CN-121104975-B - Industrial robot self-adaptive clamping system for automobile mixed line production

CN121104975BCN 121104975 BCN121104975 BCN 121104975BCN-121104975-B

Abstract

The invention relates to the technical field of industrial robots, in particular to an industrial robot self-adaptive clamping system for automobile mixed line production, which comprises a connecting table, a self-adaptive fixed clamp body mechanism, a sliding table, a self-adaptive movable clamp body mechanism and a clamping driving mechanism, wherein the connecting table is used for connecting an industrial robot mechanical arm, the self-adaptive fixed clamp body mechanism is fixedly arranged on the connecting table, the sliding table is connected onto the connecting table in a sliding mode, the self-adaptive movable clamp body mechanism is fixedly arranged on the sliding table and is arranged opposite to the self-adaptive fixed clamp body mechanism, and the clamping driving mechanism is arranged on the connecting table and is in transmission connection with the sliding table and is used for driving the sliding table to drive the self-adaptive movable clamp body mechanism to move towards or away from the self-adaptive fixed clamp body mechanism in a linear mode. The invention discloses an industrial robot self-adaptive clamping system for automobile mixed line production, which aims to solve the problems of the traditional clamping system in automobile mixed line production, can passively or actively adapt to irregular contours on the surface of a workpiece, improves the stability and universality of clamping, reduces the production cost and improves the efficiency and quality of automobile mixed line production.

Inventors

ZHU JING
XU FEI
HUANG JINGJING
XU ZHIPENG
Song Shuyao

Assignees

盐城工业职业技术学院

Dates

Publication Date: 20260512
Application Date: 20251010

Claims (5)

1. A industrial robot self-adaptation clamping system for car mixes line production, its characterized in that includes: the connecting table is used for connecting the mechanical arm of the industrial robot; The self-adaptive clamp body fixing mechanism is fixedly arranged on the connecting table; The sliding table is connected to the connecting table in a sliding manner; the self-adaptive movable clamp body mechanism is fixedly arranged on the sliding table and is arranged opposite to the self-adaptive fixed clamp body mechanism; The clamping driving mechanism is arranged on the connecting table and is in transmission connection with the sliding table, and is used for driving the sliding table to drive the self-adaptive movable clamp body mechanism to move towards or away from the self-adaptive fixed clamp body mechanism in a linear manner; the self-adaptive movable clamp body mechanism comprises: the assembling clamp seat is fixedly connected to the sliding table and provided with a plurality of self-adaptive sliding grooves; the bottom parts of the self-adaptive clamp body assemblies are arranged in the self-adaptive sliding grooves in a sliding manner; the limiting cross shaft is arranged in the self-adaptive sliding groove and penetrates through a limiting cross hole at the bottom of the self-adaptive clamp body assembly; The self-adaptive pressure spring is sleeved on the limiting cross shaft, and two ends of the self-adaptive pressure spring are respectively abutted with the rear side surfaces of the self-adaptive clamp body assembly and the self-adaptive sliding groove; the self-adaptive movable clamp body mechanism further comprises: The front ends of the locking worms are fixedly connected to the bottoms of the self-adaptive clamp body assemblies in a one-to-one correspondence manner; The T-shaped sliding blocks are slidably arranged in the T-shaped guide grooves on the lower surface of the assembly clamp seat and are correspondingly connected with the rear ends of the locking worms one by one; the two ends of the loading transverse tube are fixedly connected with two bearing hanging seats which are fixedly arranged on the lower surface of the assembling clamp seat; the locking worm wheels are rotatably sleeved on the loading transverse tube and meshed with the locking worms one by one; The clamp body locking assembly is arranged on the loading transverse tube and used for controlling the plurality of locking worm gears to be fixed relative to the loading transverse tube; a plurality of limiting protrusions are fixed on the loading transverse tube, and each locking worm wheel is positioned in a limiting area between two adjacent limiting protrusions; the clamp body locking subassembly includes: the locking motor is fixedly arranged at one end of the loading transverse tube through a motor bracket; the locking screw rod is coaxially connected with an output shaft of the locking motor and is rotatably arranged in the loading transverse tube; the locking units are axially arranged along the locking screw rod and are in transmission connection with the locking screw rod; the locking screw is configured to rotate under the drive of the locking motor to drive the locking units to extend out of the plurality of through holes formed in the loading transverse tube in the radial direction and tightly abut against the inner side surfaces of the locking worm wheels so as to control the locking worm wheels to be fixed with the loading transverse tube relatively; The locking unit comprises a locking slide plate, a plurality of locking connecting rods, a plurality of locking ejector rods and a plurality of locking ejector rods, wherein the center of a shaft penetrating hole of the locking worm wheel is provided with an annular groove, an annular rubber ring is adhered to the inner side of the annular groove, the locking slide plate is in threaded connection with a locking screw rod and can be arranged in a loading transverse tube in a sliding mode, the plurality of locking connecting rods are uniformly distributed along the circumferential direction, one ends of the locking connecting rods are in rotary connection with the locking slide plate, the middle parts of the plurality of locking ejector rods can be in sliding penetrating arrangement with the through holes of the loading transverse tube, the inner ends of the plurality of locking ejector rods are in rotary connection with the other ends of the corresponding locking connecting rods, and the outer ends of the locking ejector rods extend into the annular groove and are in butt joint with the inner side faces of the annular rubber ring.
2. The industrial robot adaptive clamping system for automotive hybrid line production of claim 1, wherein the clamping driving mechanism comprises: the driving screw rod is rotatably arranged on the connecting table; the driving piece is connected to one end of the driving screw rod and used for providing rotary power; the force transmission seat is connected to the driving screw rod in a threaded manner and connected with the sliding table; the driving piece drives the driving screw rod to rotate, and drives the force transmission seat to move along the axial direction of the driving screw rod, so that the sliding table is driven to move linearly.
3. The industrial robot adaptive clamping system for automotive hybrid line production of claim 1, wherein the adaptive clamp body assembly comprises: The bearing sliding seat is slidably arranged in the self-adaptive sliding groove and is matched with the limiting transverse shaft; The detachable bearing plate is inserted into the groove at the top of the bearing slide seat; the assembly screw rod is in threaded connection with the side part of the bearing slide seat and extends into the assembly transverse hole of the detachable bearing plate to fix the assembly transverse hole; the cylindrical clamp is rotatably connected to the front end of the detachable bearing plate; and two ends of the self-adaptive pressure spring are respectively abutted against the bearing sliding seat and the rear side face of the self-adaptive sliding groove.
4. The industrial robot adaptive clamping system for automotive hybrid line production of claim 3, wherein the detachable carrier plate comprises: the fixed bearing plate is inserted into the groove at the top of the bearing sliding seat and is provided with an assembly transverse hole; The movable bearing plate is slidably arranged in the sliding groove at the front part of the fixed bearing plate, and the front end of the movable bearing plate is rotationally connected with the cylindrical clamp; the rear end of the extension screw rod is rotationally connected with the fixed bearing plate, and the front end of the extension screw rod is in threaded connection with an internal threaded hole at the rear end of the movable bearing plate; the movable bearing plate can be driven to move back and forth relative to the fixed bearing plate by rotating the extension screw.
5. The adaptive clamping system for the industrial robot for the automobile mixed line production according to claim 4, wherein the rear end face of the movable bearing plate is connected with the inner side face of the sliding groove at the front part of the fixed bearing plate through a tensioning spring sleeved on the extension screw.

Description

Industrial robot self-adaptive clamping system for automobile mixed line production Technical Field The invention relates to the technical field of industrial robots, in particular to an industrial robot self-adaptive clamping system for automobile mixed line production. Background Industrial robots have been widely used in processes such as welding, gluing, handling, assembly, etc. in the automotive manufacturing field due to their high accuracy, high repeatability and high strength operation capability. With the increasing market demand, the automobile production mode is changing from large-scale standardized production to small-batch and multi-variety mixed-line production. On the same production line, workpieces with different vehicle types and different configurations need to be rapidly and frequently switched and produced. In this context, very high demands are made on the clamping system on the production line. In the production process of the automobile mixed line, the industrial robot is required to clamp automobile parts with different shapes, sizes and surface contours. Conventional clamping systems are often designed for work pieces of specific shape and size, lacking flexibility and adaptability. When facing the irregular work piece in surface, traditional clamping system is difficult to realize accurate, stable clamping, appears clamping insecure, damage work piece surface scheduling problem easily, and then influences the processingquality and the production efficiency of automobile parts. In addition, when the traditional clamping system is used for dealing with mixed line production, clamping tools are required to be frequently replaced and complicated debugging is required, so that the production cost and the production preparation time are increased, and the automation degree and the overall production efficiency of the production line are reduced. Disclosure of Invention In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. To at least partially solve the above problems, the present invention provides an industrial robot adaptive clamping system for automotive hybrid line production, comprising: the connecting table is used for connecting the mechanical arm of the industrial robot; The self-adaptive clamp body fixing mechanism is fixedly arranged on the connecting table; The sliding table is connected to the connecting table in a sliding manner; the self-adaptive movable clamp body mechanism is fixedly arranged on the sliding table and is arranged opposite to the self-adaptive fixed clamp body mechanism; and the clamping driving mechanism is arranged on the connecting table and is in transmission connection with the sliding table, and is used for driving the sliding table to drive the self-adaptive movable clamp body mechanism to move towards or away from the self-adaptive fixed clamp body mechanism in a linear manner. Further, the clamping driving mechanism comprises: the driving screw rod is rotatably arranged on the connecting table; the driving piece is connected to one end of the driving screw rod and used for providing rotary power; the force transmission seat is connected to the driving screw rod in a threaded manner and connected with the sliding table; the driving piece drives the driving screw rod to rotate, and drives the force transmission seat to move along the axial direction of the driving screw rod, so that the sliding table is driven to move linearly. Further, the self-adaptive moving clamp body mechanism comprises: the assembling clamp seat is fixedly connected to the sliding table and provided with a plurality of self-adaptive sliding grooves; the bottom parts of the self-adaptive clamp body assemblies are arranged in the self-adaptive sliding grooves in a sliding manner; the limiting cross shaft is arranged in the self-adaptive sliding groove and penetrates through a limiting cross hole at the bottom of the self-adaptive clamp body assembly; The self-adaptive pressure spring is sleeved on the limiting transverse shaft, and two ends of the self-adaptive pressure spring are respectively abutted against the rear side surfaces of the self-adaptive clamp body assembly and the self-adaptive sliding groove. Further, the adaptive clamp body assembly includes: The bearing sliding seat is slidably arranged in the self-adaptive sliding groove and is matched with the limiting transverse shaft; The detachable bearing plate is inserted into the groove at the top of the bearing slide seat; the assembly screw rod is in threaded connection with the side part of the bearing slide seat and extends into the assembly transverse hole of the detachable bearing plate to fix the assemb