CN213136778U - Flexible tongs mechanism of multi-vehicle type - Google Patents

Flexible tongs mechanism of multi-vehicle type Download PDF

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Publication number
CN213136778U
CN213136778U CN202021749273.3U CN202021749273U CN213136778U CN 213136778 U CN213136778 U CN 213136778U CN 202021749273 U CN202021749273 U CN 202021749273U CN 213136778 U CN213136778 U CN 213136778U
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China
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cross beam
clamping
positioning
vehicle type
slider
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CN202021749273.3U
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Chinese (zh)
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鲍超
袁秉超
孔相伟
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Shiyan Yinuo Intelligent Equipment Co ltd
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Shiyan Yinuo Intelligent Equipment Co ltd
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Abstract

The utility model provides a flexible tongs mechanism of multi-vehicle type, include: the gripper frame comprises a first cross beam, a second cross beam and a third cross beam which are arranged on the same horizontal plane; the two first clamping devices are symmetrically arranged, are respectively fixedly arranged at two ends of the first cross beam and are used for clamping the wide edges of the vehicle type parts; the two positioning devices are symmetrically arranged and are respectively positioned below two ends of the second cross beam for positioning and clamping the vehicle type parts, and the second cross beam is provided with a first driving device for driving the positioning devices to move along the length direction of the second cross beam; and the second clamping device is arranged below the third cross beam and used for clamping the long edge of the vehicle type part, and a second driving device used for driving the second clamping device to move along the length direction of the third cross beam is arranged on the third cross beam. The utility model discloses tongs mechanism can adapt to the tight demand of clamp of different motorcycle types, and clamping device presss from both sides tight location accuracy, realizes multi-vehicle type production demand fast.

Description

Flexible tongs mechanism of multi-vehicle type
Technical Field
The utility model relates to a weld equipment technical field, especially relate to a flexible tongs mechanism of multi-vehicle type.
Background
The conventional robot gripper is mainly used for transferring, welding and the like after clamping a workpiece during automobile welding production. The robot gripper has the following defects: 1. the robot gripper is generally only suitable for one or two similar vehicle types and has poor flexibility; 2. in order to meet the requirement of multi-vehicle type production, a plurality of grippers are required to be produced, and the cost is increased; 3. the number of devices is large, and the occupied space is large; 4. the machine frequently changes equipment, and the takt increases, not only reduces production efficiency, can influence the product precision that targets in place moreover to influence welded quality.
Along with the improvement of flexible system, the application of unmanned automation line is more and more general, for satisfying high automation line needs, reduces investment cost simultaneously, designs a section and adapts to the flexible tongs mechanism that multi-vehicle type was transported, welded and is the technical problem that awaits the solution in the car welds dress production process urgently.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a compact structure, convenient operation, and can be suitable for the tight flexible tongs mechanism of the tight demand of multiple motorcycle type clamp.
The technical scheme of the utility model is realized like this: the utility model provides a flexible tongs mechanism of multi-vehicle type, include:
the gripper frame comprises a first cross beam, a second cross beam and a third cross beam which are arranged on the same horizontal plane, the first cross beam and the second cross beam are parallel and fixedly connected, and the third cross beam is vertically connected with the second cross beam;
the two first clamping devices are symmetrically arranged, are respectively fixedly arranged at two ends of the first cross beam and are used for clamping the wide edges of the vehicle type parts;
the two positioning devices are symmetrically arranged and are respectively positioned below two ends of the second cross beam for positioning and clamping the vehicle type parts, and the second cross beam is provided with a first driving device for driving the positioning devices to move along the length direction of the second cross beam;
and the second clamping device is arranged below the third cross beam and used for clamping the long edge of the vehicle type part, and a second driving device used for driving the second clamping device to move along the length direction of the third cross beam is arranged on the third cross beam.
On the basis of the above technical solution, preferably, the first clamping device includes a fixed seat, a connecting plate, a first clamping arm, a first telescopic element and a second telescopic element, the fixing base is fixedly connected with the end portion of the first cross beam, one side of the top of the connecting plate is hinged with the fixing base, a first hinge point and a second hinge point are respectively arranged at the top end and the bottom end of the connecting plate, the fixed end of the first telescopic element is fixedly connected with the fixing base, the telescopic end of the first telescopic element is hinged with the first hinge point, the top of the first clamping arm is hinged with the second hinge point, the fixed end of the second telescopic element is fixedly connected with one side, far away from the fixing base, of the connecting plate, the telescopic end of the second telescopic element is hinged with the side wall of the first clamping arm, a first positioning support block is arranged at the bottom end, close to one side of the fixing base, of the connecting plate, and the end portion of the first clamping arm is provided with an orientation second positioning support.
Further, preferably, a third positioning support block is arranged on one side, facing the fixing seat, of the first clamping arm, and the third positioning support block faces the first positioning support block.
Further, preferably, a first limiting device is arranged between the fixed seat and the connecting plate, the first limiting device comprises a left positioning block and a right positioning block which are matched and connected with each other, the left positioning block is horizontally and fixedly connected with the side wall of the fixed seat, and the right positioning block is horizontally and fixedly connected with the side wall of the connecting plate; the connecting plate is characterized in that a second limiting device is arranged between the connecting plate and the first clamping arm, the second limiting device comprises an upper positioning block and a lower positioning block which are matched and connected with each other, the upper positioning block is vertically and fixedly connected with the bottom end of the connecting plate, and the lower positioning block is vertically and fixedly connected with the top end of the first clamping arm.
On the basis of the technical scheme, preferably, the positioning device comprises a support frame and a pin clamping cylinder, the pin clamping cylinder is vertically fixed on the support frame, and the support frame is connected with the first driving device.
Further, it is preferred, first drive arrangement includes first slip table, first lead screw, first slider and first servo motor, and first slip table is along second crossbeam length direction fixed connection with it, first lead screw setting is in the spout of first slip table, and the both ends of first lead screw rotate with first slip table respectively and are connected, first slider pass first lead screw and with the spout sliding connection of first slip table, support frame and first slider fixed connection, and first servo motor's output rotates with first lead screw and is connected.
On the basis of the technical scheme, preferably, the second clamping device comprises a fixing plate, a second clamping arm and a third telescopic element, the fixing plate is vertically fixed at the bottom of the second driving device and is perpendicular to the second cross beam, the bottom of one side, away from the second cross beam, of the fixing plate is hinged to the top of the second clamping arm, the fixing end of the third telescopic element is fixedly arranged on one side, away from the second cross beam, of the fixing plate, the telescopic end of the third telescopic element is hinged to the side wall of the second clamping arm, the top end of the fixing plate is fixedly provided with an upper vertical downward pressing block, and the second clamping arm is provided with a lower pressing block matched with the upper pressing block.
Further, it is preferable, second drive arrangement includes second slip table, second lead screw, second slider and second servo motor, and the second slip table is along third crossbeam length direction fixed connection with it, the second lead screw sets up in the spout of second slip table, and the both ends of second lead screw rotate with the second slip table respectively and are connected, and the second slider passes the second lead screw and with the spout sliding connection of second slip table, fixed plate and first slider fixed connection, second servo motor's output and second lead screw rotate and be connected.
Furthermore, preferably, still be provided with elevating gear between second drive arrangement and the second clamping device, elevating gear includes crane, slide rail, third slider and fourth telescopic element, the crane is vertical to be set up in second drive arrangement's bottom, and with slider fixed connection, the slide rail is vertical fixed to be set up on the crane lateral wall, and the third slider slides and sets up on the slide rail, the vertical fixed connection of fixed plate and slider, the stiff end of fourth telescopic element and the top fixed connection of crane, the flexible end and the slider fixed connection of fourth telescopic element.
Preferably, a gun changing disc is further arranged at the top of the gripper frame.
The utility model discloses following beneficial effect has for prior art:
the utility model discloses a multi-vehicle flexible gripper mechanism, the gripper frame structure ensures the stability of the whole gripper mechanism, and also ensures the small occupied area of the gripper mechanism; the two ends of the first cross beam are respectively provided with the first clamping devices, large-angle turning opening and closing can be realized through the first clamping devices, so that two sides of vehicle type parts with different widths can be clamped, the two ends of the second cross beam are respectively provided with the positioning devices, and the positioning devices are driven by the first driving device to move along the width direction of the second cross beam, so that the positioning and clamping positions of the positioning devices on the vehicle type parts can be adjusted, and further the position change of positioning holes of the parts of different vehicle types is adapted; the second clamping device is arranged on the third cross beam, and the position of the second clamping device in the length direction of the automobile type can be adjusted through the second driving device, so that the clamping of parts of different automobile types on the long side can be adapted. Compared with the prior art, the utility model discloses a tongs mechanism can adapt to the tight demand of clamp of different motorcycle types, realizes multi-vehicle type production demand fast, need not to increase equipment such as tongs, and in the motorcycle type change process, and clamping device presss from both sides tight location accuracy, guarantees the welding quality of work piece, and production efficiency is high, under the prerequisite that satisfies multi-vehicle type production demand, practices thrift equipment investment cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 these drawings without creative efforts.
Fig. 1 is a schematic structural view of the front side of the gripper mechanism disclosed by the present invention;
fig. 2 is a schematic view of a reverse structure of the gripper mechanism disclosed in the present invention;
fig. 3 is a schematic structural view of a first clamping device disclosed in the present invention;
fig. 4 is a schematic view of an assembly structure of the positioning device and the first driving device disclosed in the present invention;
fig. 5 is a schematic view of an assembly structure of the second clamping device and the second driving device disclosed in the present invention;
fig. 6 is a schematic view of an assembly structure of the second clamping device and the lifting device disclosed in the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to 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 work all belong to the protection scope of the present invention.
As shown in figure 1, combine figure 2, the embodiment of the utility model discloses a flexible tongs mechanism of multi-vehicle type, including gripping apparatus frame 1, first clamping device 2, positioner 3 and second clamping device 4.
Wherein, the grab handle frame 1 is the skeleton of whole tongs mechanism, can adopt eight corner tube frames or ordinary hollow steel tube welding to form, and is specific, and grab handle frame 1 is including setting up first crossbeam 11, second crossbeam 12 and the third crossbeam 13 on same level, and be parallel to each other and fixed connection between first crossbeam 11 and the second crossbeam 12, and second crossbeam 12 is connected perpendicularly to third crossbeam 13. The first cross member 11 and the second cross member 12 are flush with the width direction of the vehicle type part, and the third cross member 13 is flush with the length direction of the vehicle type part.
The two first clamping devices 2 are symmetrically arranged and are respectively fixedly arranged at two ends of the first cross beam 11 and used for clamping the wide edges of the vehicle type parts.
The two positioning devices 3 are symmetrically arranged and are respectively positioned below two ends of the second cross beam 12 and used for positioning and clamping vehicle type parts, and specifically, positioning and clamping are performed on positioning holes in the vehicle type parts. The first driving device 5 for driving the positioning device 3 to move along the length direction of the second cross beam 12 is arranged on the second cross beam 12, two positioning holes are usually needed when vehicle type parts are positioned, and the distance between the two positioning holes on different vehicle types is inconsistent, so that the matching position of the positioning device 3 and the positioning holes of the vehicle type parts can be adjusted when the positioning device 3 is driven by the first driving device 5 to move in the width direction of the vehicle type.
The second clamping device 4 is arranged below the third cross beam 13 and used for clamping the long edges of the vehicle type parts, the second driving device 6 used for driving the second clamping device 4 to move along the length direction of the third cross beam 13 is arranged on the third cross beam 13, and the second clamping device 4 is driven by the second driving device 6 to move along the length direction of the vehicle type parts due to different lengths of the vehicle type parts, so that the clamping device can be suitable for clamping the long edges of the vehicle type parts with different lengths.
Through adopting above-mentioned technical scheme, utilize two first clamping device 2 can realize pressing from both sides tightly the motorcycle type broadside, utilize two positioner 3 can fix a position the locating hole on the motorcycle type part and press from both sides tightly, utilize a second clamping device 4 can realize pressing from both sides tightly the long limit of motorcycle type, from this, can fix a position the clamp tightly to the motorcycle type part through a location, the tight mode of three clamp. The first clamping device 2 can be turned over and opened and closed at a large angle, so that two sides of parts of different widths can be clamped; the first driving device 5 drives the positioning device 3 to move along the width direction of the second cross beam 12, so that the positioning and clamping position of the positioning device 3 on the vehicle type part can be adjusted, and the position change of positioning holes of different vehicle type parts is adapted; the position of the second clamping device 4 in the length direction of the vehicle type can be adjusted through the second driving device 6, so that clamping of parts of different vehicle types on the long side can be adapted. Compared with the prior art, the utility model discloses a tongs mechanism can adapt to the tight demand of clamp of different motorcycle types, realizes multi-vehicle type production demand fast, need not to increase equipment such as tongs, and in the motorcycle type change process, and clamping device presss from both sides tight location accuracy, guarantees the welding quality of work piece, and production efficiency is high, under the prerequisite that satisfies multi-vehicle type production demand, practices thrift equipment investment cost.
Specifically, the utility model discloses still realize through following technical scheme.
Referring to fig. 3, in this embodiment, the first clamping device 2 includes a fixed base 21, a connecting plate 22, a first clamping arm 23, a first telescopic element 24 and a second telescopic element 25, the fixed base 21 is fixedly connected to an end of the first beam 11, one side of a top of the connecting plate 22 is hinged to the fixed base 21, a top end and a bottom end of the connecting plate 22 are respectively provided with a first hinge point 221 and a second hinge point 222, a fixed end of the first telescopic element 24 is fixedly connected to the fixed base 21, a telescopic end of the first telescopic element 24 is hinged to the first hinge point 221, a top of the first clamping arm 23 is hinged to the second hinge point 222, a fixed end of the second telescopic element 25 is fixedly connected to a side of the connecting plate 22 away from the fixed base 21, a telescopic end of the second telescopic element 25 is hinged to a side wall of the first clamping arm 23, a bottom end of the connecting plate 22 near the fixed base 21 is provided with a first positioning support 26, the end of the first clamping arm 23 is provided with a second positioning bracket 27 facing the first positioning bracket 26.
By adopting the technical scheme, in an initial state, the first telescopic element 24 can drive the connecting plate 22 to turn over towards the upper part of the fixing seat 21 around the fixing seat 21, meanwhile, the connecting plate 22 integrally drives the first clamping arm 23 and the second telescopic element 25 to turn over upwards while turning over, a certain opening and closing angle is formed between the connecting plate 22 and the fixing seat 21, the first clamping arm 23 is driven to rotate upwards around the connecting plate 22 through the second telescopic element 25, so that a certain opening and closing angle is formed between the first clamping arm 23 and the connecting plate 22, and therefore the first clamping device 2 has a large opening and closing space to enable a vehicle type part wide edge to be inserted, and cross interference between the first clamping arm 23 and the vehicle type part is avoided. When clamping is carried out, firstly, the first telescopic element 24 drives the connecting plate 22 to downwards turn around the fixed seat 21, so that the first positioning support block 26 below the fixed seat 21 is abutted against the upper surface of the vehicle type part, then the second telescopic element 25 drives the second clamping arm to downwards turn around the connecting plate 22, so that the second positioning support block 27 is abutted against the lower surface of the vehicle type part, and therefore, under the action that the first positioning support block 26 and the second positioning support block 27 simultaneously abut against the upper surface and the lower surface of the vehicle type part, the wide edge of the vehicle type part is clamped.
In the above embodiment, the side of the first clamping arm 23 facing the fixed seat 21 is provided with the third positioning bracket 28, and the third positioning bracket 28 faces the first positioning bracket 26. By adopting the structure, in the process that the first clamping arm 23 is turned downwards, the third positioning support block 28 can support the wide edge of the vehicle type part, so that the first clamping device 2 can support the upper side, the lower side and the side edge of the vehicle type part, and the vehicle type part can be fully clamped.
In the above embodiment, since the first clamping arm 23 is turned twice, the whole first clamping device 2 can realize a larger opening and closing angle, so as to adapt to the clamping of more side vehicle models with different width in the width direction.
In order to limit damage to vehicle type parts caused by excessive clamping in the clamping process, therefore, a first limiting device 29 is arranged between the fixed seat 21 and the connecting plate 22 of the embodiment, the first limiting device 29 comprises a left positioning block 291 and a right positioning block 292 which are matched and connected with each other, the left positioning block 291 is horizontally and fixedly connected with the side wall of the fixed seat 21, and the right positioning block 292 is horizontally and fixedly connected with the side wall of the connecting plate 22; a second limiting device 30 is arranged between the connecting plate 22 and the first clamping arm 23, the second limiting device 30 comprises an upper positioning block 301 and a lower positioning block 302 which are matched and connected with each other, the upper positioning block 301 is vertically and fixedly connected with the bottom end of the connecting plate 22, and the lower positioning block 302 is vertically and fixedly connected with the top end of the first clamping arm 23. By adopting the above technical scheme, when the connecting plate 22 is driven by the first telescopic element 24 to turn downwards to the limit, that is, the connecting plate 22 is in the vertical state, the right positioning block 292 on the side wall of the connecting plate 22 is horizontally matched with the left positioning block 291 on the side wall of the fixing seat 21, so that the connecting plate 22 is limited to continue to turn downwards after being kept in the vertical state. Meanwhile, when the connecting plate 22 is in the vertical state, the first positioning support block 26 is also in the vertical downward state, and the supporting force on the upper surface of the vehicle type part is the largest at the moment. When the first clamping arm 23 is driven by the second telescopic element 25 to turn downwards to the limit, that is, the first clamping arm 23 is in the vertical state, the upper positioning block 301 on the connecting plate 22 is matched and connected with the lower positioning block 302 on the first clamping arm 23, so that the first clamping arm 23 can be limited to turn downwards continuously, and the damage caused by the excessive support of the second positioning support block 27 on the vehicle type part is avoided.
Referring to fig. 4, as a preferred embodiment of the present invention, the positioning device 3 includes a support frame 31 and a pin clamping cylinder 32, the pin clamping cylinder 32 is vertically fixed on the support frame 31, and the support frame 31 is connected to the first driving device 5. First drive arrangement 5 can drive support frame 31 and remove to drive pin clamp cylinder 32 and remove along motorcycle type part width direction in vertical direction, after the locating pin position on the pin clamp cylinder 32 and the locating hole on the motorcycle type part align, order about gripping apparatus frame 1 through the robot and move down, thereby make the locating pin on the pin clamp cylinder 32 insert in the locating hole, under the drive of cylinder, thereby the chucking round pin in the locating pin stretches out the card and goes out the part, realize that positioner 3 is tight to the location of motorcycle type part.
The pin clamping cylinder 32 is a conventional pneumatic element in the prior art, and the working principle thereof is the prior art, and the structure and principle thereof are not described in detail herein.
In the above embodiment, the first driving device 5 includes the first sliding table 51, the first lead screw 52, the first slider 53 and the first servo motor 54, the first sliding table 51 is fixedly connected to the second cross beam 12 along the length direction thereof, the first lead screw 52 is disposed in the sliding slot of the first sliding table 51, two ends of the first lead screw 52 are respectively rotatably connected to the first sliding table 51, the first slider 53 passes through the first lead screw 52 and is slidably connected to the sliding slot of the first sliding table 51, the support frame 31 is fixedly connected to the first slider 53, and the output end of the first servo motor 54 is rotatably connected to the first lead screw 52. By adopting the above technical scheme, the first lead screw 52 is driven by the rotation of the first servo motor 54 to rotate in the first sliding table 51, the first slide block 53 is driven to slide along the sliding groove of the first sliding table 51 in the rotating process of the first lead screw 52, and the first slide block 53 drives the positioning device 3 to move along the width direction of the vehicle type part in the sliding process.
Preferably, the output shaft of the first servo motor 54 may be fixedly connected to one end of the first lead screw 52 through a speed reducer, and the output shaft of the first servo motor 54 may also be in transmission connection with the first lead screw 52 through a pulley structure.
Referring to fig. 5 and 6, in the present embodiment, the second clamping device 4 includes a fixing plate 41, a second clamping arm 42, and a third telescopic element 43, the fixing plate 41 is vertically fixed at the bottom of the second driving device 6 and perpendicular to the second beam 12, the bottom of the fixing plate 41 far from the second beam 12 is hinged to the top of the second clamping arm 42, the fixing end of the third telescopic element 43 is fixedly disposed at the side of the fixing plate 41 far from the second beam 12, the telescopic end of the third telescopic element 43 is hinged to the side wall of the second clamping arm 42, the top end of the fixing plate 41 is fixedly provided with an upper vertical pressing block 44, and the second clamping arm 42 is provided with a lower pressing block 45 matching with the upper pressing block 44.
By adopting the technical scheme, in an initial state, the second clamping arm 42 is driven to rotate upwards around the fixing plate 41 through the third telescopic element 43, a large opening and closing range is formed between the second clamping arm 42 and the fixing plate 41, the second clamping device 4 is moved to the edge of the length direction of the vehicle type part through the second driving device 6, the lower pressing block 45 at the bottom end of the fixing plate 41 is abutted to the upper surface of the vehicle type part, then the second clamping arm 42 is driven to rotate downwards around the fixing plate 41 through the third telescopic element 43, the lower pressing block 45 is abutted to the lower surface of the vehicle type part, and the edge of the length direction of the vehicle type part is clamped in the process that the upper pressing block 44 is vertically matched with the lower pressing block 45.
In the above embodiment, the second driving device 6 includes the second sliding table 61, the second lead screw 62, the second slider 63 and the second servo motor 64, the second sliding table 61 is fixedly connected to the third cross beam 13 along the length direction thereof, the second lead screw 62 is disposed in the sliding slot of the second sliding table 61, two ends of the second lead screw 62 are rotatably connected to the second sliding table 61 respectively, the second slider 63 passes through the second lead screw 62 and is slidably connected to the sliding slot of the second sliding table 61, the fixing plate 41 is fixedly connected to the first slider 53, and the output end of the second servo motor 64 is rotatably connected to the second lead screw 62. By adopting the technical scheme, the second lead screw 62 is driven by the rotation of the second servo motor 64 to rotate in the second sliding table 61, the second slide block 63 is driven to slide along the sliding groove of the second sliding table 61 in the rotating process of the second lead screw 62, and the second slide block 63 drives the second clamping device 4 to move along the length direction of the vehicle type part in the sliding process.
Preferably, an output shaft of the second servo motor 64 may be fixedly connected to one end of the second lead screw 62 through a speed reducer, and an output shaft of the second servo motor 64 may also be in transmission connection with the second lead screw 62 through a pulley structure.
Because of the height difference of different vehicle type parts in the length direction, therefore in order to be able to well utilize the second clamping device 4 to clamp the vehicle type part length direction edge, this embodiment still is provided with elevating gear 7 between second drive arrangement 6 and second clamping device 4, elevating gear 7 includes crane 71, slide rail 72, third slider 73 and fourth telescopic element 74, crane 71 is vertical to be set up in the bottom of second drive arrangement 6, and with slider fixed connection, slide rail 72 is vertical fixed to be set up on crane 71 lateral wall, third slider 73 slides and sets up on slide rail 72, fixed plate 41 is vertical fixed connection with the slider, the stiff end of fourth telescopic element 74 and the top fixed connection of crane 71, the flexible end and the slider fixed connection of fourth telescopic element 74. By adopting the above technical scheme, the fourth telescopic element 74 drives the third slider 73 to move up and down along the slide rail 72, so that the slider drives the second clamping device 4 to move up and down in the vertical direction, and the second clamping device 4 can be ensured to be kept stable in the lifting and moving process by adopting a structure that the slider and the slide rail 72 are matched to slide.
In this embodiment, the top of the gripper frame 1 is further provided with a gun changing disc 8, and the manipulator which can adapt to different processes is connected with the gun changing disc 8 in a matching manner by arranging the gun changing disc 8, so that one machine with multiple purposes is realized.
In the above embodiments, the first telescopic element, the second telescopic element, the third telescopic element and the fourth telescopic element are cylinders, hydraulic cylinders or electric cylinders, wherein the cylinder body is a fixed end, and the piston rod is a telescopic end, and the working principle thereof belongs to the prior art.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a flexible tongs mechanism of multi-vehicle type which characterized in that includes:
the gripper frame (1) comprises a first cross beam (11), a second cross beam (12) and a third cross beam (13) which are arranged on the same horizontal plane, the first cross beam (11) and the second cross beam (12) are parallel to each other and fixedly connected, and the third cross beam (13) is vertically connected with the second cross beam (12);
the two first clamping devices (2) are symmetrically arranged and are respectively fixedly arranged at two ends of the first cross beam (11) and used for clamping the wide edges of the vehicle type parts;
the two positioning devices (3) are symmetrically arranged and are respectively positioned below two ends of the second cross beam (12) and used for positioning and clamping vehicle type parts, and the second cross beam (12) is provided with a first driving device (5) used for driving the positioning devices (3) to move along the length direction of the second cross beam (12);
and the second clamping device (4) is arranged below the third cross beam (13) and used for clamping the long edge of the vehicle-type part, and a second driving device (6) used for driving the second clamping device (4) to move along the length direction of the third cross beam (13) is arranged on the third cross beam (13).
2. The multi-vehicle flexible gripper mechanism of claim 1, wherein: the first clamping device (2) comprises a fixed seat (21), a connecting plate (22), a first clamping arm (23), a first telescopic element (24) and a second telescopic element (25), the fixed seat (21) is fixedly connected with the end part of the first cross beam (11), one side of the top part of the connecting plate (22) is hinged with the fixed seat (21), the top end and the bottom end of the connecting plate (22) are respectively provided with a first hinge point (221) and a second hinge point (222), the fixed end of the first telescopic element (24) is fixedly connected with the fixed seat (21), the telescopic end of the first telescopic element (24) is hinged with the first hinge point 221, the top part of the first clamping arm (23) is hinged with the second hinge point (222), the fixed end of the second telescopic element (25) is fixedly connected with one side, far away from the fixed seat (21), of the connecting plate (22), of the telescopic end of the second telescopic element (25) is hinged with the side wall of the first clamping arm (23), the bottom end of one side, close to the fixed seat (21), of the connecting plate (22) is provided with a first positioning support block (26), and the end part of the first clamping arm (23) is provided with a second positioning support block (27) facing the first positioning support block (26).
3. The multi-vehicle type flexible gripper mechanism according to claim 2, wherein: one side, facing the fixed seat (21), of the first clamping arm (23) is provided with a third positioning support block (28), and the third positioning support block (28) faces the first positioning support block (26).
4. The multi-vehicle type flexible gripper mechanism according to claim 3, wherein: a first limiting device (29) is arranged between the fixed seat (21) and the connecting plate (22), the first limiting device (29) comprises a left positioning block (291) and a right positioning block (292) which are matched and connected with each other, the left positioning block (291) is horizontally and fixedly connected with the side wall of the fixed seat (21), and the right positioning block (292) is horizontally and fixedly connected with the side wall of the connecting plate (22); a second limiting device (30) is arranged between the connecting plate (22) and the first clamping arm (23), the second limiting device (30) comprises an upper positioning block (301) and a lower positioning block (302) which are matched and connected with each other, the bottom ends of the upper positioning block (301) and the connecting plate (22) are vertically and fixedly connected, and the top ends of the lower positioning block (302) and the first clamping arm (23) are vertically and fixedly connected.
5. The multi-vehicle flexible gripper mechanism of claim 1, wherein: the positioning device (3) comprises a support frame (31) and a pin clamping cylinder (32), the pin clamping cylinder (32) is vertically fixed on the support frame (31), and the support frame (31) is connected with a first driving device (5).
6. The multi-vehicle type flexible gripper mechanism according to claim 5, wherein: first drive arrangement (5) include first slip table (51), first lead screw (52), first slider (53) and first servo motor (54), first slip table (51) along second crossbeam (12) length direction fixed connection with it, first lead screw (52) set up in the spout of first slip table (51), the both ends of first lead screw (52) rotate with first slip table (51) respectively and are connected, first slider (53) pass first lead screw (52) and with the spout sliding connection of first slip table (51), support frame (31) and first slider (53) fixed connection, the output and first lead screw (52) of first servo motor (54) rotate and are connected.
7. The multi-vehicle flexible gripper mechanism of claim 1, wherein: the second clamping device (4) comprises a fixing plate (41), a second clamping arm (42) and a third telescopic element (43), the fixing plate (41) is vertically fixed at the bottom of the second driving device (6) and is perpendicular to the second cross beam (12), the bottom of one side, away from the second cross beam (12), of the fixing plate (41) is hinged to the top of the second clamping arm (42), the fixed end of the third telescopic element (43) is fixedly arranged on one side, away from the second cross beam (12), of the fixing plate (41), the telescopic end of the third telescopic element (43) is hinged to the side wall of the second clamping arm (42), an upper vertical downward pressing block (44) is fixedly arranged at the top end of the fixing plate (41), and a lower pressing block (45) matched with the upper pressing block (44) is arranged on the second clamping arm (42).
8. The multi-vehicle flexible gripper mechanism of claim 7, wherein: second drive arrangement (6) include second slip table (61), second lead screw (62), second slider (63) and second servo motor (64), second slip table (61) along third crossbeam (13) length direction fixed connection with it, second lead screw (62) set up in the spout of second slip table (61), the both ends of second lead screw (62) rotate with second slip table (61) respectively and are connected, second slider (63) pass second lead screw (62) and with the spout sliding connection of second slip table (61), fixed plate (41) and first slider (53) fixed connection, the output and the second lead screw (62) of second servo motor (64) rotate and are connected.
9. The multi-vehicle flexible gripper mechanism of claim 8, wherein: still be provided with elevating gear (7) between second drive arrangement (6) and second clamping device (4), elevating gear (7) include crane (71), slide rail (72), third slider (73) and fourth telescopic element (74), crane (71) vertical setting is in the bottom of second drive arrangement (6), and with slider fixed connection, slide rail (72) vertical fixed setting is on crane (71) lateral wall, third slider (73) slide setting on slide rail (72), fixed plate (41) and the vertical fixed connection of slider, the stiff end of fourth telescopic element (74) and the top fixed connection of crane (71), the flexible end and the slider fixed connection of fourth telescopic element (74).
10. The multi-vehicle flexible gripper mechanism of claim 1, wherein: the top of the gripping apparatus frame (1) is also provided with a gun changing disc (8).
CN202021749273.3U 2020-08-20 2020-08-20 Flexible tongs mechanism of multi-vehicle type Active CN213136778U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114030873A (en) * 2021-11-12 2022-02-11 安徽瑞祥工业有限公司 Multi-vehicle type sheet metal component location haulage equipment
CN114749851A (en) * 2022-03-18 2022-07-15 上汽通用五菱汽车股份有限公司 Parallel type positioning and grabbing mechanism and grabbing method thereof
CN115092687A (en) * 2022-06-16 2022-09-23 广州明珞装备股份有限公司 Flexible tongs of multi-vehicle type
CN115092291A (en) * 2022-07-20 2022-09-23 重庆长安汽车股份有限公司 Flexible assembly positioning system for front cover hinge
CN114749851B (en) * 2022-03-18 2024-06-28 上汽通用五菱汽车股份有限公司 Parallel type positioning piece grabbing mechanism and piece grabbing method thereof

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114030873A (en) * 2021-11-12 2022-02-11 安徽瑞祥工业有限公司 Multi-vehicle type sheet metal component location haulage equipment
CN114749851A (en) * 2022-03-18 2022-07-15 上汽通用五菱汽车股份有限公司 Parallel type positioning and grabbing mechanism and grabbing method thereof
CN114749851B (en) * 2022-03-18 2024-06-28 上汽通用五菱汽车股份有限公司 Parallel type positioning piece grabbing mechanism and piece grabbing method thereof
CN115092687A (en) * 2022-06-16 2022-09-23 广州明珞装备股份有限公司 Flexible tongs of multi-vehicle type
CN115092687B (en) * 2022-06-16 2024-06-14 广州明珞装备股份有限公司 Multi-vehicle type flexible gripper
CN115092291A (en) * 2022-07-20 2022-09-23 重庆长安汽车股份有限公司 Flexible assembly positioning system for front cover hinge
CN115092291B (en) * 2022-07-20 2023-11-10 重庆长安汽车股份有限公司 Flexible assembling and positioning system for front cover hinge

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