the second clamping assemblies 30 on the same horizontal line correspond to each other one to one, so that the clamping force on the material can be uniform, and the material can be better clamped.

The first suction cups 40 of the present embodiment are electromagnetic suction cups, the number of the first suction cups 40 is four, two of the first suction cups 40 are respectively disposed on the two first mounting seats 24, and the other two first suction cups 40 are respectively disposed on the two second mounting seats 34. The number of the second suction cups 50 is two, and the two second suction cups 50 are respectively arranged on two sides of the frame 10 and close to the second end of the frame 10. In the preferred embodiment, the second suction cup 50 is a general suction cup, the first suction cup 40 is an electromagnetic suction cup, and the electromagnetic suction cup is an electromagnetic clamp which fixes the workpiece to be processed by the suction force generated by the suction cup body after the electromagnetic coil is powered on, so that the suction force of the electromagnetic suction cup is higher than that of the general suction cup. The part on the front floor is large in area and is a thin plate, certain deformation can be generated in the material frame, the part is corrected through the matching of a common sucking disc and an electromagnetic sucking disc on the front floor gripping device before the part is gripped, and the using effect of the common sucking disc can be influenced because the front floor is provided with a plurality of uneven ribs for increasing the strength, so that the common sucking disc is correspondingly added at the position of the front floor gripping device corresponding to the plane, the electromagnetic sucking discs are uniformly distributed at the position of the front floor gripping device corresponding to the periphery of the front floor, and the adsorption to the uneven position is realized; when the common sucker and the electromagnetic sucker are matched to suck the parts, the front floor is clamped by the clamping mechanism to be loaded.

In addition, a connecting rod 60 is provided on the frame 10, and two cameras 70 are respectively provided at both ends of the connecting rod 60, and both the cameras 70 are disposed toward the front floor. Before grabbing the materials, the camera 70 firstly scans the materials closest to the front floor gripper in the material frame, and then the grabbing operation is performed in the above manner, so that the time for grabbing the materials can be saved, and the excessive time for searching the materials is avoided. Wherein, camera 70 is the 2D camera, and the 2D camera can accurately find the characteristic of material to more accurate snatching the material.

The connecting rod 60 is provided with a positioning pin 80, and the positioning pin 80 is arranged near one end of the connecting rod 60. The positioning pin 80 is used for positioning the material, which is beneficial for the front floor gripper to more accurately grip the material. A gun changing plate 90 and a connecting plate are further arranged above the machine frame 10, and the gun changing plate 90 is connected with the machine frame 10 through the connecting plate. One side of the gun changing plate 90 is connected with the connecting plate, and the other side of the gun changing plate 90 is connected with other parts of the robot. The gun changing plate 90 is a gun changing plate 90 in the prior art, and the structure and the working principle are not described in detail.

Further, the utility model provides a robot, this robot include as above preceding floor tongs, this robot has optimized workshop place station overall arrangement, makes BOP (supplementary workshop control system) have more kinds of selections, and workshop production place utilization ratio is higher. The specific structure of the front floor gripper refers to the above embodiments, and since the robot adopts all technical solutions of the above embodiments, at least all beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.

The above is only the preferred embodiment of the present invention, not limiting the scope of the present invention, all of which are under the concept of the present invention, the equivalent structure transformation made by the contents of the specification and the drawings is utilized, or the direct/indirect application in other related technical fields is included in the patent protection scope of the present invention.

Claims

1. A front floor gripping device is used for gripping materials on a front floor and is characterized by comprising a rack, a clamping mechanism and a material sucking assembly, wherein the clamping mechanism and the material sucking assembly are arranged on the rack, the clamping mechanism comprises a first clamping assembly and a second clamping assembly, the first clamping assembly and the second clamping assembly are respectively arranged at two ends of the rack, the first clamping assembly and the second clamping assembly are matched to clamp the materials, the first clamping assembly comprises a first clamping block and a first driving assembly, the first driving assembly is used for driving the first clamping block to ascend or descend, the second clamping assembly comprises a second clamping block and a second driving assembly, the second driving assembly drives the second clamping block to be close to or far away from the materials, and the material sucking assembly comprises a first sucker and a second sucker, the first sucking disc is used for being matched with the second sucking disc to suck the materials.

2. The front floor gripper of claim 1, wherein the first driving assembly comprises a first lifting cylinder and a first vertical slide rail arranged on the frame, a first mounting seat is arranged on the first lifting cylinder, a first sliding block is arranged on the first mounting seat and is in sliding fit with the first vertical slide rail, the first clamping block is connected with the first lifting cylinder, and the first lifting cylinder is used for driving the first clamping block to ascend or descend.

3. The front floor gripper of claim 2, wherein the second driving assembly comprises a second lifting cylinder, a connecting frame and a second vertical slide rail arranged on the frame, the second lifting cylinder is provided with a second mounting seat, the second mounting seat is provided with a second sliding block, and the second sliding block is in sliding fit with the second vertical slide rail; one side of the vertical slide rail of second is provided with horizontal limiting plate, horizontal limiting plate with the cooperation of the first end sliding contact of the tight piece of second clamp, the one end of link with the second lift cylinder is connected, the other end of link with the second end of the tight piece of second clamp is connected, the second lift cylinder is used for the drive the link rises or descends, in order to drive the tight piece of second clamp is kept away from or is faced the removal of first clamp piece.

4. The front floor gripper of claim 3, wherein the number of first clamping assemblies and the number of second clamping assemblies are two, two sets of first clamping assemblies being located at a first end of the frame and two sets of second clamping assemblies being located at a second end of the frame, the first clamping assemblies and the second clamping assemblies being arranged in a one-to-one correspondence.

5. The front floor gripper as claimed in claim 4, wherein said first suction cups are electromagnetic suction cups, said first suction cups being four in number, two of said first suction cups being disposed on two of said first mounting seats, and the other two of said first suction cups being disposed on two of said second mounting seats.

6. The front floor gripper of claim 4, wherein the number of said second suction cups is two, and two of said second suction cups are disposed on both sides of said frame and adjacent to said second end of said frame.

7. A front floor gripper as claimed in any one of claims 1 to 6, wherein a connecting rod is provided on said frame, said connecting rod having a camera provided at each end, both said cameras being disposed towards said front floor.

8. A front floor grip as claimed in claim 7 wherein said connecting bar is provided with a locating pin and said locating pin is located adjacent one end of said connecting bar.

9. The front floor gripper as claimed in any one of claims 1 to 6, wherein a gun changing plate and a connecting plate are further provided above the frame, and the gun changing plate is connected to the frame through the connecting plate.

10. A robot, characterized in that the robot comprises a front floor gripper according to any one of claims 1-9.