CN108817767A - A kind of car door flexible grips device - Google Patents

Abstract

The invention provides a flexible handle device for a car door, which includes a main frame, and the main frame includes three bifurcated arms located on the same plane, and each of the bifurcated arms is provided with a translation mechanism, and one of the bifurcated arms The mechanism is connected with a positioning detent cylinder, and the other two translation mechanisms are respectively connected with air claws, and the positioning detent cylinder and the air claws are all perpendicular to the plane where the three forked arms are located. The beneficial effect of the invention is that the positions of a positioning and deactivating cylinder and two air claws can be respectively controlled by three translation mechanisms, which can be adapted to different car models, and can not only take into account precise positioning and reliable grasping, but also be compatible with more car models.

Description

A flexible handle device for a car door

technical field

The invention relates to a tooling fixture, in particular to a flexible handle device for a car door.

Background technique

The handling of the welding assembly of the inner panel of the door automation line is completed by the robot gripper, which requires stability and accuracy. Common grippers can be divided into aluminum grippers assembled with octagonal tubes and grippers welded with steel pipes according to their materials. According to the grasping method, it can be divided into suction cup type and cylinder clamping type. Both types are used with positioning pins to achieve precise grasping. The clamping points are all on the profiled surface. The application of the suction cup gripper in the handling of the inner panel of the car door is rare, because enough suction cups are needed to hold the parts, and the more the suction cups, the more planes need to be arranged on the inner panel, and it is difficult to flow out enough planes for sucker.

The current grippers are all positioned on the car door through the main positioning pin of the inner panel, and then the door is sucked tightly by the suction cup, or the car door is clamped by the positioning block and the pressure head. The clamping points are usually 6-8, so Accurate and reliable gripping can be achieved.

The disadvantage of the prior art is that it is difficult to achieve flexibility, because the structure of the grip is fixed, and the clamping position is on the inner panel profile of the car door, and the positions of the positioning pins on XYZ are also required to be the same. However, the shape of each door is different, especially the doors of different platforms are quite different. To achieve the same positioning pin and profile, there are many restrictions on the structure and shape of the door. It is difficult to achieve the same platform models, and the cross-platform flexibility is more difficult.

Contents of the invention

In order to solve the problems in the prior art, the invention provides a flexible handle device for a car door, which can not only take into account precise positioning and reliable grasping, but also be compatible with many car models.

The invention provides a flexible handle device for a car door, which includes a main frame, and the main frame includes three bifurcated arms located on the same plane, and each of the bifurcated arms is provided with a translation mechanism, and one of the bifurcated arms The mechanism is connected with a positioning detent cylinder, and the other two translation mechanisms are respectively connected with air claws, and the positioning detent cylinder and the air claws are all perpendicular to the plane where the three forked arms are located.

As a further improvement of the present invention, the translation mechanism includes a servo motor and a linear module connected to the servo motor, one of the linear modules is connected to the positioning detent cylinder, and the other two linear modules are respectively Connect with the air gripper.

As a further improvement of the present invention, the air gripper is a three-jaw type air gripper.

As a further improvement of the present invention, the air gripper includes three air gripper fingers, and the air gripper fingers are provided with five clamping grooves with an interval of 10 mm.

As a further improvement of the present invention, a servo motor control box is provided on the main frame, and a robot installation hole is provided on the servo motor control box.

As a further improvement of the present invention, a robot is connected to the robot installation hole.

As a further improvement of the present invention, the three forked arms are arranged at intervals of 120 degrees.

The beneficial effects of the present invention are: through the above scheme, the positions of a positioning detent cylinder and two air claws can be respectively controlled by three translation mechanisms, which can be adapted to different vehicle models, and can not only take into account accurate positioning and reliable grasping, but also be compatible More models.

Description of drawings

Fig. 1 is a partial schematic diagram of a flexible handle device for a car door according to the present invention.

Fig. 2 is an overall schematic diagram of a flexible handle device for a car door according to the present invention.

Detailed ways

The present invention will be further described below in conjunction with the description of the drawings and specific embodiments.

As shown in Fig. 1 to Fig. 2, a kind of car door flexible handle device comprises main frame 1, and described main frame 1 comprises three bifurcated arms 11 that are positioned at the same plane, and each described bifurcated arm 11 is provided with There are translation mechanisms, that is, there are three translation mechanisms, one of which is connected with a positioning detent cylinder 4, and the other two translation mechanisms are respectively connected with air claws 5, and the positioning detent cylinder 4 and air claws 5 are all perpendicular to The plane where the three bifurcated arms 11 are located, wherein the positioning detent cylinder 4 is used for positioning and grasping, and the two air claws 5 are then used for grasping.

As shown in Figures 1 to 2, the translation mechanism includes a servo motor 2 and a linear module 3 connected to the servo motor 2, that is, there are three linear modules 3, one of which is connected to the linear module 3. The positioning detent cylinder 4 is connected, and the other two linear modules 3 are respectively connected with the air claws 5 .

As shown in FIGS. 1 to 2 , the air gripper 5 is preferably a three-jaw type air gripper.

As shown in FIG. 1 to FIG. 2 , the air gripper 5 includes three gripper fingers, and the gripper fingers are provided with five slots with a distance of 10 mm.

As shown in Figures 1 to 2, the main frame 1 is provided with a servo motor control box 6, and the servo motor control box 6 is provided with a robot installation hole 7, which can be docked with the robot.

As shown in FIGS. 1 to 2 , a robot is connected to the robot installation hole 7 .

As shown in FIGS. 1 to 2 , the three forked arms 11 are arranged at intervals of 120 degrees.

Although the doors of different models are different, they are light in weight, about 12kg-15kg, so the grip does not need too much grip. It is enough to use three points within the range of the interior trim panel of the door inner panel. In this area, it is not limited by the shape, and it is easy to open holes and surfaces as required during product design. Compare the structure of 7 kinds of doors in three different platform models.

The door is grasped by the positioning detent cylinder 4 and two air claws 5, the air claw 5 and the positioning detent cylinder 4 are respectively installed on the linear module 3, the linear module 3 is driven by the servo motor 2, and each linear module 3 stops the precision ± 0.06mm, stroke is 308mm. Flexibility is achieved by changing the movement position of the linear module 3 . The linear module 3 with a stroke of 308mm can provide a large flexible space and is compatible with doors of multiple platforms.

After the air claw 5 is inserted into the handle hole and opened in parallel, the inner panel of the door will be firmly stuck in the card slot. The air claw is a three-claw air claw with an SMC50 bore, and the claw force of 200N ensures the clamping. Insert it into the main positioning hole of the inner plate for positioning and clamping. Two air claws 5 are clamped with a positioning detent cylinder 4, and the car door is positioned and grasped by the principle of three points forming a surface.

There are 5 card slots with a spacing of 10mm on the fingers of the air claw. The distance between the plane of the gripper hole of the inner plate and the plane of the main positioning pin is determined by an integer multiple of 10, which can solve the problem that the gripper hole of the inner plate cannot be in the same Y-direction plane The problem.

A kind of car door flexible handle device provided by the present invention, after setting the initial zero position, adjust the stop position of the linear module 3 according to the positions of the air claw 5 and the positioning detent cylinder 4 on the linear module 3 during design, and then Adjust the posture of the robot so that the gripper is correctly inserted into the king pin hole and the gripper hole, and finally store the position information of the linear module 3 in the control box of the linear module 3 to complete the import of the model coordinates. The control box Comes with a battery to ensure that the model information will not be lost. The introduction of other models can be completed by repeating this process. When the model is switched, the electronic control program issues instructions to call the location information of the corresponding model. The introduction of new models is simple and fast, the number of models that can be stored is large, and the model switching is quick.

The invention provides a flexible gripper device for a car door, which adopts three-point positioning and gripping, can not only take into account precise positioning and reliable gripping, but also can be compatible with many models, including models with different platforms.

A flexible handle device for a car door provided by the present invention has the following advantages:

1. Combining the advantages of the grips of various car companies, independent research and development, the grips are highly flexible and can be compatible with all current front, rear and side doors in the factory.

2. The requirements for the shape and structure of the car door are low, and it is enough to input the position of the positioning hole to PE in the early stage.

3. The structure is simple, the processing accuracy is easy to ensure, and the welding tongs are easy to avoid.

4. Due to the high flexibility of the gripper, there is no need to switch, saving the space of the gripper bracket and the access channel, which is beneficial to the process layout and robot action space, and is beneficial to the improvement of the beat.

5. Automatic control, no need to switch grippers when switching models, less equipment and less failure rate.

6. High efficiency, no need to design and manufacture special handles and handle brackets when importing models, each handle costs about 100,000, and a total of 20 handles are required for four doors, directly saving about 2 million costs, saving about 38% of the cost . Reduce design drawing time by 8 weeks.

The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be assumed that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in the technical field of the present invention, without departing from the concept of the present invention, some simple deduction or replacement can be made, which should be regarded as belonging to the protection scope of the present invention.

Claims (7)

1. a kind of car door flexible grips device, it is characterised in that：Including main frame, the main frame includes three and is located at same put down The diverging arms in face is equipped with translation mechanism in each diverging arms, one of them described translation mechanism is connected with positioning and strikes out Cylinder, other two translation mechanism are connected separately with pneumatic clamper, and cylinder is struck out in the positioning, pneumatic clamper is each perpendicular to where three diverging arms Plane.

2. car door flexible grips device according to claim 1, it is characterised in that：The translation mechanism includes servo motor The linear mould group connecting with the servo motor, one of them described linear mould group are struck out cylinder with the positioning and are connect, in addition Two linear Mo Zu are connect with the pneumatic clamper respectively.

3. car door flexible grips device according to claim 1, it is characterised in that：The pneumatic clamper is three-pawl type pneumatic clamper.

4. car door flexible grips device according to claim 3, it is characterised in that：The pneumatic clamper includes three pneumatic clamper hands Refer to, sets that there are five spacing as the card slot of 10mm on the pneumatic clamper finger.

5. car door flexible grips device according to claim 1, it is characterised in that：The main frame is equipped with servo motor Control cabinet, the Serve Motor Control case are equipped with robot mounting hole.

6. car door flexible grips device according to claim 5, it is characterised in that：The robot mounting hole connection is organic Device people.

7. car door flexible grips device according to claim 1, it is characterised in that：Three 120 degree of diverging arms intervals Setting.