阅读说明：本技术 一种白车身顶盖激光钎焊房抓手切换装置 (White automobile body top cap laser brazing room tongs auto-change over device ) 是由 张超 王文亮 孟小刚 吴丁磊 董双龙 蒋蓓 曹炜 张奎 于 2021-09-23 设计创作，主要内容包括：本发明提供了一种白车身顶盖激光钎焊房抓手切换装置,属于机械技术领域。它解决了现有抓手切换装置占用空间大的问题。本白车身顶盖激光钎焊房抓手切换装置,包括架体以及用于抓取抓手的抓取部,抓手切换装置还包括能驱动所述抓取部沿X轴、Y轴和Z轴方向移动的驱动结构,所述架体上位于所述抓取部的下方还固定有用于放置抓手的抓手存储平台,且所述抓手存储平台与所述架体的底部之间具有间距,所述抓手存储平台上具有用于与工作位相对的让位缺口以及可供抓手放置的切换位。本白车身顶盖激光钎焊房抓手切换装置具有采购成本低和通用性好的优点。(The invention provides a white car body top cover laser brazing room gripper switching device, and belongs to the technical field of machinery. It has solved the big problem of current tongs auto-change over device occupation space. This white automobile body top cap laser brazing room tongs auto-change over device, including the support body and be used for snatching the portion of snatching of tongs, tongs auto-change over device is still including driving the portion of snatching is along the drive structure that X axle, Y axle and Z axle direction removed, lie in on the support body the below of the portion of snatching still is fixed with the tongs storage platform that is used for placing the tongs, just tongs storage platform with the interval has between the bottom of support body, have on the tongs storage platform and be used for stepping down the breach relative with the work position and can supply the switching position that the tongs was placed. The gripping hand switching device for the white car body top cover laser brazing room has the advantages of low purchase cost and good universality.)

1. The utility model provides a white automobile body top cap laser brazing room tongs auto-change over device, includes support body (1) and the portion of grabbing (2) that are used for grabbing the tongs, its characterized in that, tongs auto-change over device still including driving portion of grabbing (2) are along the drive structure that X axle, Y axle and Z axle direction removed, lie in on the support body (1) the below of portion of grabbing (2) still is fixed with tongs storage platform (6) that are used for placing the tongs, just tongs storage platform (6) with the interval has between the bottom of support body (1), have on tongs storage platform (6) and be used for stepping down breach (7) relative with the work position and can supply the switching position that the tongs was placed.

2. The hand grip switching device for the white car body roof laser brazing room according to claim 1, wherein the hand grip storage platform (6) is plate-shaped and horizontally arranged, the cross section of the hand grip storage platform (6) is approximately U-shaped, the abdicating notch (7) is located at an opening of the hand grip storage platform (6), a horizontally protruding portion (10) is arranged on the inner side of the hand grip storage platform (6), and the switching position is formed on the upper side of the protruding portion (10).

3. The hand grip switching device for the white roof laser brazing room according to claim 2, wherein the projections (10) are arranged on two sides in the hand grip storage platform (6), the two projections (10) are arranged in parallel, and the switching positions comprise a first switching position (8) and a second switching position (9) which are arranged on the upper sides of the first and second projections.

4. The hand grip switching device for the white car body roof laser brazing room as claimed in claim 1, 2 or 3, wherein the frame body (1) comprises at least four upright posts which are vertically arranged, a plurality of the upright posts are distributed in a square shape, one opposite sides of the upright posts are provided with concave insertion holes, and the hand grip storage platforms (6) are correspondingly inserted into the insertion holes in sequence and are fixed with the upright posts.

5. The hand grip switching device for the white car body roof laser brazing room as claimed in claim 1, 2 or 3, wherein the gripping part (2) comprises a plurality of plug connectors fixed to the bottom of the driving structure, the bottoms of the plug connectors are provided with concave insertion ports, the side parts of the insertion parts are provided with insertion holes penetrating through the insertion ports, and one side of the insertion part is provided with a plug pin capable of penetrating through the insertion holes.

6. The hand grip switching device for the white body roof laser brazing room as claimed in claim 5, wherein the number of the plug connectors is at least three, and the plug connectors are not distributed on the same straight line.

7. The hand grip switching device for the white body roof laser brazing room as claimed in claim 1, 2 or 3, wherein the gripping part (2) comprises a plate-shaped gripping plate and a gripping driving part, the cross section of the gripping plate is non-circular and horizontally arranged, and the gripping driving part can drive the gripping plate to circumferentially rotate around a Z axis.

8. The gripper switching device for the white body roof laser brazing room as claimed in claim 1, 2 or 3, wherein the driving structure comprises an X shaft assembly (3) connected to the top of the frame body (1), a Y shaft assembly (4) connected to the X shaft assembly (3) and capable of moving back and forth in the X shaft direction, and a Z shaft assembly (5) connected to the Y shaft assembly (4) and capable of moving back and forth in the Y shaft direction, and the gripping part (2) is connected to the bottom of the Z shaft assembly (5) and capable of moving back and forth in the Z shaft direction.

Technical Field

The invention belongs to the technical field of machinery, relates to a gripper switching device, and particularly relates to a gripper switching device for a laser brazing room of a white top cover of a vehicle body.

Background

Along with diversification of automobile consumer markets, various types of differentiated products are continuously pushed by automobile enterprises, in the automobile production and processing process, a body-in-white is sent into a laser brazing room through a production line to be brazed, and the body-in-white needs to be positioned through a gripper so as to be matched with the brazing process. Different types of body-in-white need cooperate different tongs to fix a position.

Therefore, people design a flexible intelligent production line for a vehicle body, and apply for Chinese patents with the application numbers as follows: 201910108280.0, respectively; the bulletin number is: CN 109676270B; this flexible intelligent production line of automobile body includes the server computer lab, the general flexible welding workstation of lower automobile body subassembly, general flexible rubber coating workstation, the general flexible workstation of lower automobile body subassembly, general flexible assembly weldment workstation, the general flexible welding workstation of side wall, general flexible welding workstation and many transport dollies of laser welding, wherein, the general flexible welding workstation of lower automobile body subassembly includes general tongs storehouse, the second soldering turret storehouse, lower automobile body assembly robot, first general ground positioner, general butt joint positioner and lower automobile body assembly controlling means, lower automobile body assembly controlling means is connected with the server computer lab electricity. When the flexible intelligent production line for the automobile body works, under the control action of the lower automobile body assembly control device, the lower automobile body assembly robot can grab different positioning grabs according to the requirements of different automobile types, and positions or grabs the lower automobile body assembly through the positioning grabs.

In order to improve the efficiency of tongs switching, all need set up devices such as general tongs storehouse and lower automobile body assembly robot in the laser welding room, occupation space is great, and simultaneously, the tongs is bulky, and the inertia of the robot that removes the tongs with snatching requires highly, often needs the heavy load robot of collocation, and purchase and maintenance cost are high.

Disclosure of Invention

The invention aims to solve the problems in the prior art, provides a gripper switching device for a white car body roof laser brazing room, and solves the problem that the existing gripper switching device occupies a large space.

The purpose of the invention can be realized by the following technical scheme:

the utility model provides a white automobile body top cap laser brazing room tongs auto-change over device, includes the support body and is used for snatching the portion of snatching of tongs, tongs auto-change over device still including can drive the portion of snatching is along the drive structure that X axle, Y axle and Z axle direction removed, lie in on the support body the below of snatching portion still is fixed with the tongs storage platform that is used for placing the tongs, just tongs storage platform with the interval has between the bottom of support body, have on the tongs storage platform and be used for stepping down the breach relative with the work position and can supply the switching position that the tongs was placed.

When the gripper switching device for the laser brazing room for the top cover of the white automobile body is used, the whole gripper switching device is installed in a laser welding room, the abdicating notch corresponds to a working position where the gripper picks and positions the white automobile body, a plurality of identical or different grippers are placed on the upper side of the gripper storage platform, the required grippers can be moved to the abdicating position according to needs, the driving structure is used for driving the gripping part to move in a three-dimensional space, the grippers at the abdicating position are picked, and then the grippers at the abdicating notch are moved to pick and position work. After the work is finished, if different grippers are required to be replaced according to different vehicle types, the grippers can be moved to the switching position to be switched.

In the use process of the gripper switching device for the laser brazing room for the top cover of the white automobile body, the whole device is moved upwards by utilizing the frame body, the characteristic of the height of a workshop floor is fully utilized, and the plane occupied space is reduced. Meanwhile, the driving structure is matched with the grabbing part to grab and move the grabber, so that the purchasing cost and the maintenance cost are greatly reduced and the universality is better compared with a special heavy-load robot.

In the above-mentioned white automobile body top cap laser brazing room tongs switching device, tongs storage platform is platelike and the level sets up, tongs storage platform's cross section is the U type roughly, and the above-mentioned breach of stepping down is located tongs storage platform's opening part, tongs storage platform's inboard has the protruding bulge of level, the upside of bulge forms the above-mentioned position of switching. The gripper storage platform is plate-shaped, the occupied space of the gripper storage platform can be reduced, the gripper storage platform is convenient to install and fix, the protruding portion is arranged on the inner side of the gripper storage platform, the switching position is close to the abdicating notch, the distance is reduced, the moving stroke of the gripper when the gripper is switched by the gripper portion is reduced, and the gripper switching efficiency is improved.

In the gripper switching device for the white body roof laser brazing room, the two sides in the gripper storage platform are respectively provided with the protruding parts, the two protruding parts are arranged in parallel, and the switching position comprises a first switching position and a second switching position which are positioned on the upper sides of the first switching position and the second switching position. And one of the two switching positions is used for putting down the hand grip which is being used, and the other one is used for putting down the hand grip which is used next time, so that the hand grip switching action of the gripping part does not need to wait, the gripping is directly moved, and the hand grip switching efficiency is improved.

In foretell white automobile body top cap laser brazing room tongs auto-change over device, the support body includes four at least vertical stands of establishhing, the several the stand is square distribution and the several stand one side in opposite directions all has recessed socket, tongs storage platform corresponds in proper order and pegs graft in each socket and with each the stand is fixed. The stand is square distribution, can establish each corner in the laser welding room, reduces the occupation to laser welding room central point and puts, simultaneously, fixes tongs storage platform on the stand simultaneously, need not to establish mounting structure in addition, and occupation space is few not only, and has reduced the installation accuracy demand between tongs storage platform and the portion of snatching, has made things convenient for the installation.

In foretell body in white top cap laser brazing room tongs auto-change over device, drive structure is including connecting the X axle subassembly at support body top, connecting on the X axle subassembly and can be on X axle direction round trip movement's Y axle subassembly and connect on the Y axle subassembly and can follow Y axle direction round trip movement's Z axle subassembly, the portion of grabbing is connected the bottom of Z axle subassembly and can follow Z axle direction round trip movement.

In foretell white automobile body top cap laser brazing room tongs auto-change over device, the X axle subassembly includes that two all fix the X axle horizontal pole at the support body top along the X axle direction, two the upside of X axle horizontal pole all is fixed with the X axle guide rail that sets up along the X axle direction.

In foretell white automobile body top cap laser brazing room tongs auto-change over device, the Y axle subassembly includes sets up the Y axle horizontal pole in X axle subassembly top along Y axle direction, the both ends downside of Y axle horizontal pole respectively with two X axle guide rail cooperation just can be along X axle guide rail round trip movement, the upside of Y axle horizontal pole still is fixed with the Y axle guide rail that sets up along Y axle direction.

In foretell white automobile body top cap laser brazing room tongs auto-change over device, the Z axle subassembly is including connecting the slide on above-mentioned Y axle guide rail and having the slip table along the Z axle guide rail of Z axle direction setting, the Z axle guide rail with the slide cooperatees, it fixes to snatch the portion the downside of slip table just the slip table can be for the slide along Z axle direction round trip movement.

In foretell white automobile body top cap laser brazing room tongs auto-change over device, the portion of snatching including fixing the several plug connector of drive structure bottom, several the bottom of plug connector all has recessed interface, the lateral part of grafting portion all runs through and sets up and passes the jack of interface, grafting portion one side is provided with and penetrates the bolt of jack. The tongs top has the convex lug that makes progress, and the lateral part of lug runs through and has seted up the through-hole, and during the gripping, the portion of snatching moves down for the lug stretches into in the interface of plug connector, and passes the mode of jack and through-hole in proper order through the bolt and realize the portion of snatching fixed to the tongs, and the setting of a plurality of plug connectors can cooperate a plurality of lugs on the tongs, guarantees the stability of snatching to the tongs.

In the above-mentioned white automobile body top cap laser brazing room tongs auto-change over device, the quantity of plug connector is three at least, and the several plug connector does not distribute on the collinear. The plurality of plug connectors which are not distributed on the same straight line can ensure that the gripping part can more stably grip the gripper.

As another situation, in a white automobile body top cap laser brazing room tongs auto-change over device of foretell, the portion of snatching is including being platelike snatching the board and snatching the driving piece, the cross section of grabbing the board is non-circular and level setting, it can drive to snatch the driving piece grab the board and around Z axle circumferential direction. The grabbing part can move downwards and penetrate through the grabbing holes, the grabbing driving part drives the grabbing part to rotate circumferentially, so that the grabbing plates and the grabbing holes are staggered in shape, the grabbing part and the grabbing hand are relatively fixed, and the grabbing stability is improved by matching with the structures of the grabbing plates if necessary.

Compared with the prior art, the gripper switching device for the laser brazing room for the top cover of the white automobile body utilizes the frame body to move the whole device upwards, fully utilizes the characteristic of high floor of a factory building, and reduces the occupied space of a plane. Simultaneously, three-axis moving structure that X axle subassembly, Y axle subassembly and Z axle subassembly formed cooperates the portion of snatching to snatching and moving of tongs, for dedicated heavy load robot, purchase and maintenance cost greatly reduced, and the commonality is better.

Drawings

Fig. 1 is a schematic structural diagram of a gripper switching device of a laser brazing room for a body-in-white roof.

FIG. 2 is a schematic structural diagram of an X-axis assembly in the gripper switching device of the white body roof laser brazing room.

FIG. 3 is a schematic structural diagram of a Y-axis assembly in the gripper switching device of the white car body roof laser brazing room.

FIG. 4 is a schematic structural diagram of a Z-axis assembly in the gripper switching device of the white body roof laser brazing room.

In the figure, 1, a frame body; 2. a grasping section; 3. an X-axis assembly; 4. a Y-axis assembly; 5. a Z-axis assembly; 6. a gripper storage platform; 7. a abdication gap; 8. switching position one; 9. switching to a second position; 10. a projection; 11. an X-axis cross bar; 12. an X-axis guide rail; 13. a Y-axis cross bar; 14. a Y-axis guide rail; 15. a slide base; 16. a sliding table; 17. and a Z-axis guide rail.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

Example one

As shown in fig. 1, the hand grip switching device for the laser brazing room for the roof of the body-in-white vehicle comprises a frame body 1 with four upright posts arranged vertically and a gripping part 2 for gripping the hand grip. Wherein, 1 top of support body is fixed with X axle subassembly 3, and the upside of X axle subassembly 3 is connected with the Y axle subassembly 4 that can make a round trip movement in X axle direction, is connected with the Z axle subassembly 5 that can make a round trip movement along Y axle direction on the Y axle subassembly 4, and the portion 2 that snatchs is connected in the bottom of Z axle subassembly 5 and can be followed Z axle direction and made a round trip movement.

The gripper storage platform 6 used for placing the gripper is further fixed below the gripping part 2 on the frame body 1, a distance is reserved between the gripper storage platform 6 and the bottom of the frame body 1, namely the gripper storage platform 6 is arranged in a hanging mode, the gripper storage platform 6 is provided with a position-yielding notch 7 opposite to the working position, a first switching position 8 and a second switching position 9 for placing the gripper are arranged on the gripper storage platform 6 close to the position-yielding notch 7, and the gripping part 2 can be driven by the X shaft assembly 3, the Y shaft assembly 4 and the Z shaft assembly 5 to move to the position-yielding notch 7 respectively, and the first switching position 8 and the second switching position 9 are arranged above the gripping part.

Specifically, tongs storage platform 6 is platelike and the level sets up, and four stands are square distribution and four stand one sides in opposite directions all have recessed sockets, tongs storage platform 6 corresponds in proper order and pegs graft in each socket and fixed with each stand. The cross section of the gripper storage platform 6 is approximately U-shaped, the abdicating notch 7 is located at the opening of the gripper storage platform 6, two sides in the gripper storage platform 6 are provided with horizontally protruding convex parts 10, the two convex parts 10 are arranged in parallel, and the upper sides of the two convex parts respectively form a switching position I8 and a switching position II 9.

As shown in fig. 2, the X-axis assembly 3 includes two X-axis cross bars 11 fixed on the top of the frame body 1 along the X-axis direction, and X-axis guide rails 12 arranged along the X-axis direction are fixed on the upper sides of the two X-axis cross bars 11.

As shown in fig. 3, the Y-axis assembly 4 includes a Y-axis cross bar 13 disposed above the X-axis assembly 3 along the Y-axis direction, the lower sides of the two ends of the Y-axis cross bar 13 are respectively engaged with the two X-axis guide rails 12 and can move back and forth along the X-axis guide rails 12, and a Y-axis guide rail 14 disposed along the Y-axis direction is further fixed on the upper side of the Y-axis cross bar 13. In this embodiment, the lower sides of the two ends of the Y-axis cross bar 13 are respectively provided with two convex matching portions, a groove is formed between the two matching portions, the X-axis guide rail 12 is correspondingly embedded into the groove, and a roller is further arranged between the bottom of the groove and the X-axis guide rail 12 and rotatably connected to the two matching portions through a rotating shaft.

As shown in fig. 4, the Z-axis assembly 5 includes a slide carriage 15 connected to the Y-axis guide rail 14 and capable of moving back and forth along the Y-axis guide rail 14, and a sliding table 16 having a Z-axis guide rail 17 disposed along the Z-axis direction, a through hole is disposed in the middle of the slide carriage 15 along the Z-axis direction, the sliding table 16 is disposed in the through hole, a recessed guide groove in a long strip shape is disposed along the Z-axis direction on a side wall of the through hole, the Z-axis guide rail 17 penetrates into the guide groove, so that the sliding table 16 can move in the Z-axis direction relative to the slide carriage 15 depending on the cooperation of the Z-axis guide rail 17 and the guide groove. In this embodiment, the combination of the X-axis assembly 3, the Y-axis assembly 4 and the Z-axis assembly 5 adopts a three-axis truss structure, the moving process of the three-axis truss structure is driven by a driving motor, and the specific transmission can adopt a belt, a belt pulley, a gear rack and other structures; if necessary, the device can be replaced by the existing structure such as a three-axis carriage.

Snatch portion 2 all has recessed interface including fixing the several plug connector in Z axle subassembly 5 bottom, the bottom of several plug connector, and the lateral part of grafting portion all runs through the jack of offering and passing the interface, and grafting portion one side is provided with the bolt and can drives the actuating cylinder that drives in the bolt inserts the jack. Relatively, the tongs top will correspondingly set up the convex lug that makes progress, and the lateral part of lug runs through and has seted up the through-hole, and during the grabbing, portion 2 that snatchs moves down for the lug stretches into in the interface of plug connector, and realizes snatching the fixed of portion 2 to the tongs through the mode that drives actuating cylinder drive bolt and pass jack and through-hole in proper order. In this embodiment, in order to guarantee to the tongs snatch the stability of location, the quantity of plug connector, lug and bolt is three at least, and does not distribute along same straight line, specifically can be triangle-shaped, square, rhombus distribution etc. and plug connector, lug and bolt three one-to-one setting.

This white automobile body top cap laser brazing room tongs auto-change over device uses, installs whole tongs auto-change over device in the laser welding room, and four stands set up four angles in the laser welding room respectively, have not only reduced the stand and have set up the space in the laser welding room and occupy, have also avoided the stand to remove to cause the hindrance to the equipment in the laser welding room, simultaneously, also make tongs storage platform 6 be the biggest. Corresponding the abdicating gap 7 on the gripper storage platform 6 to the working position of the gripper gripping and positioning body-in-white, placing a plurality of same or different grippers on the upper side of the gripper storage platform 6, and temporarily leaving the first switching position 8 and the second switching position 9 free.

When the three-dimensional space grabbing mechanism works, the other existing grabbing hand switching devices move the needed grabbing hand to the first 8 switching positions, the three-axis moving structure formed by the X-axis assembly 3, the Y-axis assembly 4 and the Z-axis assembly 5 is utilized to drive the grabbing part 2 to move in the three-dimensional space, the grabbing hand is moved to the first 8 switching positions and then moved to the abdicating notch 7 for grabbing and positioning work. After the work is finished, if different grippers are required to be replaced according to different vehicle types, the gripper is moved to the second switching position 9 to put down the previous gripper, and then the gripper is moved to the first switching position 8 to grab a new gripper for work. The next needed gripper can be conveyed to the first switching position 8 in advance by matching with the gripper switching device, the gripper placed at the second switching position 9 is transferred into the storage position of the gripper storage platform 6, the second switching position 9 is vacated, space is provided for next gripper switching work, and gripper switching efficiency is improved.

Example two

The technical solution of the present embodiment is substantially the same as that of the first embodiment, except that: the grabbing part 2 comprises a plate-shaped grabbing plate and a grabbing driving piece, the cross section of the grabbing plate is non-circular and horizontally arranged, and the grabbing driving piece can drive the grabbing plate to rotate around the Z axis in the circumferential direction. In this embodiment, taking the cross section of the grabbing plate as a rectangle as an example, the grabbing driving member can be a motor or an air cylinder. The gripper is matched with a connecting part with grabbing holes in the same shape, the grabbing part 2 moves downwards and penetrates through the grabbing holes, the grabbing part 2 is driven by the grabbing driving part to rotate circumferentially, so that the grabbing plates and the grabbing holes are staggered in shape, the grabbing part 2 and the gripper are relatively fixed, and the grabbing stability is improved by matching with the structures of a plurality of grabbing plates when necessary.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.