CN217534544U - Robot carrying gripper mechanism - Google Patents

Abstract

A robot carrying gripper mechanism comprises an open-shaped frame, wherein a quick-change disc in butt joint with a robot arm is mounted on one side of the open-shaped frame, and a clamping unit capable of clamping a vehicle part and a positioning unit capable of limiting the position of the vehicle part are arranged on the other side of the open-shaped frame; the six end rods of the open-shaped frame are respectively arranged as an end rod I, an end rod II, an end rod III, an end rod IV, an end rod V and an end rod VI; the clamping unit comprises a clamping cylinder, a fixed seat, a pressing arm, a pressing block and a folding support rod; the positioning unit is including rolling over shape connecting block, key seat and locating pin, the utility model discloses a positioning unit treats that the car spare of transport carries out position location, and clamping unit can fasten the car spare, and quick change dish links together with the robot, realizes the transport of car spare, need not the manual work, and then makes the speed of transport car spare faster, and efficiency is higher.

Description

Robot carrying gripper mechanism

Technical Field

The utility model belongs to the technical field of the technique of automobile manufacturing and specifically relates to a robot transport tongs mechanism is related to.

Background

In an assembly line of automobiles, after a front floor assembly part of an automobile part is completed, the part is often transferred to a subsequent processing station, and in this transfer stage, workers generally carry the part manually or use transfer vehicles such as cranes.

Because the front floor assembly components of some car parts are heavy, the manual handling is time-consuming and labor-consuming, and when a transfer vehicle such as a crane is used, the handling is not only troublesome, but also the requirements on the site are high.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a robot transport tongs mechanism, it can be fast accurate carry the car spare.

The above utility model discloses an above-mentioned utility model purpose can realize through following technical scheme:

a robot carrying gripper mechanism comprises an open-shaped frame, wherein a quick-change disc in butt joint with a robot arm is mounted on one side of the open-shaped frame, and a clamping unit capable of clamping a vehicle part and a positioning unit capable of limiting the position of the vehicle part are arranged on the other side of the open-shaped frame;

six end rods of the open-shaped frame are respectively arranged as a first end rod, a second end rod, a third end rod, a fourth end rod, a fifth end rod and a sixth end rod, the first end rod, the second end rod, the third end rod, the fourth end rod, the fifth end rod and the sixth end rod are distributed clockwise around a middle port frame of the open-shaped frame, the first end rod and the sixth end rod are mutually symmetrical, the second end rod and the fifth end rod are mutually symmetrical, the third end rod and the fourth end rod are mutually symmetrical, four groups of clamping units are arranged on the first end rod, the third end rod, the fourth end rod and the sixth end rod respectively, two groups of positioning units are arranged on the second end rod and the fifth end rod respectively;

the clamping unit comprises a clamping cylinder, a fixed seat, a pressing arm, a pressing block and a folded support rod, the fixed seat is installed on a corresponding end rod on the open-shaped frame and is positioned on one side, away from the quick change disc, of the open-shaped frame, the clamping cylinder is vertically installed on one side of the fixed seat and is positioned on one side, back to the open-shaped frame, of the fixed seat, the clamping arm of the clamping cylinder rotates towards one side, close to or away from the open-shaped frame, the pressing arm is fixed on one side, close to the open-shaped frame, of the clamping arm of the clamping cylinder, the pressing block is fixed on one side, close to the open-shaped frame, of the pressing arm, the folded support rod is installed on the end rod of the open-shaped frame through an installation block and is positioned on one side, away from the clamping cylinder, of the folded support rod, away from the open-shaped frame, and the pressing block are correspondingly matched;

the positioning unit comprises a folded connecting block, a pin boss and a positioning pin, the folded connecting block is installed on the end rod corresponding to the opened frame, the folded connecting block is installed on one side, away from the quick-change disc, of the opened frame, the pin boss is fixed on one side of the folded connecting block through the connecting block, and the positioning pin is installed on the pin boss and faces vertically upwards.

As a further aspect of the present invention: the quick-changing tray is characterized in that an auxiliary supporting assembly is arranged on the opening-shaped frame and arranged on a frame beam of the opening-shaped frame, the auxiliary supporting assembly comprises an auxiliary supporting rod and an auxiliary supporting sheet, the auxiliary supporting rod is vertically arranged on the frame beam of the opening-shaped frame, one end of the auxiliary supporting rod, far away from the opening-shaped frame, is far away from the quick-changing tray, and the auxiliary supporting sheet is arranged at one end of the auxiliary supporting rod, far away from the opening-shaped frame.

As a further aspect of the present invention: frame roof beam of division shape frame is the octagon pipe, all is provided with a plurality of mounting holes on the side of octagon pipe, and a plurality of mounting holes are along the length direction evenly distributed of octagon pipe on the side of octagon pipe.

As a further aspect of the present invention: the clamping cylinder is a welding clamping cylinder.

To sum up, the utility model discloses a beneficial technological effect does:

1. the positioning unit can position the vehicle part to be transported, the vehicle part can be conveniently placed on the open-shaped frame, the clamping unit can fasten the vehicle part, the situation that the vehicle part is separated from the open-shaped frame when the open-shaped frame is moved is avoided, the quick-change disc can be connected with a robot for transporting the vehicle part, the robot drives the open-shaped frame to move through the quick-change disc, the clamped vehicle part on the open-shaped frame is further driven to move, the vehicle part is transported, full-machine operation is achieved in the transporting process of the vehicle part, manual work is not needed, the vehicle part transporting speed is higher, and the efficiency is higher;

2. the folding support rod can support a vehicle part to be carried, and the auxiliary support sheet can be used for carrying the vehicle part to be carried under the action of the auxiliary support rod, so that the vehicle part is prevented from being inclined due to support failure when the vehicle part is carried;

3. the clamping arm of the clamping cylinder can drive the pressing block to press towards the folded supporting rod opposite to the pressing block in the overturning process, and the vehicle part can be pressed by the pressing block between the pressing block and the folded supporting rod, so that the clamping of the vehicle part on the unfolded frame is realized, and the vehicle part is more stable in moving.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention when clamping a vehicle;

FIG. 2 is a schematic view of the overall structure of the present invention when the truck is not gripped;

FIG. 3 is an enlarged schematic view of portion A of FIG. 2;

fig. 4 is an enlarged schematic view of a portion B in fig. 2.

In the figure, 1, an open frame; 2. fast disc replacement; 3. a clamping unit; 4. a positioning unit; 11. a first end rod; 12. A second end rod; 13. an end rod III; 14. end rods are four; 15. an end rod V; 16. an end rod six; 31. a clamping cylinder; 32. a fixed seat; 33. pressing the arm; 34. briquetting; 36. a fold-shaped support rod; 41. a folded connecting block; 42. a pin boss; 43. positioning pins; 5. an auxiliary support assembly; 51. an auxiliary support rod; 52. an auxiliary supporting sheet.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the present invention, the embodiments and the features of the embodiments may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which the products of the present invention are conventionally placed in use, or the position or positional relationship which the skilled person conventionally understand, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element to which the reference is made must have a specific position, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1 and 2, the robot carrying gripper mechanism comprises an open-shaped frame 1, wherein the open-shaped frame 1 is an open-shaped frame formed by splicing a plurality of octagonal tubes. A plurality of mounting holes are formed in the side face of the octagonal tube, and the mounting holes are evenly distributed in the side face of the octagonal tube along the length direction of the octagonal tube.

Referring to fig. 2, 3 and 4, a quick-change disc 2 capable of being in butt joint with a robot arm is mounted on one side of the open-shaped frame 1, and the robot can drive the open-shaped frame 1 to move through the quick-change disc 2. The side of the open frame 1 far away from the quick change disk 2 is provided with a clamping unit 3 capable of clamping the vehicle and a positioning unit 4 capable of limiting the position of the vehicle.

Six end rods of the open-shaped frame 1 are respectively arranged as a first end rod 11, a second end rod 12, a third end rod 13, a fourth end rod 14, a fifth end rod 15 and a sixth end rod 16. The first end rod 11 to the sixth end rod 16 are distributed clockwise around the middle opening frame of the open-shaped frame 1, wherein the first end rod 11 and the sixth end rod 16 are symmetrical to each other, the second end rod 12 and the fifth end rod 15 are symmetrical to each other, and the third end rod 13 and the fourth end rod 14 are symmetrical to each other. Four groups of clamping units 3 are arranged, and the four groups of clamping units 3 are respectively arranged on the first end rod 11, the third end rod 13, the fourth end rod 14 and the sixth end rod 16. The positioning units 4 are arranged in two groups, and the two groups of positioning units 4 are respectively arranged on the second end rod 12 and the fifth end rod 15.

The clamping units 3 are likewise arranged symmetrically on the end rods that are symmetrical to one another. The clamping unit 3 comprises a clamping cylinder 31, a fixed seat 32, a pressing arm 33, a pressing block 34 and a folding supporting rod 36. The fixing seats 32 are mounted on corresponding end rods of the open frame 1 and are located on the side of the open frame 1 away from the quick-change disk 2. The clamping cylinder 31 is selected as a welding clamping cylinder, the clamping cylinder 31 is vertically installed on one side of the fixed seat 32, and a clamping arm of the clamping cylinder 31 is located at one end, far away from the open-shaped frame, of the clamping cylinder 31 and can rotate towards one side, close to or far away from the open-shaped frame 1. The pressing arm 33 is fixed on the side of the clamping arm of the clamping cylinder 31 close to the open frame 1, and the pressing block 34 is fixed on the side of the pressing arm 33 close to the open frame 1. The fold-shaped support rod 36 is installed on the end rod of the open-shaped frame 1 through an installation block and is positioned on one side, away from the clamping cylinder 31, of the fixing seat 32, and one end, away from the open-shaped frame 1, of the fold-shaped support rod 36 is matched with the pressing block 34 correspondingly. The pressing arm 33 is driven by the clamping arm of the clamping cylinder 31 to rotate, the pressing block 34 can be driven to turn or separate from the frame, in the process that the pressing block 34 turns to the frame, the pressing block 34 can gradually correspond to the top end of the folded support rod 36, the turning part is placed on the folded support rod 36, and when the pressing block 34 and the end portion of the folded support rod 36 can be completely opposite, the part can be reinforced.

The positioning unit 4 is also symmetrically arranged at the end rods that are symmetrical to each other, and the positioning unit 4 comprises a zigzag connecting block 41, a pin seat 42 and a positioning pin 43. The dog-legged connecting blocks 41 are mounted on the corresponding end rods of the open frame 1 and are located on the open frame 1 on the side away from the quick change disk 2. A pin holder 42 is fixed to one side of the accordion-shaped connecting block 41 by the connecting block, and a positioning pin 43 is installed on the pin holder 42 and is directed vertically upward.

The open-shaped frame 1 is provided with an auxiliary supporting component 5, the auxiliary supporting component 5 is arranged on a frame beam of the open-shaped frame 1, and the auxiliary supporting component 5 comprises an auxiliary supporting rod 51 and an auxiliary supporting sheet 52. The auxiliary support rod 51 is vertically installed on the frame beam of the open-shaped frame 1, one end of the auxiliary support rod, which is far away from the open-shaped frame 1, is far away from the quick change disc 2, and the auxiliary supporting sheet 52 is installed at one end of the auxiliary support rod 51, which is far away from the open-shaped frame 1. The auxiliary supporting sheet 52 can play a role of auxiliary supporting for the vehicle part placed on the folding supporting rod 36, and can reduce the pressure of the vehicle part on the folding supporting rod 36.

The implementation principle of the embodiment is as follows: when the utility model is used for grasping and carrying the car parts, firstly, the car parts left from the previous station are sent to the open-shaped frame 1 by the corresponding tool, and the positioning pins 43 on the open-shaped frame 1 are inserted into the corresponding positioning holes on the car parts, so as to realize the positioning of the car parts on the open-shaped frame 1, and at the moment, the folded support rods 36 and the auxiliary support sheets 52 can completely support the car parts;

when the folded support rod 36 and the auxiliary support sheet 52 on the open-shaped frame 1 completely support the car, the clamping cylinder 31 is started, the clamping cylinder 31 drives the clamping arm to rotate, and then drives the pressing arm 33 to rotate towards the direction close to the end part of the folded support rod 36, the pressing block 34 is driven by the pressing arm 33 to gradually approach the folded support rod 36 and finally press one side of the car, which is far away from the folded support rod 36, of the car, at the moment, the folded support rod 36 corresponds to the pressing block 34, the car is fastened on the open-shaped frame 1 under the action of the folded support rod 36 and the pressing block 34, the car is grabbed, and then, a robot at the next station drives the open-shaped frame 1 to move through the quick change disc 2, and then the car is transported;

the location of whole car spare, press from both sides tight and handling process is accomplished by the machine more, artifical only need control correspond the operation of machine can, the manpower that not only needs still less, work is also lighter, moreover, mechanical handling speed is faster, is higher in artifical handling efficiency.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims (4)

1. The utility model provides a robot transport tongs mechanism, includes open shape frame (1), its characterized in that: a quick-change disc (2) which is in butt joint with a robot arm is installed on one side of the open-shaped frame (1), and a clamping unit (3) which can clamp a vehicle part and a positioning unit (4) which can limit the position of the vehicle part are arranged on the other side of the open-shaped frame;

six end rods of the open-shaped frame (1) are respectively provided with a first end rod (11), a second end rod (12), a third end rod (13), a fourth end rod (14), a fifth end rod (15) and a sixth end rod (16), the first end rod (11) to the sixth end rod (16) are distributed clockwise around a middle opening frame of the open-shaped frame (1), wherein the first end rod (11) and the sixth end rod (16) are symmetrical, the second end rod (12) and the fifth end rod (15) are symmetrical, the third end rod (13) and the fourth end rod (14) are symmetrical, the clamping units (3) are provided with four groups, the four groups of clamping units (3) are respectively arranged on the first end rod (11), the third end rod (13), the fourth end rod (14) and the sixth end rod (16), the two groups of positioning units (4) are respectively arranged on the second end rod (12) and the fifth end rod (15);

the clamping unit (3) comprises a clamping cylinder (31), a fixed seat (32), a pressing arm (33), a pressing block (34) and a folded supporting rod (36), the fixed seat (32) is installed on a corresponding end rod on the open-shaped frame (1) and is positioned on one side, away from the quick change disc (2), of the open-shaped frame (1), the clamping cylinder (31) is vertically installed on one side of the fixed seat (32) and is positioned on one side, back to the open-shaped frame (1), of the fixed seat (32), the clamping arm of the clamping cylinder (31) rotates towards one side, close to or away from the open-shaped frame (1), the pressing arm (33) is fixed on one side, close to the open-shaped frame (1), of the clamping arm of the clamping cylinder (31), the pressing block (34) is fixed on one side, close to the open-shaped frame (1), of the folded supporting rod (36) is installed on the end rod of the open-shaped frame (1) through an installation block and is positioned on one side, away from the clamping cylinder (31), one end, away from the open-shaped frame (1), and is matched with the pressing block (34); positioning unit (4) are installed including rolling over shape connecting block (41), key seat (42) and locating pin (43) on the tip pole that corresponds on the shape frame (1) is opened, and one side of keeping away from quick-change dish (2) is installed in shape frame (1) to rolling over shape connecting block (41), and key seat (42) are fixed in one side of rolling over shape connecting block (41) through the connecting block, and locating pin (43) are installed on key seat (42) to it is vertical upwards towards.

2. The robotic handling gripper mechanism of claim 1, wherein: open and be provided with auxiliary stay subassembly (5) on shape frame (1), auxiliary stay subassembly (5) set up on the frame roof beam of opening shape frame (1), and auxiliary stay subassembly (5) include auxiliary stay pole (51) and supplementary support piece (52), and auxiliary stay pole (51) are vertical to be installed on the frame roof beam of opening shape frame (1) to its one end of keeping away from shape frame (1) is kept away from trade dish (2) soon, and the one end of keeping away from shape frame (1) is installed in auxiliary stay pole (51) in supplementary support piece (52).

3. The robotic handling gripper mechanism of claim 1, wherein: frame roof beam of division shape frame (1) is the octagon pipe, all is provided with a plurality of mounting holes on the side of octagon pipe, and a plurality of mounting holes are along the length direction evenly distributed on the side of octagon pipe.

4. The robotic handling gripper mechanism of claim 1, wherein: the clamping cylinder (31) is a welding clamping cylinder.

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