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

Abstract

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

Description

A common handle device for left and right car doors

technical field

The utility model relates to the technical field of manipulators, in particular to a hand grip device shared by left and right vehicle doors.

Background technique

At present, in the subsequent processing process of the automobile door, it is usually necessary to transfer the door. When transferring the car door, a robot with a gripper device is generally used to transfer the car door. The gripper device mainly includes a frame and a plurality of clamping structures arranged on the frame for grabbing the car door. The structure causes damage and deformation to the car door during the process of clamping the car door, and the clamping surface of the clamping structure needs to be kept parallel to the wrapping surface of the car door. The shape of the left car door is roughly the same as that of the right car door (as shown in Figure 3), and the overlapping grabbing point is point B, but there is a certain difference between the angle of the wrapping surface of the left car door and the angle of the wrapping surface of the right car door, so Just make the gripper device that is specially used for clamping the left car door cannot be used for clamping the right car door or the gripper device that is specially used for clamping the right car door cannot be used for grabbing the left car door, thereby causing the problem that the versatility of the gripper device is not strong.

Utility model content

The utility model provides a shared handle device for the left and right car doors in order to overcome the problem in the prior art that the left and right car doors cannot share the handle device.

In order to solve the above-mentioned technical problems, the technical solution adopted by the utility model is: a shared handle device for the left and right car doors, including a frame, at least three rotating devices and a controller, each of the rotating devices is installed on the frame, The rotating end of the rotating device is connected with a clamping structure, and the clamping structure has two clamping surfaces oppositely arranged, and the rotating device rotates so that the two clamping surfaces can be parallel to the sides of the door to be clamped. The wrapping surface; the controller is electrically connected with the rotating device and the clamping structure respectively.

In this technical solution, the frame is installed on the execution end of the robot, and the movement of the entire gripper device is driven by the movement of the execution end of the robot. When it is necessary to grab the left car door, the robot drives the clamping structure to move to the top of the left car door, and makes the two clamping surfaces of each clamping structure be located on both sides of the wrapping surface of the car door to be clamped, and the two opposite The clamping surface is parallel to the wrapping surface, and then the controller instructs the clamping structure to act so that the two clamping surfaces are clamped on the wrapping surface, and then the left door is clamped. When the right car door needs to be grabbed, the robot drives the clamping structure to move to the top of the right car door, and the controller instructs the rotating device to rotate, driving the clamping structure to rotate, so that the two clamping surfaces of the clamping structure are parallel to the wrapping of the right car door. Then the robot drives the gripper device down, and makes the two clamping surfaces on both sides of the hemming surface, and the controller instructs the clamping structure to move so that the two clamping surfaces are clamped on the hemming surface, and then clamp Take the right door. In this technical solution, during the switching process of the clamping of the left car door and the right car door, the rotating device can drive the clamping structure to rotate through the rotation of the rotating device, so that the two clamping surfaces of the clamping structure can be parallel to the clamping surface to be clamped. The wrapping surface of the left car door or the right car door solves the problem that the left car door and the right car door cannot share a set of gripper devices.

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

Preferably, two proximity switches electrically connected to the controller are provided on the first mounting base, and stop structures respectively corresponding to positions of the proximity switches are provided on the frame.

Preferably, the clamping structure includes a base and a clamping portion connected to the base, two clamping surfaces are formed on the clamping portion, and the base is installed on the rotating end superior.

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

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

Preferably, the pressing structure includes a second mount installed at the bottom of the frame, a guide rod, a slider, a spring, and a pressing block assembly; the guide rod is vertically installed on the second mount, The slider is slidably connected to the guide rod, the lower end surface of the slider is connected with a sleeve sleeved on the guide rod, the spring is sleeved on the sleeve, and the pressure block The component is movably sleeved on the guide rod, and one end of the guide rod close to the pressure block assembly is provided with a stop block to prevent the pressure block assembly from detaching from the guide rod; one end of the spring is connected to the lower end of the slider The other end of the spring is connected to the pressing block assembly; the upper end surface of the slider has a first gap with the second mounting seat, and there is a gap between the lower end surface of the sleeve and the pressing block assembly. second gap.

Preferably, the frame is provided with a female connector for matching with a male connector on the robot.

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

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

Compared with the prior art, the beneficial effect of the utility model is: in the utility model, in the switching process of clamping the left car door and the right car door, the rotating device can drive the clamping structure to rotate through the rotation of the rotating device, and then The two clamping surfaces of the clamping structure can be parallel to the wrapping surface of the left or right vehicle door to be clamped, thereby solving the problem that the left vehicle door and the right vehicle door cannot share a set of gripper devices.

Description of drawings

Fig. 1 is the three-dimensional view of the left and right car door shared handle device of the present utility model;

Fig. 2 is a perspective view of another angle of view of the left and right car door shared handle device of the present invention;

Fig. 3 is a schematic diagram when the left car door and the right car door to be clamped are in a stacked state;

Fig. 4 is a structural schematic diagram of grabbing the right car door by the shared handle device of the left and right car doors of the present invention;

Fig. 5 is a schematic diagram of the structure of the left and right car door shared gripper device grabbing the left car door of the utility model;

Fig. 6 is a structural schematic diagram of the clamping structure in the left and right car door shared gripper device of the present invention;

Fig. 7 is a partial enlarged view of A in Fig. 6 .

In the drawings: 1. Rack; 2. Rotating device; 21. Rotating end; 3. Clamping structure; 31. Clamping surface; 4. Car door; 22. First mounting base; 23. First limiting structure; 24. Second limit structure; 25. Proximity switch; 26. Block structure; 32. Seat body; 33. Clamping part; 5. Distance sensor; 6. Compression structure; 61. Second mounting seat; 62. Guide rod; 63, slider; 64, spring; 65, pressing block assembly; 66, sleeve; 67, stop block; 7, female joint; 651, mounting plate; 652, pressing block; 41, wrapping surface; 34, boss.

Detailed ways

The accompanying drawings are for illustrative purposes only, and should not be construed as limitations on this patent; in order to better illustrate this embodiment, certain components in the accompanying drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art It is understandable that some well-known structures and descriptions thereof may be omitted in the drawings. The positional relationship described in the drawings is for illustrative purposes only, and should not be construed as a limitation on this patent.

In the accompanying drawings of the utility model embodiment, the same or similar symbols correspond to the same or similar parts; The orientation or positional relationship indicated by "right", "long" and "short" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying the referred device or element It must have a specific orientation, be constructed and operated in a specific orientation, so the terms describing the positional relationship in the drawings are for illustrative purposes only, and should not be understood as limitations on this patent. Understand the specific meaning of the above terms in specific situations.

Below by specific embodiment, in conjunction with accompanying drawing, the technical scheme of the utility model is described further in detail:

Example 1

As shown in Fig. 1, Fig. 4, Fig. 5, a kind of handle device shared by left and right car doors includes a frame 1, at least three rotating devices 2 and a controller, each rotating device 2 is installed on the frame 1, and the rotating device 2 The rotating end 21 of the rotating end 21 is connected with the clamping structure 3, and the clamping structure 3 has two clamping surfaces 31 that are arranged oppositely, and the rotating device 2 rotates so that the two clamping surfaces 31 can be parallel to the wrapping surface 41 of the car door 4; control The device is electrically connected with the rotating device 2 and the clamping structure 3 respectively. In this embodiment, the frame 1 is installed on the execution end of the robot, and the movement of the entire gripper device is driven by the movement of the execution end of the robot. When the left car door 4 needs to be grasped, the robot drives the clamping structure 3 to move to the top of the left car door 4, and makes the two clamping surfaces 31 of each clamping structure 3 be positioned at the edge of the wrapping surface 41 of the car door 4 to be clamped. on both sides, and the two opposite clamping surfaces 31 are parallel to the wrapping surface 41, then the controller instructs the clamping structure 3 to act so that the two clamping surfaces 31 are clamped on the wrapping surface 41, and then the left door is clamped 4. When the right car door 4 needs to be grasped, the robot drives the clamping structure 3 to move to the top of the right car door 4, and the controller instructs the rotating device 2 to rotate, driving the clamping structure 3 to rotate, so that the two clamping surfaces of the clamping structure 3 31 is parallel to the wrapping surface 41 of the right car door 4, then the robot drives the gripper device to descend, and makes the two clamping surfaces 31 located on both sides of the wrapping surface 41, and the controller instructs the clamping structure 3 to act so that the two clamping surfaces The holding surface 31 is clamped on the wrapping surface 41, and then the right door 4 is clamped. In this embodiment, during the switching process of clamping the left car door 4 and the right car door 4, through the rotation of the rotating device 2, the rotating device 2 can drive the clamping structure 3 to rotate, thereby making the two clamping surfaces of the clamping structure 3 31 can be parallel to the wrapping surface 41 of the left car door 4 or the right car door 4 to be clamped, thereby solving the problem that the left car door 4 and the right car door 4 cannot share a set of gripper devices. It should be noted that when the gripper device clamps the car door 4, when the robot drives the clamping structure 3 to move above the edge-wrapping surface 41 of the car door 4, the controller instructs the rotating device 2 to rotate, and the rotating device 2 drives the clamping structure 3 to rotate , so that the two clamping surfaces 31 of the clamping structure 3 are parallel to the wrapping surface 41 of the vehicle door 4 to be clamped. Then, the robot drives the gripping device to descend, and makes the two clamping surfaces 31 located on both sides of the wrapping surface 41 of the vehicle door 4 to be clamped.

As shown in Figures 1 and 2, the rotating end 21 is provided with a first mounting seat 22, the clamping structure 3 is mounted on the first mounting seat 22, and the first mounting seat 22 is provided with two first limiting structures 23. The frame 1 is provided with second limiting structures 24 respectively corresponding to the positions of the first limiting structures 23 . In this embodiment, the rotating end 21 drives the first mounting base 22 to rotate, and a first limiting structure 23 on the first mounting base 22 abuts against a second limiting structure 24 on the frame 1, indicating that the rotating device 2 has been rotated to an accurate position, the two clamping surfaces 31 of the clamping structure 3 in this position can be parallel to the wrapping surface 41 of the left door 4 to be clamped. The rotating end 21 drives the first mounting base 22 to rotate in the opposite direction, and another first limiting structure 23 on the first mounting base 22 abuts against another second limiting structure 24 on the frame 1, indicating that the rotating device 2 has Rotate to an accurate position, the two clamping surfaces 31 of the clamping structure 3 in this position can be parallel to the wrapping surface 41 of the right door 4 to be clamped. It should be noted that, through the arrangement of the first limiting structure 23 and the corresponding second limiting structure 24 , the rotation angle of the rotating device 2 can be limited to ensure the accuracy of the rotating angle of the rotating device 2 .

As shown in FIG. 1 , two proximity switches 25 electrically connected to the controller are provided on the first mounting base 22 , and stop structures 26 corresponding to the positions of the proximity switches 25 are provided on the frame 1 . In this embodiment, when the rotating device 2 rotates, when the proximity switch 25 detects the stopper structure 26, it means that the rotating device 2 has rotated in place, and the proximity switch 25 sends the detected signal to the controller, and the controller instructs the rotating device 2 Stop spinning. It should be noted that two proximity switches 25 are provided on the first mounting base 22, and block structures 26 are respectively provided on the frame 1 corresponding to the two proximity switches 25. In order to make the handle device suitable for the left door 4, the rotating device 2. Forward rotation. During the forward rotation of the rotating device 2, the proximity switch 25 detects the signal of the block structure 26, and sends the signal to the controller, and the controller instructs the rotating device 2 to stop rotating. When the handle device is suitable for the right car door 4, the rotating device 2 is reversed, and during the process of rotating the rotating device 2, another proximity switch 25 detects the signal of another block structure 26, and sends the signal to the control device, the controller instructs the rotating device 2 to stop rotating.

As shown in Figures 6 and 7, the clamping structure 3 includes a base 32 and a clamping portion 33 connected to the base 32, two clamping surfaces 31 are formed on the clamping portion 33, and the base 32 is installed on the rotating end 21 on. In this embodiment, the seat body 32 is conveniently installed on the rotating end 21 , and the rotating end 21 drives the seat body 32 and the clamping portion 33 connected thereto to rotate. It should be noted that the clamping surface 31 is formed on a protrusion 34 provided on the clamping portion 33 .

In addition, a distance sensor 5 for detecting the distance of the vehicle door 4 is installed on the seat body 32, and the distance sensor 5 is electrically connected with the controller. In this embodiment, the distance sensor 5 is used to detect the distance in the vertical direction between the distance sensor 5 and the car door 4. During the movement of the clamping structure 3 clamping the vehicle door 4, if the clamping structure 3 does not clamp the vehicle door 4 , the door 4 will slide relative to the clamping structure 3, and the distance between the workpiece and the distance sensor 5 will also change relatively, and whether the clamping structure 3 clamps the door 4 can be detected through the change of the distance. It should be noted that, in this embodiment, the distance sensor 5 may be a laser sensor.

Wherein, two clamping structures 3 are located on the left and right sides of the vehicle door 4 , and the other clamping structure 3 is located on the bottom side of the vehicle door 4 . In this embodiment, the three clamping structures 3 adopt such a layout, on the one hand, it can ensure the stability of the clamping on the vehicle door 4, and on the other hand, it can also make the left and right vehicle doors 4 fit the same set of handle devices.

In addition, the rotating device 2 is a rotating cylinder, and the clamping structure 3 is a cylinder clamping structure. In this embodiment, the rotary cylinder and the clamping structure of the cylinder belong to the existing mature structure, and will not be described in detail here.

Example 2

The difference from Embodiment 1 is that, as shown in FIG. 1 , FIG. 2 , FIG. 4 and FIG. 5 , a pressing structure 6 for pressing the door 4 is provided at the bottom of the frame 1 . In this embodiment, when the handle device transfers the door 4, it is clamped on the hemming surface 41 by a plurality of clamping structures 3 on the side of the door 4, but the inner panel of the door 4 is not clamped, and there is a risk of misalignment. By compressing the pressing structure 6 on the inner panel of the vehicle door 4, the stability of the entire vehicle door 4 can be ensured, and the problem of misalignment of the vehicle door 4 during the transfer process can be prevented.

As shown in Figure 1, the pressing structure 6 includes a second mount 61 installed on the bottom of the frame 1, a guide rod 62, a slide block 63, a spring 64 and a pressing block assembly 65; the guide rod 62 is installed vertically at the second On the second mounting seat 61, the slider 63 is slidably connected to the guide rod 62, the lower end surface of the slider 63 is connected with a sleeve 66 sleeved on the guide rod 62, the spring 64 is sleeved on the sleeve 66, and the pressing block assembly 65 is movably sleeved on the guide rod 62, and one end of the guide rod 62 near the pressure block assembly 65 is provided with a stop block 67 to prevent the pressure block assembly 65 from breaking away from the guide rod 62; one end of the spring 64 is connected with the lower end surface of the slide block 63, and the spring The other end of 64 is connected with the pressing block assembly 65; there is a first gap between the upper end surface of the slider 63 and the second mount 61, and there is a second gap between the lower end surface of the sleeve 66 and the pressing block assembly 65. In this embodiment, when the vehicle door 4 needs to be clamped, the two clamping surfaces 31 of each clamping structure 3 are clamped on the wrapping surface 41 of the vehicle door 4, and the pressing block assembly 65 is pressed against the inner panel of the vehicle door 4 at the same time. On, to prevent the misalignment of the door 4. It should be noted that the pressing block assembly 65 is pressed against the inner panel of the vehicle door 4, the pressing block assembly 65 moves upward and compresses the spring 64, and at the same time, the pressing block assembly 65 pushes the sleeve 66 and the slider 63 to move upward until the pressing block assembly 65 and The lower end surface of the sleeve 66 is in contact with each other, and the upper end surface of the slider 63 is in contact with the lower end surface of the second mount 61 , that is, the pressing effect of the pressing block assembly 65 on the inner panel of the car door 4 is achieved. It should also be noted that the pressing block assembly 65 includes a mounting plate 651 sleeved on the guide rod 62 and a pressing block 652 connected to the mounting plate 651 . Since the briquetting block 652 is directly in contact with the interior door, in order to avoid damage to the interior door by the briquetting block 652, the briquetting block 652 can adopt a rubber structure.

Example 3

The difference from Embodiment 1 is that, as shown in FIG. 1 , FIG. 2 and FIG. 5 , a female connector 7 for matching with a male connector on the robot is provided on the frame 1 . It should be noted that a male connector is installed on the execution end of the robot, and a female connector 7 is installed on the frame 1 . Through the connection between the male connector and the female connector 7 , the frame 1 can be quickly installed on the execution end of the robot. It should be noted that the female connector 7 can be installed on the frame 1 by welding, or can be installed on the frame 1 by other detachable connection methods, which is not limited here.

Apparently, the above-mentioned embodiments of the present utility model are only examples for clearly illustrating the present utility model, rather than limiting the implementation manner of the present utility model. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. All modifications, equivalent replacements and improvements made within the spirit and principles of the utility model shall be included in the protection scope of the claims of the utility model.

Claims (10)

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

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

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

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

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

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

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

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

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

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