CN117283199B - Grabbing mechanism, rotating wheel pairing robot and rotating wheel automatic assembly welding method - Google Patents
Grabbing mechanism, rotating wheel pairing robot and rotating wheel automatic assembly welding methodInfo
- Publication number
- CN117283199B CN117283199B CN202311416437.9A CN202311416437A CN117283199B CN 117283199 B CN117283199 B CN 117283199B CN 202311416437 A CN202311416437 A CN 202311416437A CN 117283199 B CN117283199 B CN 117283199B
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- Prior art keywords
- ring
- base
- sliding
- assembly
- hub
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
本发明涉及自动化组焊技术领域，具体公开了抓取机构、转动轮组对机器人及转动轮自动化组焊方法，该抓取机构包括支撑座、磁吸单元和多个内撑件，多个内撑件绕支撑座的周向间隔设置于支撑座，内撑件沿支撑座的径向具有相对支撑座滑动和相对支撑座固定的两个状态，内撑件包括沿支撑座的径向间隔设置的外侧支撑板和内侧支撑板；磁吸单元包括驱动组件和磁吸组件，驱动组件设置于支撑座，磁吸组件与驱动组件连接，驱动组件驱动磁吸组件沿支撑座的轴线具有相对支撑座固定和相对支撑座滑动的两个状态，磁吸组件能够产生电磁力。该抓取机构对环状零件进行抓取，也可以对板状零件进行抓取，进而提升了抓取效率和可靠性，减低了运行成本，精简了换爪程序。
This invention relates to the field of automated welding technology, specifically disclosing a gripping mechanism, a rotating wheel assembly robot, and an automated welding method for the rotating wheels. The gripping mechanism includes a support base, a magnetic suction unit, and multiple inner supports. These inner supports are circumferentially spaced around the support base and have two states: sliding relative to the support base and fixed relative to the support base. Each inner support includes an outer support plate and an inner support plate spaced radially along the support base. The magnetic suction unit includes a drive assembly and a magnetic suction assembly. The drive assembly is located on the support base, and the magnetic suction assembly is connected to the drive assembly. The drive assembly drives the magnetic suction assembly to have two states: fixed relative to the support base and sliding relative to the support base. The magnetic suction assembly can generate electromagnetic force. This gripping mechanism can grip both annular and plate-shaped parts, thereby improving gripping efficiency and reliability, reducing operating costs, and simplifying the gripper changing procedure.
Description
Technical Field
The invention relates to the technical field of automatic assembly of welding, in particular to a grabbing mechanism, a rotating wheel assembly robot and an automatic assembly welding method of rotating wheels.
Background
The guiding wheel is mainly formed by combining a guiding wheel hub, upper and lower webs of the guiding wheel and a rim of the guiding wheel through a welding process. With the development of an automatic welding process, the guide wheel gradually realizes automatic assembly welding, and a large amount of manpower is saved.
Because the automatic assembly welding of the guide wheels relates to more materials and tools, the end effector of the welding robot of the guide wheels in the prior art is of a double-claw structure, and a quick-change device is adopted to realize the replacement of the claws, the automatic carrying of guide wheel parts, tools and assembly assemblies is further realized, and the structure greatly improves the automatic welding efficiency of the guide wheels. But the robot gripper also has the problems of low gripping efficiency, poor reliability, high running cost and complicated gripper replacing procedure.
Therefore, a gripping mechanism, a rotating wheel assembly robot and an automatic rotating wheel assembly welding method are needed to solve the above problems.
Disclosure of Invention
The invention aims to provide a grabbing mechanism, a rotating wheel assembly robot and an automatic rotating wheel assembly welding method, so as to solve the problems of low grabbing efficiency, poor reliability, high running cost and complicated claw replacing procedure of a robot claw in the related art.
In one aspect, the present invention provides a gripping mechanism comprising:
A support base;
The inner support pieces are arranged on the supporting seat at intervals around the circumferential direction of the supporting seat, the inner support pieces are in two states of sliding relative to the supporting seat and fixing relative to the supporting seat along the radial direction of the supporting seat, and the inner support pieces comprise an outer support plate and an inner support plate which are arranged at intervals along the radial direction of the supporting seat;
The magnetic unit comprises a driving assembly and a magnetic component, wherein the driving assembly is arranged on the supporting seat, the magnetic component is connected with the driving assembly, the driving assembly drives the magnetic component to have two states of fixing relative to the supporting seat and sliding relative to the supporting seat along the axis of the supporting seat, and the magnetic component can generate electromagnetic force.
As a preferable technical scheme of the grabbing mechanism, the driving assembly comprises a movable ring and a driving piece, the movable ring is in sliding fit with the supporting seat along the axis of the supporting seat, and the driving piece drives the movable ring to slide relative to the supporting seat;
The magnetic component is provided with a plurality of movable rings and is arranged on the movable rings at intervals along the circumferential direction of the movable rings.
As a preferable technical scheme of the grabbing mechanism, the movable ring is provided with a plurality of sliding holes along the circumferential direction of the supporting seat, and the axes of the sliding holes are parallel to the axis of the supporting seat;
The magnetic component comprises a first sliding shaft, a floating joint and an electromagnet, wherein the first sliding shaft comprises a sliding column and a first limiting part fixedly arranged at one end of the sliding column, the sliding column penetrates through the sliding hole and is in sliding fit with the movable ring, the first limiting part limits the sliding column to deviate from the sliding hole along the direction of gravity, the other end of the sliding column is fixedly connected with one end of the floating joint, and the electromagnet is fixedly connected with the other end of the floating joint.
As the preferable technical scheme of grabbing mechanism, the driving assembly further includes a first elastic piece, and the first elastic piece is arranged between the floating joint and the movable ring and is respectively abutted to the floating joint and the movable ring.
As the preferential technical scheme of snatch mechanism, drive assembly still includes solid fixed ring, a plurality of guide post and a plurality of second spacing portion, gu the fixed ring with the supporting seat rigid coupling, the one end of guide post with gu fixed ring with one rigid coupling in the expansion ring, the guide post inserts and locates gu fixed ring with another in the expansion ring, a plurality of second spacing portion one-to-one with a plurality of the other end rigid coupling of guide post, the second spacing portion restriction cover is located the guide post gu fixed ring or the expansion ring is followed the other end of guide post deviate from, the axis of guide post with the axis of supporting seat is parallel.
As the preferable technical scheme of the grabbing mechanism, the fixed ring and the movable ring are both positioned between the inner support plate and the outer support plate, and the inner support piece can slide relative to the fixed ring and the movable ring along the radial direction of the support seat.
On the other hand, the invention provides a rotating wheel assembly robot which comprises a mechanical arm and the grabbing mechanism in any scheme, wherein the execution end of the mechanical arm is fixedly connected with one side, away from the inner support piece, of the supporting seat.
As the preferred technical scheme of rotating wheel group pair robot, still include the group to frock, the group is to frock includes:
A base;
the clamping jaws are arranged on the base along the circumferential direction of the base, the clamping jaws are in two states of relative sliding and relative fixing along the radial direction of the base, and the clamping jaws are used for holding the rim of the rotating wheel tightly;
The floating positioning plate group comprises a floating plate and a second elastic piece, the floating plate is arranged on the base, the elastic piece is arranged between the floating plate and the base, and the floating plate is used for supporting a lower web plate of the rotating wheel;
the hub positioning seat is fixedly arranged on the base and is coaxially arranged with the base, and the hub of the rotating wheel is configured to be sleeved on the hub positioning seat.
As the preferable technical scheme of the rotating wheel set for the robot, the floating locating plate set further comprises a second sliding shaft, the second sliding shaft is fixedly arranged on the base or one of the floating plates, the second sliding shaft is in sliding fit with the base or the other one of the floating plates, and the axis of the second sliding shaft is parallel to the axis of the base.
As the preferable technical scheme of the rotating wheel assembly robot, the robot further comprises a positioning claw and a tensioning assembly, wherein the positioning claw is positioned on one side, away from the lower web, of the upper web of the rotating wheel, the positioning claw can be respectively abutted with the upper web and the hub, and the tensioning assembly drives the positioning claw to move towards the direction, close to the lower web.
As the preferred technical scheme of rotation wheelset pair robot, the locating claw includes bolt and a plurality of pressure claw, and is a plurality of pressure claw is followed the circumference interval setting of bolt, the bolt is used for inserting to locate wheel hub, a plurality of pressure claw with be located the last web of rotation wheel is kept away from one side butt of lower web, take-up subassembly set up in the base, take-up subassembly's flexible end stretches into wheel hub and with the bolt can dismantle and be connected.
In still another aspect, the present invention provides an automatic assembly and welding method for rotating wheels, which is implemented by the rotating wheel assembly robot in any one of the above schemes, and the steps include:
S1, a mechanical arm places a lower web plate grabbed by a grabbing mechanism on a floating plate;
S2, the mechanical arm places the rim grabbed by the grabbing mechanism on a base, a plurality of clamping jaws move along the radial direction of the base, and the clamping jaws are abutted with the peripheral wall of the rim;
S3, the mechanical arm places the hub grabbed by the grabbing mechanism on a hub positioning seat, and the lower web is respectively abutted with the first lower abutting ring and the second lower abutting ring;
S4, welding seams of the lower web plate and the first lower abutting ring and the second lower abutting ring respectively;
s5, the mechanical arm places the upper web plate grabbed by the grabbing mechanism on the first upper abutting ring and the second upper abutting ring of the rim and the hub;
s6, inserting a positioning claw grabbed by the grabbing mechanism into the hub by the mechanical arm, and pressing the upper web plate on the first upper abutting ring and the second upper abutting ring by the positioning claw;
and S7, welding the welding seams of the upper web plate and the first upper abutting ring and the second upper abutting ring respectively.
The beneficial effects of the invention are as follows:
The invention provides a grabbing mechanism, a rotating wheel assembly robot and an automatic rotating wheel assembly welding method, wherein the grabbing mechanism comprises a supporting seat, a magnetic attraction unit and a plurality of inner supporting pieces, the inner supporting pieces are arranged on the supporting seat at intervals around the circumferential direction of the supporting seat, the inner supporting pieces are in two states of sliding relative to the supporting seat and fixing relative to the supporting seat along the radial direction of the supporting seat, and the inner supporting pieces comprise an outer supporting plate and an inner supporting plate which are arranged at intervals along the radial direction of the supporting seat; the magnetic unit comprises a driving component and a magnetic component, the driving component is arranged on the supporting seat, the magnetic component is connected with the driving component, the driving component drives the magnetic component to have two states of fixing relative to the supporting seat and sliding relative to the supporting seat along the axis of the supporting seat, and the magnetic component can generate electromagnetic force. The execution end of the mechanical arm is fixedly connected with one side of the supporting seat, which is far away from the inner supporting piece. When the annular part is encountered, the driving assembly drives the magnetic attraction assembly to move towards the direction close to the supporting seat, so that the supporting piece protrudes out of the magnetic attraction assembly along the gravity direction, the radial positions of the inner supporting pieces along the supporting seat are adjusted according to the inner diameter size of the annular part, when the inner diameter size of the annular part is smaller than the maximum outer diameter size of a circular ring formed by surrounding the inner supporting plates, the inner supporting plates extend into the inner ring of the annular part, then the inner supporting pieces are driven to abut against the inner wall of the annular part, the annular part is conveyed through the mechanical arm, when the inner diameter size of the annular part is larger than the maximum outer diameter size of the circular ring formed by surrounding the inner supporting plates, the outer supporting plates extend into the inner ring of the annular part, the inner supporting pieces are driven to abut against the inner wall of the annular part, and then the magnetic attraction assembly is driven to move along the gravity direction, and then the magnetic attraction assembly is driven to move along the magnetic attraction assembly. Therefore, the grabbing mechanism can grab the annular part and also grab the plate-shaped part, so that grabbing efficiency and reliability are improved, running cost is reduced, and a claw replacing program is simplified.
Drawings
FIG. 1 is a schematic view of a grabbing mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic view of the structure of an inner support member according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a magnetic assembly according to an embodiment of the present invention;
FIG. 4 is a schematic view of a rotating wheel according to an embodiment of the present invention;
Fig. 5 is a schematic structural view of a gripping mechanism gripping a positioning claw in an embodiment of the present invention;
FIG. 6 is a schematic view of a grabbing mechanism grabbing a hub according to an embodiment of the present invention;
FIG. 7 is a schematic view of a grabbing mechanism according to an embodiment of the present invention;
FIG. 8 is a schematic view of a grabbing mechanism grabbing an upper web according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a rotating wheel welding robot in accordance with an embodiment of the present invention;
FIG. 10 is a schematic structural diagram of a pairing tool according to an embodiment of the present invention;
Fig. 11 is a flowchart of a method for automatic assembly welding of a rotating wheel according to an embodiment of the invention.
In the figure:
100. a grabbing mechanism; 101, a mechanical arm, 102, a pairing tool;
200. The rotating wheel, 201, a rim, 2011, a first upper abutting ring, 2012, a first lower abutting ring, 202, a hub, 2021, a second upper abutting ring, 2022, a second lower abutting ring, 203, an upper web, 204, a lower web;
1. 11, a chute;
2. An inner support member; 21, an outer side supporting plate, 22, an inner side supporting plate, 23 and a sliding rail;
3. A magnetic attraction unit; 31, a driving assembly, 311, a movable ring, 312, a driving piece, 313, a fixed ring, 314, a guide post, 315 and a second limiting part;
32. The magnetic attraction assembly 321, a first sliding shaft, a 3211, a sliding column, a 3212, a first limiting part, a 322, a floating joint, 323, an electromagnet, 324 and a first elastic piece;
4. a base; 5, clamping jaws, 6, a floating positioning plate set, 61, a floating plate, 62, a second elastic piece, 63, a second sliding shaft, 7, a hub positioning seat and 8, a positioning claw.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first location" and "second location" are two distinct locations and wherein the first feature is "above," "over" and "over" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is level above the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the description of the present invention, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intervening medium, or in communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
As shown in fig. 1-3, the present embodiment provides a grabbing mechanism, where the grabbing mechanism 100 includes a support base 1, a magnetic attraction unit 3 and a plurality of inner support members 2, the plurality of inner support members 2 are disposed on the support base 1 around the circumference of the support base 1 at intervals, the inner support members 2 have two states of sliding relative to the support base 1 and fixing relative to the support base 1 along the radial direction of the support base 1, the inner support members 2 include an outer support plate 21 and an inner support plate 22 disposed along the radial direction of the support base 1 at intervals, the magnetic attraction unit 3 includes a driving component 31 and a magnetic attraction component 32, the driving component 31 is disposed on the support base 1, the magnetic attraction component 32 is connected with the driving component 31, the driving component 31 drives the magnetic attraction component 32 to have two states of fixing relative to the support base 1 and sliding relative to the support base 1 along the axis of the support base 1, and the magnetic attraction component 32 is capable of generating electromagnetic force. The actuating end of the mechanical arm 101 is fixedly connected with one side of the supporting seat 1 far away from the inner supporting piece 2. When the rotating wheel welding robot works, the mechanical arm 101 drives the grabbing mechanism 100 to grab parts, wherein when the annular parts are met, the driving assembly 31 drives the magnetic attraction assembly 32 to move towards the direction close to the supporting seat 1, so that the supporting pieces protrude out of the magnetic attraction assembly 32 along the gravity direction, then the radial positions of the inner supporting pieces 2 along the supporting seat 1 are adjusted according to the inner diameter size of the annular parts, when the inner diameter size of the annular parts is smaller than the maximum outer diameter size of a circular ring surrounded by the inner supporting pieces 22, the inner supporting pieces 22 extend into the inner ring of the annular parts, then the inner supporting pieces 2 are driven, the inner supporting pieces 22 are enabled to abut against the inner wall of the annular parts, and then the annular parts are carried through the mechanical arm 101, when the inner diameter size of the annular parts is larger than the maximum outer diameter size of the circular ring surrounded by the inner supporting pieces 22, the outer supporting pieces 21 extend into the inner ring of the annular parts, then the inner supporting pieces 2 are driven, and the inner supporting pieces 21 and the annular parts are enabled to abut against the inner wall of the annular parts, and then the magnetic attraction assembly 32 are enabled to be carried through the mechanical arm 101, and then the magnetic attraction assembly 32 is carried through the mechanical arm, and then the magnetic attraction assembly 32 is enabled to be carried through the magnetic attraction assembly. Therefore, the grabbing mechanism 100 can grab the annular part and also grab the plate-shaped part, so that grabbing efficiency and reliability are improved, running cost is reduced, and a claw replacing procedure is simplified.
Optionally, the inner support 2 includes a sliding rail 23, an outer support plate 21 and an inner support plate 22, the outer support plate 21 and the inner support plate 22 are respectively fixedly connected with two ends of the sliding rail 23, the supporting seat 1 is radially provided with a sliding groove 11, and the sliding rail 23 is arranged in the sliding groove 11 and slides in the sliding groove 11. Specifically, the two side walls of the chute 11 perpendicular to the horizontal plane are provided with limiting grooves, the limiting grooves extend along the sliding direction of the sliding rail 23, the sliding rail 23 is provided with limiting rails opposite to the limiting grooves, the limiting rails are spliced with the limiting grooves, and the sliding rail 23 can be prevented from falling out of the chute 11 along the gravity direction.
Optionally, the driving assembly 31 includes a movable ring 311 and a driving member 312, the movable ring 311 is slidably matched with the supporting seat 1 along the axis of the supporting seat 1, the driving member 312 drives the movable ring 311 to slide relative to the supporting seat 1, and the magnetic attraction assembly 32 is provided with a plurality of magnetic attraction assemblies and is arranged on the movable ring 311 at intervals along the circumferential direction of the movable ring 311. In this embodiment, when the annular component needs to be carried, the driving assembly 31 drives the movable ring 311 to slide along the axis of the supporting seat 1 toward the supporting seat 1, and the inner support 2 protrudes from the magnetic component 32 along the gravity direction, so that the magnetic component 32 does not interfere with the inner support 2 extending into the annular component along the vertical direction. When the plate-shaped parts need to be carried, at this time, the driving assembly 31 drives the movable ring 311 to slide along the axis of the supporting seat 1 to be far away from the supporting seat 1, at this time, the magnetic attraction assembly 32 protrudes out of the inner support 2 along the gravity direction, and then the inner support 2 does not interfere the magnetic attraction assembly 32 with the magnetic attraction plate-shaped parts along the vertical direction.
Specifically, the plurality of magnetic attraction assemblies 32 are disposed on the movable ring 311, so that the plurality of magnetic attraction assemblies 32 move synchronously along the axial direction of the support base 1.
Optionally, the movable ring 311 is provided with a plurality of sliding holes along the circumferential direction of the supporting seat 1, the axis of the sliding holes is parallel to the axis of the supporting seat 1, the magnetic attraction assembly 32 comprises a first sliding shaft 321, a floating joint 322 and an electromagnet 323, the first sliding shaft 321 comprises a sliding column 3211 and a limiting part fixedly arranged at one end of the sliding column 3211, the sliding column 3211 penetrates through the sliding holes and is in sliding fit with the movable ring 311, the limiting part limits the sliding column 3211 to deviate from the sliding holes along the direction of gravity, the other end of the sliding column 3211 is fixedly connected with one end of the floating joint 322, and the electromagnet 323 is fixedly connected with the other end of the floating joint 322. In this embodiment, since the plate-like structure may have a stepped structure or an arc-shaped structure, the first sliding shaft 321 is required to be slidably matched with the movable ring 311, and in addition, the floating joint 322 provided between the first sliding shaft 321 and the electromagnet 323 can allow the electromagnet 323 to swing relative to the first sliding shaft 321, so as to ensure that the electromagnet 323 and the plate-like component can be better attracted.
Specifically, the electromagnet 323 is a loss electromagnet 323, and when the electromagnet 323 is powered off, the electromagnet 323 loses magnetism.
The diameter of the first limiting portion 3212 is larger than that of the slide hole, and thus, the first limiting portion 3212 can limit the slide post 3211 from being pulled out of the slide hole.
Optionally, the driving assembly 31 further includes a first elastic member 324, where the first elastic member 324 is disposed between the floating joint 322 and the movable ring 311 and abuts against the floating joint 322 and the movable ring 311, respectively. In this embodiment, the first elastic member 324 is sleeved on the sliding post 3211, and the first elastic member 324 can make the electromagnet 323 always keep abutting against the plate-shaped structural component, and also plays a role in buffering. Specifically, the first elastic member 324 may be an elastic rubber or a coil spring.
Optionally, the driving assembly 31 further includes a fixing ring 313, a plurality of guide posts 314, and a plurality of second limiting portions 315, where the fixing ring 313 is fixedly connected with the supporting seat 1, one end of the guide post 314 is fixedly connected with one of the fixing ring 313 and the movable ring 311, the guide post 314 is inserted into the other of the fixing ring 313 and the movable ring 311, the plurality of second limiting portions 315 are fixedly connected with the other ends of the plurality of guide posts 314 in one-to-one correspondence, and the second limiting portions 315 limit the fixing ring 313 or the movable ring 311 sleeved on the guide post 314 from being separated from the other ends of the guide post 314, so that the axis of the guide post 314 is parallel to the axis of the supporting seat 1. In this embodiment, the guiding post 314 is used to make the movable ring 311 stably slide along the axis of the supporting seat 1 relative to the fixed ring 313, specifically, a guiding hole is provided on the fixed ring 313, one end of the guiding post 314 is fixedly connected with the movable ring 311, the guiding post 314 is inserted into the fixed ring 313, the second limiting member is located at one side of the fixed ring 313 away from the movable ring 311 and fixedly connected with the guiding post 314, and the diameter of the second limiting member is larger than that of the guiding hole, so as to limit the guiding post 314 from falling out of the guiding hole.
Preferably, the second limiting portion 315 is a nut, the other end of the guiding post 314 is provided with a thread, and the second limiting portion 315 is screwed with the other end of the guiding post 314, so that the position of the second limiting portion 315 relative to the guiding post 314 along the axial direction of the guiding post 314 can be adjusted, and the maximum distance of the relative movement of the fixed ring 313 and the movable ring 311 can be adjusted.
Alternatively, the fixed ring 313 and the movable ring 311 are located between the inner support plate 22 and the outer support plate 21, and the inner stay 2 is slidable relative to the fixed ring 313 and the movable ring 311 in the radial direction of the support base 1. In this embodiment, the distance between the inner support plate 22 and the outer support plate 21 is a preset value a, and the radial maximum dimension of the relative position of the fixed ring 313 or the movable ring 311 and the inner support member 2 is a preset value b, where the preset value a is greater than the preset value b. The preset value a is greater than the preset value b, so that the supporting piece can slide along the radial direction of the supporting seat 1 relative to the fixed ring 313 or the movable ring 311, and the diameters of the circles where the plurality of first supporting plates are located and the diameters of the circles where the plurality of second supporting plates are located are adjusted.
Specifically, the plurality of support members simultaneously slide in the radial direction of the support base 1 with respect to the support base 1.
Specifically, as shown in fig. 4, rotary wheel 200 includes a rim 201, a hub 202, an upper web 203 and a lower web 204, wherein a first upper abutment ring 2011 and a first lower abutment ring 2012 are provided on the inner side wall of rim 201 in a protruding manner, a second upper abutment ring 2021 and a second lower abutment ring 2022 are provided on the outer periphery of hub 202 in a protruding manner, hub 202 is inserted into rim 201, upper web 203 abuts against first upper abutment ring 2011 and second upper abutment ring 2021, lower web 204 abuts against first lower abutment ring 2012 and second lower abutment ring 2022, upper web 203 is connected to rim 201 and hub 202 by a welding process, and lower web 204 is connected to rim 201 and hub 202 by a welding process.
As shown in fig. 5-10, the present embodiment further provides a rotating wheel welding robot, which includes a mechanical arm 101 and the gripping mechanism 100 in the above scheme, where an execution end of the mechanical arm 101 is fixedly connected with a side of the support base 1 away from the inner support 2. In this embodiment, the mechanical arm 101 can drive the grabbing mechanism 100 to move, so as to carry the rim 201, the hub 202, the upper web 203 and the lower web 204 grabbed by the grabbing mechanism 100.
Specifically, when carrying the rim 201, the mechanical arm 101 drives the gripping mechanism 100 to move, so that the outer support plate 21 of the inner support member 2 extends into the rim 201, and then the gripping mechanism 100 drives the inner support member 2 to move in a direction away from each other, so that the outer support plate 21 abuts against the rim 201, and the gripping mechanism 100 can move with the rim 201.
When the hub 202 is carried, the mechanical arm 101 drives the grabbing mechanism 100 to move, so that the inner support plate 22 of the inner support member 2 extends into the hub 202, and then the grabbing mechanism 100 drives the inner support member 2 to move in a direction away from each other, so that the inner support plate 22 abuts against the hub 202, and the grabbing mechanism 100 can move with the hub 202.
When the upper web 203 or the lower web 204 is carried, the driving component 31 in the grabbing mechanism 100 drives the electromagnetic unit to move along the axis of the supporting seat 1, so that the electromagnetic unit protrudes out of the inner supporting member 2 along the gravity direction, the mechanical arm 101 drives the grabbing mechanism 100 to move, the electromagnet 323 of the electromagnetic unit is abutted against the upper web 203 or the lower web 204, the power supply of the electromagnet 323 is connected, the electromagnet 323 magnetically attracts the upper web 203 or the lower web 204, and the grabbing mechanism 100 can drive the upper web 203 or the lower web 204 to move.
Optionally, the rotating wheel welding robot further includes a pairing tool 102, where the pairing tool 102 includes a base 4, a plurality of claws 5, a floating positioning plate set 6 and a hub positioning seat 7, the plurality of claws 5 are disposed on the base 4 along a circumferential direction of the base 4, the claws 5 have two states of relative sliding and relative fixing along a radial direction of the base 4, the plurality of claws 5 are used for holding a rim 201 of the rotating wheel 200, the floating positioning plate set 6 includes a floating plate 61 and a second elastic member 62, the floating plate 61 is disposed on the base 4, the elastic member is disposed between the floating plate 61 and the base 4, the floating plate 61 is used for supporting a lower web 204 of the rotating wheel 200, the hub positioning seat 7 is fixedly disposed on the base 4 and coaxially disposed with the base 4, and the hub 202 of the rotating wheel 200 is configured to be sleeved on the hub positioning seat 7.
As shown in fig. 11, the assembly welding step of the rotating wheel 200 by the rotating wheel automatic assembly welding method specifically includes:
In a first step, the robot arm 101 places the lower web 204 grasped by the grasping mechanism 100 on the floating plate 61.
In the second step, when the robot arm 101 sets the rim 201 gripped by the gripping mechanism 100 on the base 4, the plurality of claws 5 move in the radial direction of the base 4, and the plurality of claws 5 abut against the outer peripheral wall of the rim 201 so that the plurality of claws 5 fix the rim 201. In this step, rim 201 and lower web 204 are coaxially disposed.
In the third step, the mechanical arm 101 places the hub 202 grabbed by the grabbing mechanism 100 on the hub positioning seat 7, and the lower web 204 is respectively abutted with the first lower abutment ring 2012 and the second lower abutment ring 2022, and at this time, the lower web 204, the hub 202 and the rim 201 are coaxially arranged.
Fourth, the lower web 204 is welded to the abutment of the first lower abutment ring 2012 and the second lower abutment ring 2022, respectively. This step causes lower web 204 and hub 202 to be relatively fixed, and lower web 204 and rim 201 to be relatively fixed.
Fifth, the arm 101 places the upper web 203 gripped by the gripping mechanism 100 on the first upper abutment ring 2011 and the second upper abutment ring 2021 of the rim 201 and the hub 202.
In the sixth step, the mechanical arm 101 inserts the positioning claw 8 gripped by the gripping mechanism 100 into the hub 202, and the positioning claw 8 presses the upper web 203 against the first upper abutment ring 2011 and the second upper abutment ring 2021, and at this time, the upper web 203, the hub 202 and the rim 201 are coaxially disposed.
Seventh, the upper web 203 is welded to the weld joints of the first upper abutment ring 2011 and the second upper abutment ring 2021, respectively. In this step, upper web 203 and hub 202 are relatively fixed, and upper web 203 and rim 201 are relatively fixed. And then the assembly welding of the rotating wheel is completed.
Optionally, a second elastic member 62 is disposed between the floating plate 61 and the base 4, and the second elastic member 62 is used to drive the lower web 204 on the floating plate 61, so that the lower web 204 always abuts against the first lower abutment ring 2012 and the second lower abutment ring 2022 respectively. Specifically, the second elastic member 62 may be an elastic rubber or a coil spring.
Optionally, the floating positioning plate set 6 further includes a second sliding shaft 63, where the second sliding shaft 63 is fixedly disposed on one of the base 4 or the floating plate 61, the second sliding shaft 63 is slidably matched with the other of the base 4 or the floating plate 61, and an axis of the second sliding shaft 63 is parallel to an axis of the base 4. In this embodiment, the second sliding shaft 63 may enable the floating plate 61 to move along the axis of the second sliding shaft 63 relative to the base 4 all the time, specifically, one end of the second sliding shaft 63 is fixedly connected to the floating plate 61, and the other end of the second sliding shaft 63 is inserted into the base 4 and slidingly engaged with the base 4.
Optionally, the pairing tool 102 further includes a positioning claw 8 and a tightening assembly, the positioning claw 8 is located on one side of the upper web 203 of the rotating wheel 200 away from the lower web 204, the positioning claw 8 can be respectively abutted with the upper web 203 and the hub 202, and the tightening assembly drives the positioning claw 8 to move towards a direction close to the lower web 204. In this embodiment, when the third step is completed and the fourth step is not completed, the positioning claw 8 is abutted against the hub 202, and at this time, the tensioning assembly pulls the positioning claw 8, and under the action of the positioning claw 8, the second lower positioning ring of the hub 202 abuts against the lower web 204, and at the same time, the lower web 204 abuts against the first lower positioning ring of the rim 201, so that the fourth step can be conveniently performed.
When the fifth step is completed and the sixth step is not completed, the positioning claws 8 are respectively abutted against the hub 202 and the upper web 203, at this time, the tensioning assembly pulls the positioning claws 8, the second upper positioning ring of the hub 202 is abutted against the upper web 203 under the action of the positioning claws 8, and at the same time, the upper web 203 is abutted against the first upper positioning ring of the rim 201, so that the sixth step can be conveniently executed.
Optionally, the positioning claw 8 includes a plurality of pressing claws and a plurality of bolt, and a plurality of pressing claws set up along the circumference interval of bolt, and the bolt is used for inserting to locate wheel hub 202, and a plurality of pressing claws and the one side butt that is located the upper web 203 of rotor wheel 200 and keeps away from lower web 204, and tensioning assembly sets up in base 4, and the flexible end of tensioning assembly stretches into wheel hub 202 and can dismantle with the bolt and be connected. In this embodiment, since the telescopic end of the tightening assembly is provided with the clamping jaw, the opposite end of the latch to the tightening assembly is provided with the clamping portion, and the clamping jaw has two states of clamping the clamping portion and releasing the clamping portion.
In addition, the upper web 203 and the hub 202 are provided with gaps along the radial direction, the joint of the clamping jaw and the upper web 203 is provided with a chamfer, the joint is in butt joint with the inner ring of the upper web 203, and meanwhile, the bolt is inserted into the hub 202, so that the relative positions of the hub 202 and the upper web 203 can be adjusted, and the relative positions can be kept concentric.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. 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 invention are desired to be protected by the following claims.
Claims (7)
1. Snatch mechanism, its characterized in that includes:
A support base (1);
The support seat comprises a plurality of inner support pieces (2), wherein the inner support pieces (2) are arranged on the support seat (1) at intervals around the circumferential direction of the support seat (1), the inner support pieces (2) are in two states of sliding relative to the support seat (1) and fixing relative to the support seat (1) along the radial direction of the support seat (1), and the inner support pieces (2) comprise an outer support plate (21) and an inner support plate (22) which are arranged at intervals along the radial direction of the support seat (1);
The magnetic unit (3) comprises a driving component (31) and a magnetic component (32), wherein the driving component (31) is arranged on the supporting seat (1), the magnetic component (32) is connected with the driving component (31), the driving component (31) drives the magnetic component (32) to have two states of fixing relative to the supporting seat (1) and sliding relative to the supporting seat (1) along the axis of the supporting seat (1), and the magnetic component (32) can generate electromagnetic force;
The driving assembly (31) comprises a movable ring (311) and a driving piece (312), the movable ring (311) is in sliding fit with the supporting seat (1) along the axis of the supporting seat (1), and the driving piece (312) drives the movable ring (311) to slide relative to the supporting seat (1);
The magnetic component (32) is provided with a plurality of movable rings (311) at intervals along the circumferential direction of the movable rings (311);
The movable ring (311) is provided with a plurality of sliding holes along the circumferential direction of the supporting seat (1), and the axes of the sliding holes are parallel to the axis of the supporting seat (1);
The magnetic attraction assembly (32) comprises a first sliding shaft (321), a floating joint (322) and an electromagnet (323), wherein the first sliding shaft (321) comprises a sliding column (3211) and a first limiting part (3212) fixedly arranged at one end of the sliding column (3211), the sliding column (3211) penetrates through the sliding hole and is in sliding fit with the movable ring (311), the first limiting part (3212) limits the sliding column (3211) to deviate from the sliding hole along the direction of gravity, the other end of the sliding column (3211) is fixedly connected with one end of the floating joint (322), and the electromagnet (323) is fixedly connected with the other end of the floating joint (322);
The driving assembly (31) further comprises a first elastic piece (324), wherein the first elastic piece (324) is arranged between the floating joint (322) and the movable ring (311) and is respectively abutted with the floating joint (322) and the movable ring (311);
The driving assembly (31) further comprises a fixed ring (313), a plurality of guide posts (314) and a plurality of second limiting parts (315), the fixed ring (313) is fixedly connected with the supporting seat (1), one end of each guide post (314) is fixedly connected with one of the fixed ring (313) and the movable ring (311), the guide posts (314) are inserted into the other one of the fixed ring (313) and the movable ring (311), the second limiting parts (315) are fixedly connected with the other ends of the guide posts (314) in a one-to-one correspondence manner, the second limiting parts (315) are limited to be sleeved on the fixed ring (313) or the movable ring (311) of each guide post (314) to be separated from the other end of the corresponding guide post (314), and the axis of each guide post (314) is parallel to the axis of the supporting seat (1);
the fixed ring (313) and the movable ring (311) are both positioned between the inner support plate (22) and the outer support plate (21), and the inner support piece (2) can slide relative to the fixed ring (313) and the movable ring (311) along the radial direction of the support seat (1).
2. The rotating wheel assembly robot comprises a mechanical arm (101) and the grabbing mechanism (100) as claimed in claim 1, and is characterized in that the execution end of the mechanical arm (101) is fixedly connected with one side, away from the inner support piece (2), of the support seat (1).
3. The rotating wheel alignment robot of claim 2, further comprising an alignment fixture (102), the alignment fixture (102) comprising:
a base (4);
the clamping jaws (5) are arranged on the base (4) along the circumferential direction of the base (4), the clamping jaws (5) are in two states of relative sliding and relative fixing along the radial direction of the base (4), and the clamping jaws (5) are used for tightly holding a rim (201) of the rotating wheel (200);
the floating positioning plate group (6) comprises a floating plate (61) and a second elastic piece (62), wherein the floating plate (61) is arranged on the base (4), the elastic piece is arranged between the floating plate (61) and the base (4), and the floating plate (61) is used for supporting a lower web plate (204) of the rotating wheel (200);
The hub positioning seat (7), hub positioning seat (7) set firmly in base (4) and with base (4) coaxial line sets up, wheel hub (202) of rotor (200) are configured to overlap and locate hub positioning seat (7).
4. A turning wheel assembly robot according to claim 3, wherein the floating positioning plate set (6) further comprises a second slide shaft (63), the second slide shaft (63) is fixedly arranged on one of the base (4) and the floating plate (61), the second slide shaft (63) is in sliding fit with the other of the base (4) and the floating plate (61), and the axis of the second slide shaft (63) is parallel to the axis of the base (4).
5. A turning wheel assembly robot according to claim 3, further comprising a positioning claw (8) and a tightening assembly, the positioning claw (8) being located on a side of the upper web (203) of the turning wheel (200) remote from the lower web (204), the positioning claw (8) being respectively capable of abutting the upper web (203) and the hub (202), the tightening assembly driving the positioning claw (8) to move in a direction towards the lower web (204).
6. The rotating wheel assembly robot of claim 5, wherein the positioning claw (8) comprises a bolt and a plurality of pressing claws, the pressing claws are arranged at intervals along the circumferential direction of the bolt, the bolt is used for being inserted into the hub (202), the pressing claws are abutted to one side, away from the lower web (204), of an upper web (203) of the rotating wheel (200), the tightening assembly is arranged on the base (4), and the telescopic end of the tightening assembly extends into the hub (202) and is detachably connected with the bolt.
7. The automatic assembly welding method for the rotating wheels is characterized by being realized by the rotating wheel assembly robot according to any one of claims 3-6, and the steps comprise:
s1, a mechanical arm (101) places a lower web plate (204) grabbed by a grabbing mechanism (100) on a floating plate (61);
S2, the mechanical arm (101) places the rim (201) grabbed by the grabbing mechanism (100) on the base (4), the clamping jaws (5) move along the radial direction of the base (4), and the clamping jaws (5) are abutted with the peripheral wall of the rim (201);
S3, the mechanical arm (101) places the hub (202) grabbed by the grabbing mechanism (100) on a hub positioning seat (7), and the lower web (204) is respectively abutted with a first lower abutting ring (2012) and a second lower abutting ring (2022);
S4, welding the welding seams of the lower web (204) and the first lower abutting ring (2012) and the second lower abutting ring (2022) respectively;
S5, the mechanical arm (101) places an upper web plate (203) grabbed by the grabbing mechanism (100) on a first upper abutting ring (2011) and a second upper abutting ring (2021) of the rim (201) and the hub (202);
S6, inserting a positioning claw (8) grabbed by the grabbing mechanism (100) into the hub (202) by the mechanical arm (101), and pressing the upper web (203) on the first upper abutting ring (2011) and the second upper abutting ring (2021) by the positioning claw (8);
and S7, welding the welding seams of the upper web (203) and the first upper abutting ring (2011) and the second upper abutting ring (2021) respectively.
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| CN119550369B (en) * | 2024-12-12 | 2025-10-24 | 广州智柔智能装备有限公司 | End effector and robot |
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| CN108356468A (en) * | 2018-04-18 | 2018-08-03 | 山推工程机械股份有限公司 | Guide wheel welding group is to frock |
| CN111515796A (en) * | 2020-04-11 | 2020-08-11 | 芜湖慧盈自动化设备有限公司 | An automatic grinding production line suitable for multi-specification cookware |
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| US7891935B2 (en) * | 2002-05-09 | 2011-02-22 | Brooks Automation, Inc. | Dual arm robot |
| CN113043310B (en) * | 2021-04-08 | 2025-01-28 | 上海运城制版有限公司 | A flexible pickup device for plate roller plug |
| CN114770564B (en) * | 2022-06-16 | 2022-09-02 | 江苏俊超电动车配件制造有限公司 | Rotation type electric motor car wheel hub cools off manipulator |
| CN115519341B (en) * | 2022-10-27 | 2024-10-22 | 杭州泰尚智能装备股份有限公司 | Automatic assembly mechanism and assembly method for welding ring of heat exchanger mounting plate |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356468A (en) * | 2018-04-18 | 2018-08-03 | 山推工程机械股份有限公司 | Guide wheel welding group is to frock |
| CN111515796A (en) * | 2020-04-11 | 2020-08-11 | 芜湖慧盈自动化设备有限公司 | An automatic grinding production line suitable for multi-specification cookware |
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