CN219562319U - Common tongs device for left and right vehicle doors - Google Patents

Abstract

The utility model relates to the technical field of manipulators, in particular to a common gripper device for left and right vehicle doors, which comprises a frame, at least three rotating devices and a controller, wherein each rotating device is arranged on the frame, the rotating end of each rotating device is connected with a clamping structure, the clamping structure is provided with two clamping surfaces which are oppositely arranged, and the rotating devices rotate so that the two clamping surfaces can be parallel to the edge-covering surface of the vehicle door to be clamped; the controller is electrically connected with the rotating device and the clamping structure respectively. In the utility model, in the switching process of clamping the left door and the right door to be clamped, the rotating device rotates, and the rotating device can drive the clamping structure to rotate, so that two clamping surfaces of the clamping structure can be parallel to the edge-covering surface of the left door or the right door to be clamped, and the problem that the left door and the right door cannot share one set of gripper device is solved.

Description

Common tongs device for left and right vehicle doors

Technical Field

The utility model relates to the technical field of manipulators, in particular to a common gripper device for left and right vehicle doors.

Background

Currently, door transfers are often required during subsequent processing of the automobile door. And when shifting the door, generally can utilize the robot that has the tongs device to shift the door, the tongs device mainly includes frame and a plurality of clamping structure that are used for snatching the door that set up in the frame, in order to avoid clamping structure to lead to the fact the damage deformation to the door at the in-process of centre gripping door, clamping surface of clamping structure needs to keep parallel with the face of borduring of door. The shape of the left door is approximately the same as that of the right door (as shown in fig. 3) and the overlapped grabbing point is point B, but a certain difference exists between the angle of the wrapping surface of the left door and the angle of the wrapping surface of the right door, so that the special gripper device for clamping the left door cannot be used for clamping the right door or the special gripper device for clamping the right door cannot be used for grabbing the left door, and the problem of weak universality of the gripper device is caused.

Disclosure of Invention

The utility model provides the common gripper device for the left and right vehicle doors, which aims to solve the problem that the gripper device cannot be shared by the left and right vehicle doors in the prior art.

In order to solve the technical problems, the utility model adopts the following technical scheme: the common gripper device for the left and right vehicle doors comprises a frame, at least three rotating devices and a controller, wherein each rotating device is installed on the frame, the rotating end of each rotating device is connected with a clamping structure, the clamping structure is provided with two clamping surfaces which are oppositely arranged, and the rotating devices rotate to enable the two clamping surfaces to be parallel to the edge wrapping surfaces of the vehicle door to be clamped; the controller is electrically connected with the rotating device and the clamping structure respectively.

In the technical scheme, the frame is arranged on the execution end of the robot, and the whole gripper device is driven to move through the movement of the execution end of the robot. When the left car door needs to be grabbed, the robot drives the clamping structures to move to the upper portion of the left car door, two clamping surfaces of each clamping structure are located on two sides of the wrapping surface of the car door to be clamped, two opposite clamping surfaces are parallel to the wrapping surface, and then the controller instructs the clamping structures to act, so that the two clamping surfaces are clamped on the wrapping surface, and then the left door is clamped. When the right car door needs to be grabbed, the robot drives the clamping structure to move to the upper portion of the right car door, the controller instructs the rotating device to rotate, the clamping structure is driven to rotate, so that two clamping surfaces of the clamping structure are parallel to the edge-covering surface of the right car door, then the robot drives the gripper device to descend, the two clamping surfaces are located on two sides of the edge-covering surface, the controller instructs the clamping structure to act, the two clamping surfaces are clamped on the edge-covering surface, and the right car door is clamped. In this technical scheme, to left door and right door clamp get the switching in-process, through rotary device rotation, rotary device can drive the clamping structure rotation, and then makes two clamping surfaces of clamping structure be on a parallel with the face of borduring of waiting centre gripping left door or right door to the problem that left door and right door can not share one set of tongs device has been solved.

Preferably, the rotating end is provided with a first mounting seat, the clamping structure is mounted on the first mounting seat, the first mounting seat is provided with two first limiting structures, and the frame is provided with second limiting structures corresponding to the positions of the first limiting structures respectively.

Preferably, the first mounting seat is provided with two proximity switches electrically connected with the controller, and the rack is provided with stop block structures corresponding to the positions of the proximity switches respectively.

Preferably, the clamping structure comprises a base body and a clamping part connected to the base body, two clamping surfaces are formed on the clamping part, and the base body is mounted on the rotating end.

Preferably, a distance sensor for detecting the distance between the door and the vehicle to be clamped is mounted on the base, and the distance sensor is electrically connected with the controller.

Preferably, a pressing structure for pressing the door to be clamped is arranged at the bottom of the frame.

Preferably, the pressing structure comprises a second mounting seat, a guide rod, a sliding block, a spring and a pressing block assembly which are arranged at the bottom of the frame; the guide rod is arranged on the second mounting seat along the vertical direction, the sliding block is connected to the guide rod in a sliding way, the lower end face of the sliding block is connected with a sleeve sleeved on the guide rod, the spring is sleeved on the sleeve, the pressing block assembly is movably sleeved on the guide rod, and a stop block for preventing the pressing block assembly from being separated from the guide rod is arranged at one end, close to the pressing block assembly, of the guide rod; one end of the spring is connected with the lower end face of the sliding block, and the other end of the spring is connected with the pressing block assembly; the upper end face of the sliding block and the second mounting seat are provided with a first gap, and a second gap is formed between the lower end face of the sleeve and the pressing block assembly.

Preferably, a female connector for being matched with a male connector on the robot is arranged on the frame.

Preferably, two of the clamping structures are located on the left and right sides of the door to be clamped, and the other clamping structure is located on the bottom side of the door to be clamped.

Preferably, the rotating device is a rotating cylinder, and the clamping structure is a cylinder clamping structure.

Compared with the prior art, the utility model has the beneficial effects that: in the utility model, in the process of clamping the left door and the right door, the rotating device rotates, and the rotating device can drive the clamping structure to rotate, so that two clamping surfaces of the clamping structure can be parallel to the wrapping surface of the left door or the right door to be clamped, and the problem that the left door and the right door cannot share one set of gripper device is solved.

Drawings

FIG. 1 is a perspective view of a common grip device for left and right doors of the present utility model;

FIG. 2 is a perspective view of another view of the common grip device of the left and right doors of the present utility model;

FIG. 3 is a schematic view of a left door to be clamped in a stacked condition with a right door;

FIG. 4 is a schematic view of a common left and right door gripper for gripping a right door of the present utility model;

FIG. 5 is a schematic view of a left door grasping structure of a common left and right door grasping device according to the present utility model;

FIG. 6 is a schematic structural view of a grip structure in the common grip device for left and right doors of the present utility model;

fig. 7 is a partial enlarged view at a in fig. 6.

In the accompanying drawings: 1. a frame; 2. a rotating device; 21. a rotating end; 3. a clamping structure; 31. a clamping surface; 4. a vehicle door; 22. a first mount; 23. a first limit structure; 24. a second limit structure; 25. a proximity switch; 26. a stop block structure; 32. a base; 33. a clamping part; 5. a distance sensor; 6. a compacting structure; 61. a second mounting base; 62. a guide rod; 63. a slide block; 64. a spring; 65. a briquetting assembly; 66. a sleeve; 67. a stop block; 7. a female joint; 651. a mounting plate; 652. briquetting; 41. edge-covering surface; 34. a boss.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the present patent; for the purpose of better illustrating the embodiments, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the actual product dimensions; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationship depicted in the drawings is for illustrative purposes only and is not to be construed as limiting the present patent.

The same or similar reference numbers in the drawings of embodiments of the utility model correspond to the same or similar components; in the description of the present utility model, it should be understood that, if there are orientations or positional relationships indicated by terms "upper", "lower", "left", "right", "long", "short", etc., based on the orientations or positional relationships shown in the drawings, this is merely for convenience in describing the present utility model and simplifying the description, and is not an indication or suggestion that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so that the terms describing the positional relationships in the drawings are merely for exemplary illustration and are not to be construed as limitations of the present patent, and that it is possible for those of ordinary skill in the art to understand the specific meaning of the terms described above according to specific circumstances.

The technical scheme of the utility model is further specifically described by the following specific embodiments with reference to the accompanying drawings:

example 1

As shown in fig. 1, 4 and 5, a common gripper device for left and right vehicle doors comprises a frame 1, at least three rotating devices 2 and a controller, wherein each rotating device 2 is installed on the frame 1, a rotating end 21 of each rotating device 2 is connected with a clamping structure 3, the clamping structure 3 is provided with two clamping surfaces 31 which are oppositely arranged, and the rotating devices 2 rotate so that the two clamping surfaces 31 can be parallel to a wrapping surface 41 of the vehicle door 4; the controller is electrically connected with the rotating device 2 and the clamping structure 3 respectively. In this embodiment, the frame 1 is mounted on the execution end of the robot, and the movement of the whole gripper device is driven by the movement of the execution end of the robot. When the left door 4 needs to be grabbed, the robot drives the clamping structures 3 to move to the upper side of the left door 4, the two clamping surfaces 31 of each clamping structure 3 are located on two sides of the edge covering surface 41 of the door 4 to be clamped, the two opposite clamping surfaces 31 are parallel to the edge covering surface 41, and then the controller instructs the clamping structures 3 to act, so that the two clamping surfaces 31 are clamped on the edge covering surface 41, and the left door 4 is clamped. When the right car door 4 needs to be grabbed, the robot drives the clamping structure 3 to move to the upper side of the right car door 4, the controller instructs the rotating device 2 to rotate, the clamping structure 3 is driven to rotate, so that two clamping surfaces 31 of the clamping structure 3 are parallel to the edge-covering surface 41 of the right car door 4, then the robot drives the gripper device to descend, the two clamping surfaces 31 are located on two sides of the edge-covering surface 41, and the controller instructs the clamping structure 3 to act, so that the two clamping surfaces 31 are clamped on the edge-covering surface 41, and then the right car door 4 is clamped. In this embodiment, in the switching process of clamping the left door 4 and the right door 4, the rotating device 2 rotates, and the rotating device 2 can drive the clamping structure 3 to rotate, so that two clamping surfaces 31 of the clamping structure 3 can be parallel to the edge-wrapping surface 41 of the left door 4 or the right door 4 to be clamped, thereby solving the problem that the left door 4 and the right door 4 cannot share one set of gripper device. It should be noted that, when the gripper device clamps the door 4, the robot drives the clamping structure 3 to move above the edge-covering surface 41 of the door 4, and the controller instructs the rotating device 2 to rotate, and the rotating device 2 drives the clamping structure 3 to rotate, so that the two clamping surfaces 31 of the clamping structure 3 are parallel to the edge-covering surface 41 of the door 4 to be clamped. Then, the robot drives the gripper device to descend, and the two clamping surfaces 31 are located on both sides of the wrapping surface 41 of the door 4 to be clamped.

As shown in fig. 1 and 2, a first mounting seat 22 is provided on the rotating end 21, the clamping structure 3 is mounted on the first mounting seat 22, two first limiting structures 23 are provided on the first mounting seat 22, and second limiting structures 24 respectively corresponding to the positions of the first limiting structures 23 are provided on the frame 1. In this embodiment, the rotating end 21 drives the first mounting seat 22 to rotate, and a first limiting structure 23 on the first mounting seat 22 abuts against a second limiting structure 24 on the frame 1, which indicates that the rotating device 2 has rotated to an accurate position, and two clamping surfaces 31 of the clamping structure 3 in the position can be parallel to the wrapping surface 41 of the left door 4 to be clamped. The rotating end 21 drives the first mounting seat 22 to reversely rotate, and the other first limiting structure 23 on the first mounting seat 22 is abutted against the other second limiting structure 24 on the frame 1, so that the rotating device 2 is rotated to an accurate position, and the two clamping surfaces 31 of the clamping structure 3 at the position can be parallel to the edge-covering surface 41 of the right door 4 to be clamped. It should be noted that, by setting the first limiting structure 23 and the corresponding second limiting structure 24, the rotation angle of the rotation device 2 can be limited, and the accuracy of the rotation angle of the rotation device 2 is ensured.

As shown in fig. 1, the first mounting seat 22 is provided with two proximity switches 25 electrically connected with the controller, and the frame 1 is provided with stop block structures 26 corresponding to the positions of the proximity switches 25 respectively. In this embodiment, when the proximity switch 25 detects the stopper structure 26 and indicates that the rotating device 2 has rotated into place, the proximity switch 25 sends a detected signal to the controller, which instructs the rotating device 2 to stop rotating. It should be noted that, two proximity switches 25 are disposed on the first mounting seat 22, and a stop block structure 26 is disposed on the frame 1 corresponding to the two proximity switches 25, so that the gripper device is applicable to the left door 4, the rotating device 2 rotates forward, and in the process of rotating the rotating device 2 forward, the proximity switches 25 detect a signal of the stop block structure 26 and send the signal to the controller, and the controller instructs the rotating device 2 to stop rotating. When the right door 4 is applied to the grip device, the rotating device 2 is reversed, and the other proximity switch 25 detects a signal of the other stopper structure 26 and sends the signal to the controller, and the controller instructs the rotating device 2 to stop rotating during the reversing of the rotating device 2.

As shown in fig. 6 and 7, the clamping structure 3 includes a base 32 and a clamping portion 33 connected to the base 32, two clamping surfaces 31 are formed on the clamping portion 33, and the base 32 is mounted on the rotating end 21. In this embodiment, the seat 32 is conveniently mounted on the rotating end 21, and the seat 32 and the clamping part 33 connected with the seat are driven to rotate by the rotating end 21. The holding surface 31 is formed on a bump 34 provided on the holding portion 33.

The base 32 is provided with a distance sensor 5 for detecting the distance of the door 4, and the distance sensor 5 is electrically connected to the controller. In this embodiment, the distance sensor 5 is used to detect the distance between the distance sensor 5 and the door 4 in the vertical direction, and in the process that the clamping structure 3 clamps the door 4, if the clamping structure 3 does not clamp the door 4, the door 4 slides relative to the clamping structure 3, the distance between the workpiece and the distance sensor 5 also changes relatively, and by the change of the distance, whether the clamping structure 3 clamps the door 4 can be detected. In the present embodiment, the distance sensor 5 may be a laser sensor.

Wherein two clamping structures 3 are located on the left and right sides of the vehicle door 4, and the other clamping structure 3 is located on the bottom side of the vehicle door 4. In this embodiment, the three clamping structures 3 adopt such a layout, so that on one hand, the stability of clamping the vehicle door 4 can be ensured, and on the other hand, the left and right vehicle doors 4 can also be adapted to the same set of grip devices.

The rotating device 2 is a rotating cylinder, and the holding structure 3 is a cylinder holding structure. In this embodiment, the revolving cylinder and the cylinder clamping structure belong to existing mature structures, and are not described in more detail herein.

Example 2

Unlike embodiment 1, as shown in fig. 1, 2, 4 and 5, the bottom of the chassis 1 is provided with a pressing structure 6 for pressing the door 4. In this embodiment, when the handle device is transferring the door 4, the plurality of clamping structures 3 through the door 4 side are clamped on the edge covering surface 41, and the door 4 inner plate is not clamped, there is a risk of dislocation, and the handle device is tightly pressed on the door 4 inner plate through the pressing structure 6, so that the stability of the whole door 4 can be ensured, and the problem of dislocation of the door 4 in the transferring process is prevented.

As shown in fig. 1, the pressing structure 6 includes a second mounting seat 61 installed at the bottom of the frame 1, a guide bar 62, a slider 63, a spring 64, and a pressing block assembly 65; the guide rod 62 is arranged on the second mounting seat 61 along the vertical direction, the sliding block 63 is connected to the guide rod 62 in a sliding way, the lower end surface of the sliding block 63 is connected with a sleeve 66 sleeved on the guide rod 62, the spring 64 is sleeved on the sleeve 66, the pressing block assembly 65 is movably sleeved on the guide rod 62, and one end, close to the pressing block assembly 65, of the guide rod 62 is provided with a stop block 67 for preventing the pressing block assembly 65 from being separated from the guide rod 62; one end of the spring 64 is connected with the lower end face of the sliding block 63, and the other end of the spring 64 is connected with the pressing block assembly 65; the upper end surface of the sliding block 63 has a first gap with the second mounting seat 61, and the lower end surface of the sleeve 66 has a second gap with the press block assembly 65. In the present embodiment, when the door 4 needs to be clamped, the two clamping surfaces 31 of each clamping structure 3 are clamped on the edge-covering surface 41 of the door 4, and meanwhile, the pressing block assembly 65 is pressed on the inner plate of the door 4, so that the problem of dislocation of the door 4 is prevented. It should be noted that, the pressing block assembly 65 presses the inner plate of the vehicle door 4, the pressing block assembly 65 moves upward and compresses the spring 64, meanwhile, the pressing block assembly 65 pushes the sleeve 66 and the sliding block 63 to move upward until the pressing block assembly 65 abuts against the lower end face of the sleeve 66, and the upper end face of the sliding block 63 contacts with the lower end face of the second mounting seat 61, so that the pressing effect of the pressing block assembly 65 on the inner plate of the vehicle door 4 is achieved. It should also be noted that the compact assembly 65 includes a mounting plate 651 that is sleeved on the guide bar 62 and a compact 652 that is coupled to the mounting plate 651. Because the pressure block 652 is directly in contact with the door inside the vehicle, in order to avoid damage of the pressure block 652 to the door inside the vehicle, the pressure block 652 may adopt a rubber structure.

Example 3

The difference from embodiment 1 is that as shown in fig. 1, 2 and 5, a female connector 7 for adapting to a male connector on a robot is provided on the frame 1. It should be noted that, the male connector is installed at the execution end of the robot, the female connector 7 is installed on the frame 1, and the frame 1 can be quickly installed at the execution end of the robot through the connection between the male connector and the female connector 7. It should be noted that, the female connector 7 may be mounted on the frame 1 by welding, or may be mounted on the frame 1 by other detachable connection methods, which is not limited herein.

It is to be understood that the above examples of the present utility model are provided by way of illustration only and not by way of limitation of the embodiments of the present utility model. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims (10)

1. The utility model provides a left and right sides door sharing tongs device which characterized in that: the automobile door clamping device comprises a frame (1), at least three rotating devices (2) and a controller, wherein each rotating device (2) is installed on the frame (1), a clamping structure (3) is connected to a rotating end (21) of each rotating device (2), each clamping structure (3) is provided with two clamping surfaces (31) which are oppositely arranged, and the rotating devices (2) rotate so that the two clamping surfaces (31) can be parallel to the edge-covering surfaces of an automobile door to be clamped; the controller is electrically connected with the rotating device (2) and the clamping structure (3) respectively.

2. The left and right door common handle device according to claim 1, wherein: the rotary machine is characterized in that a first mounting seat (22) is arranged on the rotary end (21), the clamping structure (3) is mounted on the first mounting seat (22), two first limiting structures (23) are arranged on the first mounting seat (22), and second limiting structures (24) corresponding to the positions of the first limiting structures (23) are arranged on the frame (1).

3. The left and right door common handle device according to claim 2, wherein: the first mounting seat (22) is provided with two proximity switches (25) electrically connected with the controller, and the stand (1) is provided with stop block structures (26) corresponding to the positions of the proximity switches (25) respectively.

4. The left and right door common handle device according to claim 1, wherein: the clamping structure (3) comprises a base body (32) and a clamping part (33) connected to the base body (32), wherein two clamping surfaces (31) are formed on the clamping part (33), and the base body (32) is mounted on the rotating end (21).

5. The left and right door common handle device according to claim 4, wherein: the base body (32) is provided with a distance sensor (5) for detecting the distance between the vehicle door to be clamped, and the distance sensor (5) is electrically connected with the controller.

6. The left and right door common handle device according to claim 1, wherein: the bottom of the frame (1) is provided with a pressing structure (6) for pressing the door to be clamped.

7. The left and right door common handle device according to claim 6, wherein: the pressing structure (6) comprises a second mounting seat (61), a guide rod (62), a sliding block (63), a spring (64) and a pressing block assembly (65) which are arranged at the bottom of the frame (1); the guide rod (62) is arranged on the second mounting seat (61) along the vertical direction, the sliding block (63) is connected to the guide rod (62) in a sliding manner, a sleeve (66) sleeved on the guide rod (62) is connected to the lower end face of the sliding block (63), a spring (64) is sleeved on the sleeve (66), the pressing block assembly (65) is movably sleeved on the guide rod (62), and a stop block (67) for preventing the pressing block assembly (65) from being separated from the guide rod (62) is arranged at one end, close to the pressing block assembly (65), of the guide rod (62); one end of the spring (64) is connected with the lower end face of the sliding block (63), and the other end of the spring (64) is connected with the pressing block assembly (65); the upper end face of the sliding block (63) and the second mounting seat (61) are provided with a first gap, and a second gap is formed between the lower end face of the sleeve (66) and the pressing block assembly (65).

8. The left and right door common handle device according to claim 1, wherein: the frame (1) is provided with a female connector (7) which is used for being matched with a male connector on the robot.

9. The left-right door common handle device according to any one of claims 1 to 8, wherein: wherein two clamping structures (3) are positioned at the left side and the right side of the door to be clamped, and the other clamping structure (3) is positioned at the bottom side of the door to be clamped.

10. The left and right door common handle device according to claim 1, wherein: the rotating device (2) is a rotating cylinder, and the clamping structure (3) is a cylinder clamping structure.