CN212352018U - Multi-vehicle type sharing servo tongs device - Google Patents
Multi-vehicle type sharing servo tongs device Download PDFInfo
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- CN212352018U CN212352018U CN202020428946.9U CN202020428946U CN212352018U CN 212352018 U CN212352018 U CN 212352018U CN 202020428946 U CN202020428946 U CN 202020428946U CN 212352018 U CN212352018 U CN 212352018U
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Abstract
The utility model provides a multi-vehicle type sharing servo tongs device, wherein, including the tongs frame, be equipped with X on the tongs frame to servo motor, Y to servo motor, X to servo motor with Y is connected to servo motor mutually perpendicular, X is equipped with X to the shaft coupling on to servo motor, X is equipped with X to removing the frame to shaft coupling bilateral symmetry, each X all is equipped with the first unit of snatching to removing on the frame, Y is equipped with Y to the shaft coupling on to servo motor, Y is connected with Y to removing the frame on to the shaft coupling, Y is equipped with Z to the locating rack on removing the frame, Z snatchs the unit to the second that is equipped with the activity on the locating rack, still be equipped with control on the tongs frame first unit of snatching, Z snatchs the integrated form valve island of unit to locating rack and second. The utility model discloses can reduce device area and investment cost, reduce the fault rate that switching time and switching lead to, the new motorcycle type data of later stage integration of being convenient for.
Description
Technical Field
The utility model relates to a white automobile body automatic snatchs technical field, more specifically relates to a multi-vehicle type sharing servo tongs device.
Background
The collinear production of multiple vehicle types in a welding workshop is an inevitable means for improving production competitiveness of each factory, and process positioning holes of workpieces of different vehicle types are different, so that the robot gripper needs to adopt different grippers to grip different workpieces. The mainstream production line shares 5-6 types of vehicle types, and less 3-4 types, namely, the number of grippers at each station is large, and the plurality of gripper switching stations means that more space must be planned for storing the switched grippers in the welding production line, so that the automatic production line occupies larger area.
At present, the domestic application scheme is as follows: the robot of each station sets up a special tongs to every motorcycle type, and the tongs is connected through switching dish with the robot and passes through, switches and has the quick plug connecting device of gas, electricity on the dish. And one side of the switching disc is arranged on the gripper, and the other side of the switching disc is arranged on the robot, when a vehicle type needs to be produced, the robot receives a vehicle type signal input by the PLC, the vehicle type signal is compared with a tool number (vehicle type identification) on the gripper, if the vehicle type signal is consistent with the tool number, switching is not needed, and if the vehicle type signal is inconsistent with the tool number, the robot executes a switching program to switch the gripper. The hand grips are usually stored on a fixed hand grip storage rack or a rotating table storage rack, and particularly, the number of hand grip robots used on a floor sub-assembly line, a floor assembly line, a side wall line and a door cover line is large, the occupied area of equipment is large, the investment cost is high, the subsequent integration time is long, the switching time is long, and the frequency of switching faults is high.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome that current welding tongs equipment area is big, and investment cost is high, and follow-up integrated time is long, and switching time is long and switch the shortcoming that trouble frequency of occurrence is high, provides a multi-vehicle type sharing servo tongs device. The utility model discloses can reduce device area and investment cost, reduce the fault rate that switching time and switching lead to, the new motorcycle type data of later stage integration of being convenient for.
In order to solve the technical problem, the utility model discloses a technical scheme is: the utility model provides a multi-vehicle type sharing servo tongs device, wherein, includes the tongs frame, be equipped with X on the tongs frame to servo motor, Y to servo motor, X to servo motor with Y is connected perpendicularly mutually to servo motor, X is equipped with X to the shaft coupling on to servo motor, X is equipped with X to the shaft coupling bilateral symmetry and moves the frame, each X all is equipped with first unit of snatching to moving on the frame, Y is equipped with Y to the shaft coupling to servo motor, Y is connected with Y to moving on the shaft coupling and moves the frame, Y is equipped with Z to the locating rack on moving the frame, Z is equipped with movable second on the locating rack and snatchs the unit, still be equipped with the control on the tongs frame first unit of snatching, Z snatchs the integrated form valve island of unit to locating rack and second. In the technical scheme, the X-direction servo motor controls the movement of the first grabbing units on the X-direction moving frame on two sides of the X-direction servo motor, so that the position of the first grabbing units in the X direction is adjusted; the Y-direction servo motor controls the movement of the Z-direction positioning frame on the Y-direction moving frame, so that the position of the second grabbing unit in the Y direction can be adjusted by changing the position of the second grabbing unit on the Y-direction moving frame along with the Z-direction positioning frame; the second grabbing unit is movably arranged on the Z-direction positioning frame, and the position of the second grabbing unit in the Z direction can be changed as long as the second grabbing unit moves on the Z-direction positioning frame; the grabbing and moving actions of the first grabbing unit and the second grabbing unit are controlled by the PLC control system through the integrated valve island. According to the technical scheme, the positions of the first grabbing unit and the second grabbing unit in the X direction, the Y direction and the Z direction can be automatically changed according to different processed vehicle types, so that workpieces of various vehicle types can be grabbed. A large amount of redundant grabbing equipment and storage racks are omitted, the overlarge occupied area of the equipment is avoided, and the production cost is saved.
Further, X is to moving the frame and including X to lead screw, X to screw-nut, X to guide rail, X to mounting panel and X to the slider, X all is equipped with to the both sides of lead screw X is to the guide rail, X passes to the lead screw X is to screw-nut, X all is equipped with X to the lead screw supporting seat to the both ends of lead screw, X passes through to the one end of lead screw X to the lead screw supporting seat with X is to the coupling joint, X is established to the mounting panel X is to screw-nut below, X passes through to the both sides of mounting panel X to the slider with X is to guide rail sliding connection, first unit of snatching is located X is to on the mounting panel. X makes X remove to the mounting panel on X to guide rail and X to the lead screw through X to the lead screw and X to mutually supporting of lead screw nut among this technical scheme for X changes its X position on the orientation to the first unit of snatching on the mounting panel, snatchs the operation to the work piece of different motorcycle types.
Further, the first unit of snatching includes first pin cylinder and first detection switch, first pin cylinder with X is connected through first cylinder installing support between to the mounting panel, first detection switch is fixed through first detection switch support on the first pin cylinder. The first pin cylinder is used for clamping and grabbing the positioning hole of the workpiece under the control of the integrated valve island before the workpiece and the first pin cylinder are detected by the first detection switch, and only when the grabbed workpiece is in a flat state, the cylinder of the first pin cylinder is in a normal state, and the first pin cylinder can grab and carry the workpiece.
Further, Y includes Y to lead screw, Y to screw-nut, two Y to guide rail, Y to mounting panel and Y to the slider to removing the frame, Y all is equipped with Y to the lead screw supporting seat to the both ends of lead screw, Y passes through to the one end of lead screw Y to the lead screw supporting seat with Y to the coupling joint, Y passes to the lead screw Y is to screw-nut, each Y all is equipped with Y to mechanical stopper to the both ends of guide rail, each Y all passes through to the one end of guide rail Y to mechanical stopper respectively with X is to the coupling joint both sides X corresponds to the screw-nut supporting seat and connects, Y is in to the slider setting through Y to the mounting panel on two Y to the guide rail, Z is located to the locating rack Y to mounting panel and Y to between the screw-nut. According to the technical scheme, the Y direction servo motor is matched with the screw rod and the Y direction screw nut through the Y direction screw rod, the Y direction mounting plate is connected with the Z direction positioning frame to move on the Y direction guide rail and the Y direction screw rod, so that the Z direction positioning frame is used for changing the position of the Z direction positioning frame in the Y direction, the workpieces of different vehicle types are grabbed, the Y direction mechanical limiting block is used for limiting the position of the Y direction mounting plate, and the Y direction mounting plate is prevented from being separated from the moving track.
Furthermore, an X-direction pointer is arranged on the X-direction sliding block, a corresponding X-direction graduated scale is arranged on the gripper frame, a Y-direction pointer is arranged on the Y-direction sliding block, and a corresponding Y-direction graduated scale is arranged on the gripper frame. The X/Y direction pointer and the X/Y direction pointer scale can enable the X direction servo motor and the Y direction servo motor to be quickly positioned and quickly recover track teaching of all vehicle types, and auxiliary teaching of workpieces is not needed.
Furthermore, Z is to the locating rack including Z to guide rail, Z to the telescoping cylinder, Z is to guide rail one end and fixes Y is to screw-nut last, the Z is to the guide rail other end and fixes Y is to on the mounting panel, be equipped with Z on the Z to the guide rail and lock to mechanical stopper, Z to slider and slide rail, the slide rail lock with Z is to the slider connection, Z to the slider with Z is to the telescoping cylinder connection, the second snatchs the unit and fixes Z is to on the slider. The Z-direction guide rail is positioned between the Z-direction mounting plate and the Z-direction screw nut, so the Z-direction screw nut can drive the Z-direction mounting plate and the Z-direction guide rail to move on the Y-direction guide rail, the Z-direction telescopic cylinder controls the position of the Z-direction slider on the Z-direction guide rail, the position of a second grabbing unit connected with the Z-direction slider on the Z-direction guide rail is changed, and the guide rail lock locks and unlocks the Z-direction slider to limit the displacement of the Z-direction slider.
Furthermore, the second grabbing unit comprises a second air cylinder mounting support and a second pin air cylinder, the second air cylinder mounting support is fixed with the Z-direction sliding block, and the second pin air cylinder is mounted on the second air cylinder mounting support. The second pin cylinder is used for clamping and grabbing the positioning hole of the workpiece under the control of the integrated valve island, a second detection switch is needed to detect the workpiece and the second pin cylinder, and only when the grabbed workpiece is in a flat state, the cylinder of the second pin cylinder is in a normal state in a pin feeding mode, and the second pin cylinder can grab and carry the workpiece.
Preferably, the X-direction moving frame and the Y-direction moving frame are both provided with protective covers. The protection casing can be to X to removing frame and Y to removing the frame and playing dustproof guard action, avoids dust debris to get into X to removing the frame and Y to removing the frame, influences the device and uses.
Further, a mounting flange for connecting a mechanical arm is assumed on the gripper frame. The mounting flange is used for fixedly mounting the device on a mechanical arm, and the device carries out carrying work by the mechanical arm after grasping a workpiece.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model can change the positions of the first grabbing unit and the second grabbing unit in the X direction, the Y direction and the Z direction through the matching of the X-direction moving frame, the Y-direction moving frame and the Z-direction positioning frame, and grab the workpieces of a plurality of vehicle types, thereby reducing the occupied area of the equipment and the investment cost;
2. the utility model drives the X-direction moving frame and the Y-direction moving frame through the X-direction servo motor and the Y-direction servo motor, and the moving frame can reach the workpiece grabbing position of a corresponding vehicle type only by executing the switching process, so that the switching time is short;
3. the utility model discloses a cooperation of first grabbing unit and second grabbing unit for switching action need not the tongs and breaks away from and the coupling, and equipment failure rate obtains reducing;
4. the utility model discloses a X Y to the scale and with X Y to the cooperation of pointer for X can fix a position fast and resume the orbit teaching of all motorcycle types fast to servo motor and Y to servo motor, and do not need the work piece to assist the teaching.
5. The utility model discloses a cooperation of first detection switch and second detection switch can guarantee to be in normally the state that targets in place between pin cylinder and the work piece before grabbing a piece at first pin cylinder and second pin cylinder.
Drawings
Fig. 1 is a schematic overall structure diagram of a multi-vehicle type common servo gripper according to a first embodiment.
Fig. 2 is a schematic structural diagram of the multi-vehicle type common servo gripper after the gripper frame is removed according to the first embodiment.
Fig. 3 is a schematic structural diagram of an X-direction moving frame in a multi-vehicle type common servo gripper device according to a first embodiment.
Fig. 4 is a schematic structural diagram of a Y-direction moving frame in a multi-vehicle type common servo gripper device according to a first embodiment.
Fig. 5 is a schematic structural diagram of a Z-direction positioning frame in a multi-vehicle type common servo gripper device according to a first embodiment.
Fig. 6 is a schematic structural diagram of a multi-vehicle type common servo gripper according to a second embodiment.
Fig. 7 is a partial enlarged view of a portion a in fig. 6.
Fig. 8 is a schematic diagram illustrating a state after the multi-vehicle type common servo gripper of the second embodiment grips a workpiece.
The graphic symbols are illustrated as follows:
1-a gripper frame, 2-a mounting flange, 3-an integrated valve island, 4-X direction servo motors, 5-Y direction servo motors, 6-X direction couplers, 7-Y direction couplers, 8-X direction lead screw supporting seats, 9-X direction guide rails, 10-X direction lead screws, 11-X direction mechanical limiting blocks, 12-X direction lead screw nuts, 13-X direction sliders, 14-X direction mounting plates, 15-first air cylinder mounting supports, 16-first pin air cylinders, 17-first detection switch supports, 18-first detection switches, 19-Y direction lead screw supporting seats, 20-Y direction lead screws, 21-Y direction lead screw nuts, 22-Y direction guide rails, 23-Y direction mechanical limiting blocks, 24-Y direction sliders and 25-Y direction mounting plates, 26-Z guide rail, 27-Z telescopic cylinder, 28-Z mechanical limit block, 29-Z slide rail lock, 30-Z slide block, 31-X scale, 32-X pointer, 33-shield, 34-second pin cylinder and 35-workpiece.
Detailed Description
The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; for a better understanding of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
First embodiment
As shown in fig. 1 to 5, the utility model relates to a multi-vehicle type common servo tongs's first embodiment, wherein, including tongs frame 1, be equipped with X on tongs frame 1 to servo motor 4 and Y to servo motor 5, X is connected to servo motor 4 and Y to servo motor 5 mutually perpendicular, X is equipped with X to shaft coupling 6 on to servo motor 4, X is equipped with X to removing the frame to 6 bilateral symmetry of shaft coupling, each X all is equipped with first unit of snatching to removing on the frame, Y is equipped with Y to shaft coupling 7 on to servo motor 5, Y is connected Y to removing the frame on to shaft coupling 7, Y is equipped with Z to the locating rack on removing the frame, Z snatchs the unit to the second that is equipped with the activity on the locating rack, Z still is equipped with the first unit of snatching of control on tongs frame 1, Z snatchs the integrated form valve island 3 of unit to locating rack and second.
As shown in figure 3, an X-direction servo motor 4 is symmetrically connected with two X-direction moving frames through an X-direction coupler 6, each X-direction moving frame comprises an X-direction screw rod 10, an X-direction screw rod nut 12, an X-direction guide rail 9, an X-direction mounting plate 14 and an X-direction slider 13, X-direction screw rod supporting seats 8 are arranged at two ends of the X-direction screw rod 10, the X-direction screw rod 10 penetrates through the X-direction screw rod nut 12, one end of the X-direction screw rod 10 is connected with the X-direction coupler 6 through the X-direction screw rod supporting seat 8, an X-direction mechanical limiting block 11 is arranged between the X-direction screw rod supporting seat 8, close to the X-direction coupler 6, on the X-direction screw rod 10 and the X-direction screw rod nut 12, the X-direction guide rails 9 are arranged at two sides of the X-direction screw rod 10, the X-direction mounting plate 14 is arranged below the X-direction screw rod nut 12, two sides of the X-direction mounting plate, the X-direction mounting plate 14 is moved on the X-direction lead screw 10 and the X-direction rail 9, and the position of the first grasping unit on the X-direction mounting plate 14 is changed.
Wherein, first unit of snatching includes first pin cylinder 16, first detection switch 18, first cylinder installing support 15 and first detection switch support 17, and first pin cylinder 16 is installed on X is to mounting panel 14 through first cylinder installing support 15, and first detection switch 18 is installed on first pin cylinder 16 through first detection switch support 17. Before the first pin cylinder 16 clamps and captures the positioning hole of the workpiece under the control of the integrated valve island 3, the first detection switch 18 is needed to detect the workpiece and the first pin cylinder 16, and only when the captured workpiece is in a flat state, the cylinder of the first pin cylinder 16 is in a normal state, and the first pin cylinder 16 can capture and carry the workpiece.
As shown in FIG. 4, a Y-direction servo motor 5 is connected with a Y-direction moving frame through a Y-direction coupling 7, the Y-direction moving frame comprises a Y-direction screw rod 20 and a Y-direction screw rod nut 21, the Y-direction guide rail structure comprises two Y-direction guide rails 22, a Y-direction mounting plate 25 and a Y-direction sliding block 24, wherein the Y-direction lead screw 20 penetrates through a Y-direction lead screw nut 21, Y-direction lead screw supporting seats 19 are arranged at two ends of the Y-direction lead screw 20, one end of the Y-direction lead screw 20 is connected with a Y-direction coupler 5 through the Y-direction lead screw supporting seats 19, the two Y-direction guide rails 22 are located below the Y-direction lead screw 20, Y-direction mechanical limiting blocks 23 are arranged at two ends of the two Y-direction guide rails 22, the same ends of the two Y-direction guide rails 22 are correspondingly connected with X-direction lead screw supporting seats 8 at two sides of an X-direction coupler 4 through the Y-direction mechanical limiting blocks 23, the Y-direction mounting plate 25 is arranged on the two Y-direction guide rails 22 through the Y-.
As shown in fig. 5, the Z-direction positioning frame includes a Z-direction guide rail 26 and a Z-direction telescopic cylinder 27, one end of the Z-direction guide rail 26 is fixed on the Y-direction feed screw nut 21, the other end of the Z-direction guide rail 26 is fixed on the Y-direction mounting plate 25, a Z-direction mechanical limiting block 28, a Z-direction slider 30 and a slider lock 29 are arranged on the Z-direction guide rail 26, the slider lock 29 is connected with the Z-direction slider 30, the Z-direction slider 30 is connected with the Z-direction telescopic cylinder 27, and the second grabbing unit is fixed on the Z-direction slider 30; the Z-direction telescopic cylinder 27 drives the Z-direction slide block 30 to move on the Z-direction guide rail 26, the slide rail lock 29 locks or unlocks the Z-direction slide block 30, and the position of the second grabbing unit in the Z direction is changed along with the movement of the Z-direction slide block 30.
The second grabbing unit comprises a second pin air cylinder 34, a second detection switch, a second air cylinder mounting support and a second detection switch support, the second pin air cylinder 34 is mounted on the X-direction mounting plate 14 through the second air cylinder mounting support, and the second detection switch is mounted on the second pin air cylinder 34 through the second detection switch support. Before the second pin cylinder 34 clamps and snatchs the locating hole of work piece under integrated form valve island 3's control, need the second to detect the switch and detect work piece and second pin cylinder 34, only be in the leveling condition by the work piece of snatching, the cylinder of second pin cylinder 34 advances to sell and is in normal condition, and second pin cylinder 34 just can snatch the transport work to the work piece.
In this embodiment, the gripper frame 1 is provided with the mounting flange 2, and the gripper frame 2 is used for mounting the embodiment on a mechanical arm in a factory to grip and convey workpieces.
The working principle of the embodiment is as follows: the embodiment is installed on a mechanical arm through an installation flange 2, an integrated valve island 1, an X-direction servo motor and a Y-direction servo motor of the embodiment are connected with a PLC control system, the X-direction servo motor 4 enables an X-direction installation plate 14 to move on an X-direction guide rail 9 and an X-direction guide screw 10 through the mutual matching of an X-direction lead screw 10 and an X-direction lead screw nut 12, a first grabbing unit on the X-direction installation plate 14 changes the position of the first grabbing unit in the X direction, the Y-direction servo motor 5 enables a Z-direction positioning frame connected with the Y-direction installation plate 25 to move on the X-direction guide rail 9 and the X-direction lead screw 10 under the mutual matching of a Y-direction lead screw 20 and a Y-direction lead screw nut 21, a second grabbing unit on the Z-direction positioning frame changes the position of the second grabbing unit in the Y direction positioning frame, and a Z-direction telescopic cylinder 27 controls the position of a Z-, therefore, the position of the second grabbing unit on the Z-direction guide rail 26 is changed, the first grabbing unit, the second grabbing unit and the Z-direction telescopic cylinder 27 are all grabbed and moved and displaced by the integrated valve island 3, the positions of the first grabbing unit and the second grabbing unit in the X direction, the Y direction and the Z direction can be changed to grab workpieces of different vehicle types, and for vehicle types newly processed in the later period, only the position of a workpiece positioning hole needs to be integrated into the embodiment, and the positions of the first grabbing unit and the second grabbing unit are correspondingly changed to grab the new vehicle types.
Second embodiment
The present embodiment is similar to the first embodiment, except that an X-direction pointer 32 is arranged on the X-direction slider 13, a corresponding X-direction scale 31 is arranged on the gripper frame 1, a Y-direction pointer is arranged on the Y-direction slider 24, and a corresponding Y-direction scale is arranged on the gripper frame, as shown in fig. 7, the accuracy of the X-direction scale 31 is 1mm, and the X/Y-direction pointer and the X/Y-direction scale can enable the X-direction servo motor 4 and the Y-direction servo motor 5 to quickly locate and quickly restore trajectory teaching of all vehicle types without auxiliary teaching of workpieces.
In this embodiment, the X-direction moving frame and the Y-direction moving frame are both provided with the protection covers 33, as shown in fig. 8, the protection covers 33 can play a role in protecting the X-direction moving frame and the Y-direction moving frame from dust, so as to prevent dust and impurities from entering the X-direction moving frame and the Y-direction moving frame and affecting the use of the device.
It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. The utility model provides a multi-vehicle type sharing servo tongs device which characterized in that: including the tongs frame, be equipped with X on the tongs frame to servo motor, Y to servo motor, X to servo motor with Y is connected to servo motor mutually perpendicular, X is equipped with X to the shaft coupling on to servo motor, X is equipped with X to removing the frame to shaft coupling bilateral symmetry, each X all is equipped with first unit of snatching to removing on the frame, Y is equipped with Y to the shaft coupling on to servo motor, Y is connected with Y to removing the frame to the shaft coupling, Y is equipped with Z to the locating rack on to removing the frame, Z snatchs the unit to the second that is equipped with the activity on the locating rack, still be equipped with the control on the tongs frame first unit of snatching, Z snatchs the integrated form valve island of unit to locating rack and second.
2. The multi-vehicle type common servo gripper device according to claim 1, wherein: x includes that X is to lead screw, X to screw-nut, X to guide rail, X to mounting panel and X to the slider to removing the frame, X all is equipped with to the both sides of lead screw X is to the guide rail, X passes to the lead screw X is to screw-nut, X all is equipped with X to the lead screw supporting seat to the both ends of lead screw, X passes through to the one end of lead screw X to the lead screw supporting seat with X is to the coupling joint, X is established to the mounting panel X is to the screw-nut below, X passes through to the both sides of mounting panel X to the slider with X is to guide rail sliding connection, first the unit of snatching is located X is to on the mounting panel.
3. The multi-vehicle type common servo gripper device according to claim 2, wherein: the first unit that snatchs includes first pin cylinder and first detection switch, first pin cylinder with X is connected through first cylinder installing support between to the mounting panel, first detection switch is fixed through first detection switch support on the first pin cylinder.
4. The multi-vehicle type common servo gripper device according to claim 2, wherein: y includes Y to lead screw, Y to screw-nut, two Y to guide rail, Y to mounting panel and Y to the slider to removing the frame, Y all is equipped with Y to the lead screw supporting seat to the both ends of lead screw, Y passes through to the one end of lead screw Y to the screw-nut supporting seat with Y to the coupling joint, Y passes to the lead screw Y is to screw-nut, each Y all is equipped with Y to mechanical stopper to the both ends of guide rail, each Y all passes through to the one end of guide rail Y to mechanical stopper respectively with X is to the coupling joint both sides X corresponds the connection to the screw-nut supporting seat, Y is in to the slider setting through Y to the mounting panel on two Y to the guide rail, Z is located to the locating rack Y to mounting panel and Y between to the screw-nut.
5. The multi-vehicle type common servo gripper device according to claim 4, wherein: the X-direction slider is provided with an X-direction pointer, the gripper frame is provided with a corresponding X-direction graduated scale, the Y-direction slider is provided with a Y-direction pointer, and the gripper frame is provided with a corresponding Y-direction graduated scale.
6. The multi-vehicle type common servo gripper device according to claim 4, wherein: z includes Z to guide rail, Z to the telescoping cylinder to the locating rack, Z is fixed to guide rail one end Y is to lead screw nut last, the Z is fixed to the guide rail other end Y is to on the mounting panel, be equipped with Z on the Z to the guide rail and lock to mechanical stopper, Z to slider and slide rail, the slide rail lock with Z is to the slider connection, Z to the slider with Z is to the telescoping cylinder connection, the second snatchs the unit and fixes Z is to on the slider.
7. The multi-vehicle type common servo gripper device according to claim 6, wherein: the second grabbing unit comprises a second air cylinder mounting support and a second pin air cylinder, the second air cylinder mounting support is fixed with the Z-direction sliding block, and the second pin air cylinder is mounted on the second air cylinder mounting support.
8. The multi-vehicle type common servo gripper device according to claim 7, wherein: and protective covers are arranged on the X-direction moving frame and the Y-direction moving frame.
9. The multi-vehicle type common servo gripper apparatus according to any one of claims 1 to 8, wherein: and the top of the gripper frame is provided with an installation flange for connecting a mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020428946.9U CN212352018U (en) | 2020-03-27 | 2020-03-27 | Multi-vehicle type sharing servo tongs device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020428946.9U CN212352018U (en) | 2020-03-27 | 2020-03-27 | Multi-vehicle type sharing servo tongs device |
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| CN212352018U true CN212352018U (en) | 2021-01-15 |
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| CN202020428946.9U Active CN212352018U (en) | 2020-03-27 | 2020-03-27 | Multi-vehicle type sharing servo tongs device |
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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 |
-
2020
- 2020-03-27 CN CN202020428946.9U patent/CN212352018U/en active Active
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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