Automobile cockpit module turnover system

Abstract

The present application relates to a vehicle cockpit module turnover system, comprising: an assembly trolley and a mechanical arm; the assembly trolley comprises a vehicle body frame, a suspension mechanism, a workpiece support, a pair of hinge mechanisms, a compensation mechanism, a pair of locking mechanisms and at least one pair of anti-foreign-object rollers; the mechanical arm comprises a fixed crossbeam and a supporting mechanism, a clamping mechanism, a guiding mechanism and an unlocking mechanism symmetrically arranged at both ends of the fixed crossbeam; the vehicle body frame is pulled to move by the suspension mechanism, the workpiece support is placed and supported by the workpiece, a pair of hinge mechanisms are used to horizontally flip the workpiece support, a compensation mechanism is used to adjust the flipping angle of the workpiece support, a pair of locking mechanisms are used to lock the workpiece, at least one pair of anti-foreign-object rollers are used to roll the vehicle body frame, a supporting mechanism supports a steering column of the workpiece placed on the workpiece support, a clamping mechanism clamps the workpiece, and a guiding mechanism is aligned with the workpiece unlocking mechanism to unlock the workpiece from the workpiece support corresponding to a pair of locking mechanisms, so as to improve not only the assembly efficiency of the workpiece, but also the turnover efficiency of the workpiece.

Description

Technical Field

[0001] The present application relates to the technical field of automobile assembly, and in particular to an automobile cockpit module turnover system. Background Art

[0002] At present, with the rapid development of the automobile industry, car interiors are receiving more and more attention. A high-quality automobile product must not only ensure the customer's driving safety and power, but also make the customer feel visually comfortable in terms of appearance.

[0003] In the existing assembly line of the cockpit module of the automobile, a fixed structure hanger is used. During the assembly process, due to the wide variety of parts to be assembled, the cockpit module needs to be turned over several times to complete. When assembling with the traditional fixed structure hanger, the assembler can only perform the assembly work by turning his body. This, on the one hand, increases the labor intensity of the assembler; on the other hand, it is easy to produce assembly errors because it is difficult to locate and install the parts during assembly, resulting in reduced work efficiency and increased scrap rate of workpieces.

[0004] In addition, the traditional turnover method is to manually transport the assembled workpieces to the shelves and fix them. If the employees are not careful, the cockpit module may be deformed or damaged. Therefore, there is an urgent need for a device that can assist in assembly and turnover. Summary of the invention

[0005] In order to solve the above technical problems, an embodiment of the present application provides an automobile cockpit module turnover system, which can not only improve the assembly efficiency of workpieces, but also improve the turnover efficiency of workpieces.

[0006] In view of this, according to an embodiment of the present application, there is provided a vehicle cockpit module turnover system, comprising: an assembly trolley and a mechanical arm;

[0007] The assembly trolley includes a body frame, a suspension mechanism, a workpiece support, a pair of hinge mechanisms, a compensation mechanism, a pair of locking mechanisms and at least one pair of foreign body protection rollers;

[0008] The mechanical arm includes a fixed beam and a supporting mechanism, a clamping mechanism, a guiding mechanism, and an unlocking mechanism symmetrically arranged at both ends of the fixed beam;

[0009] Wherein, the body frame is rectangular and is arranged perpendicular to the horizontal plane;

[0010] The suspension mechanism is arranged on the top of the vehicle body frame, and comprises a first suspension mechanism and a second suspension mechanism, the first suspension mechanism and the second suspension mechanism are arranged at two ends of the top of the vehicle body frame respectively, the first suspension mechanism is used to pull the vehicle body frame to move, and the second suspension mechanism is used to follow the first suspension mechanism to move;

[0011] The workpiece support is horizontally arranged in the vehicle body frame and is used to place and support the workpiece;

[0012] A pair of hinge mechanisms are respectively arranged on the left and right sides of the vehicle body frame and connected to the two ends of the workpiece support, so as to enable the workpiece support to be horizontally flipped in the vehicle body frame;

[0013] The compensation mechanism is connected to the hinge mechanism arranged on the left side of the vehicle body frame and is used to adjust the flip angle of the workpiece support;

[0014] A pair of locking mechanisms are respectively arranged at two ends of the workpiece support and are used to lock the workpiece;

[0015] At least one pair of anti-foreign-object rollers are respectively arranged at two ends of the bottom of the vehicle body frame, and are used for the vehicle body frame to roll under the traction of the suspension mechanism;

[0016] The fixed crossbeam is arranged parallel to the vehicle body frame along the Y-axis direction, and the supporting mechanism, the guiding mechanism, the clamping mechanism, and the unlocking mechanism are arranged in the XZ-axis plane relative to the fixed crossbeam;

[0017] The supporting mechanism includes a supporting cylinder, a supporting connector, a shifting cylinder, and a steering column support plate. The supporting cylinder is fixed to the rear side of the fixed beam along the Y-axis direction. The supporting connector is arranged downward perpendicularly to the supporting cylinder along the Z-axis direction. The shifting cylinder is vertically connected to the bottom of the supporting connector along the X-axis direction and extends forward relatively perpendicularly to the fixed beam. The shifting cylinder is connected to the steering column support plate. The supporting mechanism is used to support the steering column of the workpiece placed on the workpiece bracket.

[0018] The clamping mechanism includes a clamping cylinder, a clamping hydraulic rod, a clamping connector, a clamping plate, and a clamping pin. The clamping cylinder and the clamping hydraulic rod are arranged at the bottom of the fixed beam along the Y-axis direction. The top of the clamping connector is connected to the clamping cylinder and the clamping hydraulic rod respectively, and the clamping connector is arranged downwardly perpendicular to the clamping cylinder along the Z-axis direction. The clamping plate is connected to the bottom of the clamping connector along the X-axis direction. The clamping pin is arranged on the side of the clamping plate toward the center of the fixed beam along the Y-axis direction. The clamping mechanism is used to clamp the workpiece.

[0019] The guide mechanism includes a guide connector and a guide column. The guide connector is arranged downwardly perpendicular to the fixed beam along the Z-axis direction. The guide column is connected to the bottom of the guide connector along the X-axis direction. The guide mechanism is used to align the workpiece.

[0020] The unlocking mechanism comprises an unlocking connector, an unlocking cylinder and an unlocking block which are sequentially connected along the X-axis, and the unlocking connector is connected to the guide connector. The unlocking mechanism is used to correspond to a pair of locking mechanisms to unlock the workpiece from the workpiece support.

[0021] Furthermore, the workpiece support includes: a left support, a right support, a support beam, an air conditioning support, a steering column support, a pair of pick-up guides and a plurality of workpiece positioning parts; wherein

[0022] The left bracket, the right bracket and the bracket cross beam are arranged in the same plane, the bracket cross beam is arranged in parallel on the rear side of the vehicle body frame, the left bracket and the right bracket are perpendicular to both ends of the bracket cross beam and extend to the front side of the vehicle body frame, and the side edges of the left bracket and the right bracket are connected with a pair of hinge mechanisms;

[0023] The air conditioner bracket is vertically connected to the bracket crossbeam and is arranged toward the bottom of the vehicle body frame, and the air conditioner bracket is used to support the air conditioner of the workpiece;

[0024] The steering column bracket is arranged side by side on the left side and / or the right side of the air conditioner bracket, and the steering column bracket is used to position the steering column of the workpiece;

[0025] A pair of pick-up guides are respectively arranged at the extended ends of the left bracket and the right bracket, and are arranged in the same direction as the extending direction of the left bracket and the right bracket;

[0026] A plurality of workpiece positioning members are respectively arranged on the left bracket, the right bracket and the bracket crossbeam, and are used to position the workpiece;

[0027] Furthermore, the workpiece positioning members arranged on the left bracket and the right bracket are located at the front side of the vehicle body frame, and the workpiece positioning members arranged on the bracket cross beam extend to the front side of the vehicle body frame, so that when the workpiece is placed on the workpiece bracket, the center of gravity position of the workpiece bracket is balanced.

[0028] Furthermore, the left bracket and the right bracket are T-shaped, one end of the lateral portion of the T is vertically connected to the bracket crossbeam, the other end extends to the front side of the vehicle body frame, and the vertical portion of the T is connected to a pair of hinge mechanisms;

[0029] Wherein, a pair of hinge mechanisms includes: a left hinge mechanism and a right hinge mechanism, the left hinge mechanism includes a left fixed block, a left rotating shaft and a left rotating block connected in sequence, and the right hinge mechanism includes a right fixed block, a right rotating shaft and a right rotating block connected in sequence;

[0030] The left fixed block is arranged on the left side of the vehicle body frame, and the right fixed block is arranged symmetrically on the right side of the vehicle body frame relative to the left fixed block. The left rotating shaft and the right rotating shaft are arranged horizontally opposite to each other and are located on the same axis.

[0031] Then, the T-shaped vertical parts of the left bracket and the right bracket are respectively connected to the side walls of the left rotating block and the right rotating block, so that the center of gravity of the workpiece bracket deviates from the axis where the left rotating shaft and the right rotating shaft are located, and when the workpiece is placed on the workpiece bracket, the center of gravity of the workpiece bracket is on the axis.

[0032] Furthermore, the compensation mechanism includes: a compensation latch seat, a compensation latch, a compensation turntable, a turntable handle and a pair of compensation limit blocks; wherein

[0033] The compensation rotating disk is arranged between the left fixed block and the left rotating block of the left hinge mechanism, and the compensation rotating disk is arranged coaxially with the left rotating shaft and is fixed to the left rotating block;

[0034] In addition, a plurality of latch fixing holes and a plurality of position limiting installation grooves are evenly arranged around the center of the circle on the compensation rotating disk, and the plurality of latch fixing holes are arranged along the edge of the compensation rotating disk, and the plurality of position limiting installation grooves are arranged on one side of the compensation rotating disk facing the left fixed block;

[0035] The compensating latch seat is arranged above the left fixing block, and the compensating latch seat is provided with a compensating latch hole at a height corresponding to the latch fixing hole;

[0036] The compensation pin is horizontally connected to the compensation pin hole and is used to be inserted into one of the pin fixing holes to fix the flip angle of the workpiece support;

[0037] A pair of compensation limit blocks are respectively arranged in two of the limit installation grooves to limit the flip angle of the workpiece support, and the limited flip angle is the angle formed by the pair of compensation limit blocks;

[0038] The turntable handle is arranged on one side of the compensation turntable facing the left rotation block, and the turntable handle extends toward the front side of the vehicle body frame. The turntable handle is used to rotate the compensation turntable to flip the workpiece support.

[0039] Furthermore, a pair of locking mechanisms are symmetrically arranged at one end of the left bracket and the right bracket extending to the front side of the vehicle body frame, and each locking mechanism includes: a locking fixing block, a locking hook, a locking spring, a locking guide, and a locking support plate; wherein

[0040] Lock the fixing block and connect it with the left bracket or the right bracket;

[0041] A locking hook is arranged above the locking fixed block along the extension direction of the left bracket and the right bracket, and the head of the locking hook is bent in a hook shape, and the locking hook hook hooks the workpiece placed on the workpiece bracket through the hook shape bending, and the head of the locking hook is an end away from the left bracket and the right bracket;

[0042] A locking spring is arranged between the tail of the locking hook and the locking fixing block, and is used to lift the tail of the locking hook and press down the head of the locking hook. The tail of the locking hook is an end close to the left bracket and the right bracket.

[0043] A locking guide is arranged at the front side of the locking fixing block along the extension direction of the left bracket and the right bracket, and the locking guide is used for guiding the workpiece;

[0044] A locking support plate is arranged below the locking fixing block along the extending direction of the left support and the right support, and the locking support plate is used for supporting the workpiece.

[0045] Furthermore, the locking claw comprises: a claw body, a claw toggle block, a claw fixing block, a spring connecting block and an unlocking lever;

[0046] The hook body is arranged in a straight line, and its head is bent downward to form a barb shape, and its tail is tilted upward away from the head;

[0047] The hook claw toggle block is arranged above the hook claw body and at one side close to the head thereof, and the hook claw toggle block is used to toggle the locking hook claw;

[0048] The hook fixing block is arranged below the hook body and at one side close to the tail thereof, and the hook fixing block is used for being hingedly connected with the locking fixing block;

[0049] The spring connection block is arranged below the tail of the hook body and is used to connect the locking spring so as to press the head of the hook body down in a hook shape through the locking spring;

[0050] The unlocking lever is vertically arranged on the left or right side of the hook claw moving block along a direction perpendicular to the extending direction of the hook claw body. The unlocking lever is used to move the locking hook claw to lift the hook-shaped bend of the head of the hook claw body.

[0051] Further, the supporting mechanism, the clamping mechanism, the guiding mechanism, and the unlocking mechanism are perpendicular to the workpiece support of the assembly trolley along the X-axis direction;

[0052] Moreover, the guide column of the guide mechanism is aligned with a pair of pick-up guides at both ends of the workpiece support, so that the unlocking mechanism unlocks a pair of locking mechanisms, and the supporting mechanism and the clamping mechanism of the robot arm remove the workpiece.

[0053] Further, when the guide column of the guide mechanism is aligned with a pair of pick-up guides at both ends of the workpiece support, the unlocking block of the unlocking mechanism corresponds to the unlocking lever of the locking claw;

[0054] In addition, the unlocking block is provided with an upward protrusion toward the head of the unlocking lever, and the unlocking lever is pushed up by the upward protrusion to lift the hook-shaped bend of the head of the locking claw to unlock the workpiece.

[0055] Furthermore, the tail of the unlocking block is connected to the push rod of the unlocking cylinder so that the unlocking block extends perpendicularly to the workpiece support along the X-axis direction.

[0056] Compared with the prior art, the present invention has the following beneficial effects:

[0057] In the embodiment of the present application, the body frame is moved by pulling the suspension mechanism, the workpiece holder is placed and supported, a pair of hinge mechanisms allows the workpiece holder to flip horizontally, a compensation mechanism adjusts the flipping angle of the workpiece holder, a pair of locking mechanisms locks the workpiece, at least a pair of anti-foreign object rollers allows the body frame to roll, a supporting mechanism supports the steering column of the workpiece placed on the workpiece holder, a clamping mechanism clamps the workpiece, and a guide mechanism is aligned with the workpiece unlocking mechanism to unlock the workpiece from the workpiece holder. This can not only improve the assembly efficiency of the workpiece, but also improve the turnover efficiency of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present application, rather than limiting the present application.

[0059] Figure 1 This is a schematic diagram of assembling the car;

[0060] Figure 2 is a schematic diagram of the workpiece support;

[0061] Figure 3 It is a schematic diagram of the combination of the compensation mechanism and the left hinge mechanism;

[0062] Figure 4 is a schematic diagram of a locking mechanism;

[0063] Figure 5 This is a schematic diagram of the auxiliary turnover system of the vehicle cockpit module;

[0064] Figure 6 This is a schematic diagram of the auxiliary turnover device of the automobile cockpit module;

[0065] Figure 7 This is a schematic diagram of the mechanical arm structure;

[0066] Figure 8 It is a schematic diagram of the support mechanism in the robotic arm;

[0067] Fig. 9 It is a schematic diagram of the clamping mechanism in the robotic arm;

[0068] Fig.10 It is a schematic diagram of the guiding mechanism and unlocking mechanism in the robotic arm;

[0069] Fig.11 for Fig.10 Enlarged view of the middle guide mechanism.

[0070] Description of reference numerals:

[0071] 100-mechanical arm, 200-lifting host, 300-travel trolley, 400-X-axis guide rail, 500-Y-axis guide rail, 600-revolving truss;

[0072] 110-fixed beam, 120-support mechanism, 130-clamping mechanism, 140-guide mechanism, 150-unlocking mechanism, 160-main control box, 170-mechanical arm armrest, 180-side control handle;

[0073] 210-angle compensation mechanism, 220-lifting cylinder, 230-lifting hydraulic rod, 240-control chassis, 250-drag chain;

[0074] 121-support cylinder, 122-support connecting piece, 123-shift cylinder, 124-steering column support plate, 125-support fixing seat, 126-support protective cover, 1211-support rodless cylinder, 1212-support linear guide rail, 1221-support connecting block, 1222-support connecting rod, 1223-support connecting plate, 1224-support reinforcing plate, 1231-first shift cylinder, 1232-second shift cylinder, 1233-inverted T-shaped connecting block, 1234-lateral positioning block, 1235-lateral connecting piece;

[0075] 131-clamping cylinder, 132-clamping hydraulic rod, 133-clamping connector, 134-clamping plate, 135-clamping pin, 136-clamping in place sensor, 137-clamping detection end, 138-clamping protective cover, 1331-reinforced connection part;

[0076] 141-guide connector, 142-guide column, 1421-guide clamp, 1422-guide fixing column, 1423-guide latch, 1424-guide stopper, 1425-guide in-position sensor;

[0077] 151-unlocking connector, 152-unlocking cylinder, 153-unlocking block;

[0078] 181-side control box, 182-intake compensation knob;

[0079] 800-assembly trolley, 810-body frame, 820-first suspension mechanism, 830-second suspension mechanism, 840-workpiece support, 850-left hinge mechanism, 860-right hinge mechanism, 870-compensation mechanism, 880-locking mechanism, 890-anti-foreign matter roller;

[0080] 841-left bracket, 842-right bracket, 843-bracket crossbeam, 844-air conditioning bracket, 845-steering column bracket, 846-piece guide, 847-workpiece positioning piece, 848-left fixing plate, 849-right fixing plate, 8441-L-shaped connecting rod, 8442-vertical fixing plate, 8443-steering column connecting piece, 8444-U-shaped supporting plate, 8445-vertical fixing block, 8446-fixing bolt, 8447-bolt connecting seat, 8448-air conditioning vertical positioning block, 8449-air conditioning horizontal positioning block, 8451-horn-shaped connecting rod, 8452-vertical connecting rod, 8453-horn-shaped slot;

[0081] 851-left fixed block, 852-left rotating shaft, 853-left rotating block;

[0082] 871-compensation latch seat, 872-compensation latch, 873-compensation turntable, 874-turntable handle, 875-compensation limit block, 8731-latch fixing hole, 8732-limit installation slot, 8733-handle connection hole;

[0083] 881-locking fixed block, 882-locking claw, 883-locking spring, 884-locking guide, 885-locking support plate. DETAILED DESCRIPTION

[0084] In order to make the purpose, technical scheme and advantages of the embodiment of the present application clearer, the technical scheme of the embodiment of the present application will be clearly and completely described in conjunction with the drawings of the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, not all of the embodiments. Based on the described embodiment of the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

[0085] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which this application belongs. The words "first", "second", "third" and similar words used in the patent application specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. The terms "X-axis", "Y-axis", "Z-axis", "center", "vertical", "vertical", "horizontal", "up", "down", "left", "right", "front", "back", "top", "bottom" and the like used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0086] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0087] Please refer to Figures 1 to 11 As shown, in the embodiment of the present application, the automobile cockpit module turnover system includes: an assembly cart 800 and a robotic arm 100.

[0088] Among them, the assembly cart 800 may include: a body frame 810, a suspension mechanism (including a first suspension mechanism 820 and a second suspension mechanism 830), a workpiece support 840, a pair of hinge mechanisms (including a left hinge mechanism 850 and a right hinge mechanism 860), a compensation mechanism 870, a pair of locking mechanisms 880 and at least one pair of anti-foreign object rollers 890.

[0089] The body frame 810 may be rectangular and disposed perpendicular to a horizontal plane;

[0090] The suspension mechanism is arranged on the top of the vehicle body frame 810, and includes a first suspension mechanism 820 and a second suspension mechanism 830. The first suspension mechanism 820 and the second suspension mechanism 830 are respectively arranged at two ends of the top of the vehicle body frame 810. The first suspension mechanism 820 can be used to pull the vehicle body frame 810 to move, and the second suspension mechanism 830 can be used to follow the first suspension mechanism 820 to move.

[0091] The workpiece support 840 is horizontally disposed in the body frame 810 and can be used to place and support the workpiece;

[0092] The pair of hinge mechanisms are respectively arranged on the left and right sides of the body frame 810 and connected to the two ends of the workpiece support 840, including a left hinge mechanism 850 and a right hinge mechanism 860, which can be used to make the workpiece support 840 flip horizontally in the body frame 810;

[0093] The compensation mechanism 870 may be connected to a hinge mechanism disposed on the left side of the vehicle body frame 810 and may be used to adjust the flip angle of the workpiece support 840;

[0094] The pair of locking mechanisms 880 are respectively disposed at both ends of the workpiece support 840 and can be used to lock the workpiece;

[0095] The at least one pair of anti-foreign-object rollers 890 are respectively disposed at two ends of the bottom of the vehicle body frame 810 , and can be used for the vehicle body frame 810 to roll under the traction of the suspension mechanism.

[0096] The robot arm 100 may include a fixed beam 110 and a supporting mechanism 120 , a clamping mechanism 130 , a guiding mechanism 140 , and an unlocking mechanism 150 symmetrically arranged at two ends of the fixed beam 110 .

[0097] The fixed beam 110 may be arranged along the Y-axis direction, and the support mechanism 120, the guide mechanism 140, the clamping mechanism 130, and the unlocking mechanism 150 are arranged in the XZ-axis plane relative to the fixed beam 110;

[0098] The support mechanism 120 may include a support cylinder 121, a support connector 122, a displacement cylinder 123, and a steering column support plate 124. The support cylinder 121 may be fixed to the rear side of the fixed beam 110 along the Y-axis direction, the support connector 122 may be arranged downwardly perpendicular to the support cylinder 121 along the Z-axis direction, the displacement cylinder 123 may be vertically connected to the bottom of the support connector 122 along the X-axis direction, and extend forward relatively perpendicularly to the fixed beam 110, that is, extend toward the left side along the X-axis direction, and the displacement cylinder 123 may be connected to the steering column support plate 124;

[0099] The clamping mechanism 130 may include a clamping cylinder 131, a clamping hydraulic rod 132, a clamping connector 133, a clamping plate 134, and a clamping pin 135. The clamping cylinder 131 and the clamping hydraulic rod 132 may be arranged at the bottom of the fixed beam 110 along the Y-axis direction. The top of the clamping connector 133 may be connected to the clamping cylinder 131 and the clamping hydraulic rod 132 respectively, and the clamping connector 133 may be arranged downwardly perpendicular to the clamping cylinder 131 along the Z-axis direction. The clamping plate 134 may be connected to the bottom of the clamping connector 133 along the X-axis direction. The clamping pin 135 may be arranged on one side of the clamping plate 134 toward the center of the fixed beam 110 along the Y-axis direction.

[0100] The guide mechanism 140 may include a guide connector 141 and a guide column 142. The guide connector 141 may be arranged downwardly perpendicular to the fixed beam 110 along the Z-axis direction, and the guide column 142 may be connected to the bottom of the guide connector 141 along the X-axis direction.

[0101] The unlocking mechanism 150 may include an unlocking connector 151, an unlocking cylinder 152, and an unlocking block 153 which are sequentially connected along the X axis, and the unlocking connector 151 is connected to the guide connector 141, such as Fig.10 shown.

[0102] Furthermore, the support mechanism 120, the clamping mechanism 130, the guide mechanism 140, and the unlocking mechanism 150 in the robot arm 100 are all perpendicular to the workpiece support 840 of the assembly vehicle 800 along the X-axis direction. Moreover, the guide column 142 of the guide mechanism 140 is aligned with a pair of take-out guides 846 at both ends of the workpiece support 840, so that the unlocking mechanism 150 unlocks the pair of locking mechanisms 880, and the support mechanism 120 and the clamping mechanism 130 of the robot arm 100 can remove the workpiece.

[0103] That is, when the guide column 142 of the guide mechanism 140 is aligned with a pair of pick-up guides 846 at both ends of the workpiece support 840, the unlocking block 153 of the unlocking mechanism 150 corresponds to the unlocking lever on the locking hook 882 of the pair of locking mechanisms 880, and the unlocking block 153 may be provided with an upward protrusion toward the head of the unlocking lever, and the unlocking lever is pushed up by the upward protrusion to lift the barb-shaped bend of the head of the locking hook 882 to unlock the workpiece. It can be understood that in the unlocking mechanism 150, the tail of the unlocking block 153 is connected to the push rod of the unlocking cylinder 152, so that the unlocking block 153 can extend perpendicularly to the workpiece support 840 along the X-axis direction.

[0104] In the present application embodiment, Figures 2 to 4 As shown, the workpiece support 840 may include: a left support 841, a right support 842, a support crossbeam 843, an air conditioning support 844, a steering column support 845, a pair of pick-up guides 846 and a plurality of workpiece positioning members 847.

[0105] The left bracket 841, the right bracket 842 and the bracket cross beam 843 are arranged in the same plane, the bracket cross beam 843 can be arranged in parallel on the rear side of the vehicle body frame 810, the left bracket 841 and the right bracket 842 can be arranged perpendicularly on both ends of the bracket cross beam 843 and extend to the front side of the vehicle body frame 810, and the side edges of the left bracket 841 and the right bracket 842 are connected to the vehicle body frame 810;

[0106] The air conditioning bracket 844 is vertically connected to the bracket cross beam 843 and is arranged toward the bottom of the vehicle body frame 810. The air conditioning bracket 844 can be used to support the air conditioning of the workpiece;

[0107] The steering column bracket 845 may be arranged side by side on the left and / or right side of the air conditioner bracket 844, and the steering column bracket 845 may be used to position the steering column of the workpiece;

[0108] A pair of pick-up guides 846 may be respectively disposed at the extended ends of the left bracket 841 and the right bracket 842, and are disposed in the same direction as the extending direction of the left bracket 841 and the right bracket 842;

[0109] A plurality of workpiece positioning members 847 may be respectively disposed on the left support 841 , the right support 842 and the support cross beam 843 , and may be respectively used to position the workpiece.

[0110] Further, such as Figure 2 As shown, the left bracket 841 and the right bracket 842 can be T-shaped, and one end of the lateral part of the T is vertically connected to the bracket crossbeam 843, and the other end extends to the front side of the vehicle body frame 810, and the vertical part of the T is connected to a pair of hinge mechanisms.

[0111] The pair of hinge mechanisms include a left hinge mechanism 850 and a right hinge mechanism 860. The left hinge mechanism 850 includes a left fixed block 851, a left rotating shaft 852 and a left rotating block 853 connected in sequence, and the right hinge mechanism 860 includes a right fixed block, a right rotating shaft and a right rotating block connected in sequence. The left fixed block 851 can be arranged on the left side of the vehicle body frame 810, and the right fixed block is symmetrically arranged on the right side of the vehicle body frame 810 relative to the left fixed block 851, so that the left rotating shaft 852 and the right rotating shaft are arranged horizontally facing each other and located on the same axis.

[0112] Then, the T-shaped vertical parts of the left bracket 841 and the right bracket 842 are respectively connected to the side walls of the left rotating block 853 and the right rotating block, so that the center of gravity of the workpiece bracket 840 deviates from the axis where the left rotating shaft 852 and the right rotating shaft are located, and when the workpiece is placed on the workpiece bracket 840, the center of gravity of the workpiece bracket 840 is balanced to the axis.

[0113] Further, such as Figure 2 As shown, the air conditioning bracket 844 may include: an L-shaped connecting rod 8441 , a vertical fixing plate 8442 , a steering column connector 8443 , and a U-shaped supporting plate 8444 .

[0114] The vertical portion of the L-shaped connecting rod 8441 can be vertically connected to the bracket cross beam 843, and the horizontal portion of the L-shaped connecting rod 8441 can be arranged along the left bracket 841 and the right bracket 842 in a direction perpendicular to the bracket cross beam 843; the vertical fixing plate 8442 can be arranged on the top of the vertical portion of the L-shaped connecting rod 8441, and can be arranged between the L-shaped connecting rod 8441 and the bracket cross beam 843, which can be used to fix the L-shaped connecting rod 8441 to the bracket cross beam 843; the steering column connecting member 8443 can be arranged at the rear side of the vertical portion of the L-shaped connecting rod 8441, and the steering column connecting member 8443 can be provided with a first connecting slot and a second connecting slot, and the first connecting slot can be used When the steering column bracket 845 is arranged side by side on the left side of the L-shaped connecting rod 8441, the second connecting slot can be used to arrange the steering column bracket 845 side by side on the right side of the L-shaped connecting rod 8441, that is, corresponding to the workpiece of the left rudder steering column and the workpiece of the right rudder steering column respectively; the U-shaped support plate 8444 can be arranged at the front end of the horizontal part of the L-shaped connecting rod 8441, and can be arranged in the same direction as the horizontal part of the L-shaped connecting rod 8441, and the U-shaped support plate 8444 can be used to support the air conditioning of the workpiece; and the rear side of the vertical part of the L-shaped connecting rod 8441 is the side facing the bracket beam 843, and the front end of the horizontal part of the L-shaped connecting rod 8441 is the end away from the bracket beam 843.

[0115] Further, such as Figure 2As shown, the air conditioner bracket 844 may also include: an air conditioner vertical positioning block 8448 and a pair of air conditioner horizontal positioning blocks 8449 (one is omitted in the figure).

[0116] The air conditioner vertical positioning block 8448 can be set at the top of the vertical part of the L-shaped connecting rod 8441, and the pair of air conditioner transverse positioning blocks 8449 can be set at both ends of the U-shaped support plate 8444, and the pair of air conditioner transverse positioning blocks 8449 are set opposite to each other, which are omitted in the figure.

[0117] Further, such as Figure 2 As shown, the steering column bracket 845 may include: a transverse connecting rod 8451 , a vertical connecting rod 8452 , and a trumpet-shaped slot 8453 .

[0118] One end of the transverse connecting rod 8451 can be connected to the first connecting slot or the second connecting slot of the steering column connecting piece 8443, and the other end is connected to the vertical connecting rod 8452, and the transverse connecting rod 8451 can be arranged parallel to the bracket crossbeam 843; one end of the vertical connecting rod 8452 can be connected to a trumpet-shaped slot 8453, and a vertical connecting slot can be provided at the other end, and the vertical connecting slot is arranged along the vertical connecting rod 8452 to connect the transverse connecting rod 8451 and adjust the connection position; the trumpet-shaped slot 8453 can be used to position the steering column of the workpiece.

[0119] Further, the plurality of workpiece positioning members 847 may include: a plurality of beam positioning members and at least one left positioning member and at least one right positioning member;

[0120] The plurality of cross beam positioning members may be perpendicular to the support cross beam 843 and may extend to the front side of the body frame 810 through an L-shaped connecting member; the at least one left side positioning member may be vertically upwardly disposed on the left side support 841 and located at the front side of the body frame 810; the at least one right side positioning member may be vertically upwardly disposed on the right side support 842 and located at the front side of the body frame 810;

[0121] In addition, a plurality of cross beam positioning members are provided with positioning holes in a direction perpendicular to the bracket cross beam 843; the plurality of cross beam positioning members and at least one left side positioning member and at least one right side positioning member can be used for positioning the workpiece when it is placed, and the plurality of cross beam positioning members and at least one left side positioning member and at least one right side positioning member arranged on the front side of the vehicle body frame 810 can be used to balance the center of gravity position of the workpiece bracket 840 when the workpiece is placed on the workpiece bracket 840.

[0122] Further, such as Figure 2 As shown, the workpiece support 840 may further include: a left fixing plate 848 and a right fixing plate 849 .

[0123] The left fixing plate 848 can be vertically set at the extended end of the left bracket 841, and the right fixing plate 849 can be vertically set at the extended end of the right bracket 842; and, the at least one left positioning member can be set on the right edge of the left fixing plate 848, and the at least one right positioning member can be set on the left edge of the right fixing plate 849, so that the at least one left positioning member and the at least one right positioning member are symmetrically arranged with each other.

[0124] The pair of pick-up guides 846 can be vertically arranged on the front side of the left fixing plate 848 and the right fixing plate 849 relative to the left bracket 841 and the right bracket 842 .

[0125] Furthermore, the pair of pickup guides 846 can be made of nylon.

[0126] In the present application embodiment, Figures 1 to 3 As shown, the left hinge mechanism 850 and the compensation mechanism 870 can constitute a flipping device.

[0127] The left hinge mechanism 850 may include a left fixed block 851, a left rotating block 853, and a left rotating shaft 852. The compensation mechanism 870 may include a compensation latch seat 871, a compensation latch 872, a compensation turntable 873, a turntable handle 874, and a pair of compensation limit blocks 875.

[0128] The left fixed block 851 can be fixedly arranged on the left side of the vehicle body frame 810, one end of the left rotating shaft 852 can be connected to the bearing of the left fixed block 851, and the other end can be fixedly connected to the left rotating block 853;

[0129] The compensation rotating disk 873 may be disposed between the left fixed block 851 and the left rotating block 853 , and the compensation rotating disk 873 may be coaxially disposed with the left rotating shaft 852 and may be fixed to the left rotating block 853 ;

[0130] Furthermore, a plurality of latch fixing holes 8731 and a plurality of position limiting installation grooves 8732 may be evenly arranged around the center of the circle on the compensation rotating disk 873, and the plurality of latch fixing holes 8731 may be arranged along the edge of the compensation rotating disk 873, and the plurality of position limiting installation grooves 8732 may be arranged on one side of the compensation rotating disk 873 facing the left fixed block 851;

[0131] The compensating latch seat 871 may be disposed above the left fixing block 851, and the compensating latch seat 871 may be provided with a compensating latch hole at a height corresponding to the latch fixing hole 8731;

[0132] The compensation pin 872 may be horizontally connected to the compensation pin hole and may be used to be inserted into one of the pin fixing holes 8731 to fix the rotation angle of the compensation rotating disk 873;

[0133] A pair of compensation limit blocks 875 can be respectively disposed in two of the limit installation grooves 8732 to limit the rotation angle of the compensation rotating disk 873. The limited rotation angle is the angle formed by the pair of compensation limit blocks.

[0134] The turntable handle 874 can be set on the side of the compensation turntable 873 facing the left rotating block 853, and the turntable handle 874 extends toward the front side of the vehicle body frame 810. The turntable handle 874 can be used to rotate the compensation turntable 873 to flip the workpiece support 840.

[0135] Further, such as Figure 3 As shown, the compensation pin seat 871 may be L-shaped, the L-shaped bottom of the compensation pin seat 871 is connected to the left fixing block 851, the L-shaped vertical edge of the compensation pin seat 871 is arranged close to the compensation turntable 873, and the compensation pin hole is arranged on the L-shaped vertical edge and corresponds to the height of the pin fixing hole 8731 on the compensation turntable 873.

[0136] Further, such as Figure 3 As shown, the compensation pin 872 may include: a pin rod, a pin lever, and a pin sleeve.

[0137] The latch sleeve can be vertically arranged on the compensation latch seat 871 corresponding to the compensation latch hole; the latch rod can be coaxially arranged in the latch sleeve, with one end extending out of the latch sleeve and the other end passing through the compensation latch hole; the latch push rod can be arranged at one end of the latch rod extending out of the latch sleeve, and can be used to push the latch rod to push the latch rod into the latch fixing hole 8731 on the compensation turntable 873.

[0138] Furthermore, one end of the latch rod extending out of the latch sleeve may be provided with a chamfered surface for moving the latch rod along the chamfered surface.

[0139] Furthermore, the compensating turntable 873 may be provided with a plurality of rows of handle connecting holes 8733 , which may be radially arranged toward the compensating turntable 873 , and may be used to connect the turntable handle 874 , and may adjust the connection angle between the turntable handle 874 and the compensating turntable 873 .

[0140] Furthermore, the turntable handle 874 may include a bent short rod end and a bent long rod end, the bent short rod end is connected and fixed to one row of handle connecting holes 8733 , and the bent long rod end extends toward the front side of the vehicle body frame 810 .

[0141] Furthermore, the turntable handle 874 may also include a handle grip, which may be disposed at the protruding end of the bent long rod end and disposed on a side opposite to the compensation turntable 873 .

[0142] Furthermore, the compensation mechanism 870 may also include a plurality of latch shaft sleeves, which are correspondingly arranged in the plurality of latch fixing holes 8731 for sliding connection with the compensation latch 872 .

[0143] Furthermore, the left rotating block 853 may be a square block, and the left rotating shaft 852 may be vertically connected to the center of the square block.

[0144] In the present application embodiment, Figure 4 As shown, the locking mechanism 880 includes: a locking fixing block 881, a locking claw 882, a locking spring 883, a locking guide 884, and a locking support plate 885.

[0145] The locking and fixing blocks 881 may be disposed at both ends of the workpiece support 840;

[0146] The locking claw 882 can be arranged above the locking fixing block 881 along the extending direction of the two ends of the workpiece support 840, and the head of the locking claw 882 is bent in a barb shape, and the locking claw 882 can hook the workpiece placed on the workpiece support 840 through the barb shape bending, and the head of the locking claw 882 is the end away from the workpiece support 840;

[0147] The locking spring 883 can be disposed between the tail of the locking hook 882 and the locking fixing block 881, and can be used to lift the tail of the locking hook 882 and press down the head of the locking hook 882. The tail of the locking hook 882 is close to one end of the workpiece support 840.

[0148] The locking guide 884 can be arranged at the front side of the locking fixing block 881 along the extension direction of the two ends of the workpiece support 840, and the locking guide 884 can be used for guiding the workpiece;

[0149] The locking support plate 885 can be arranged below the locking fixing block 881 along the extending direction of the two ends of the workpiece support 840, and the locking support plate 885 can be used to support the workpiece.

[0150] Further, such as Figure 4 As shown, the locking claw 882 may include: a claw body, a claw toggle block, a claw fixing block, and a spring connection block.

[0151] The hook claw body can be arranged in a straight line, and its head can be bent downward to form a hook shape, and its tail can be tilted upward away from the head; the hook claw toggle block can be arranged above the hook claw body and on the side close to its head, and the hook claw toggle block is used to toggle the locking hook 882; the hook claw fixing block can be arranged below the hook claw body and on the side close to its tail, and the hook claw fixing block can be used to be connected to the locking fixing block 881 through a bolt hinge, so that the hook claw body can rotate around the bolt; the spring connecting block can be arranged below the tail of the hook claw body, and is used to connect the locking spring 883, so that the head of the hook claw body can be bent into a hook shape and pressed down through the locking spring 883.

[0152] Furthermore, the locking hook 882 may also include an unlocking lever, which may be arranged vertically on the left or right side of the hook toggle block in a direction perpendicular to the extension direction of the hook body, so as to correspond to the left bracket 841 and the right bracket 842. The unlocking lever may be used to toggle the locking hook 882 to lift the hook-shaped bend of the head of the hook body.

[0153] Furthermore, the locking block 881 is provided with a spring fixing groove at the spring connection block at the tail of the hook body, and the spring fixing groove can be used to install and fix the locking spring 883. Moreover, the locking block 881 is also provided with a hook fixing groove at the hook fixing block below the hook body, and the hook fixing groove can be used to install the hook fixing block and be connected to the hook fixing block by a bolt hinge, such as Figure 4 shown.

[0154] Furthermore, the spring connecting block may be a cylinder having an inner diameter smaller than that of the locking spring 883 so as to be embedded in the locking spring 883 .

[0155] Furthermore, the fixed end of the locking support plate 885 is fixedly connected to the bottom of the locking and fixing block 881, and the extended end of the locking support plate 885 extends to the front side of the locking and fixing block 881. A support plate slide groove is provided at the extended end of the locking support plate 885, and the support plate slide groove is provided along the extended direction of the extended end and has an inclined slope at the bottom.

[0156] In addition, the support plate slide groove is opened at the protruding end of the protruding end and at a side facing the supported workpiece, that is, there is no obstruction.

[0157] Furthermore, the left and right sides of the locking and fixing block 881 are connected and arranged in a U-shape.

[0158] In the present application embodiment, Figure 7 and Figure 8As shown, in the supporting mechanism 120, the supporting cylinder 121 may include a supporting rodless cylinder 1211 and a supporting linear guide 1212, and the supporting rodless cylinder 1211 and the supporting linear guide 1212 may be arranged side by side on the rear side of the fixed beam 110, and arranged in the same direction as the fixed beam 110, that is, arranged along the Y-axis direction.

[0159] Furthermore, the support connecting member 122 may include a support connecting block 1221, a support connecting rod 1222, and a support connecting plate 1223, wherein the support connecting block 1221 may be respectively connected to the support rodless cylinder 1211 and the support linear guide 1212; the top of the support connecting rod 1222 may be connected to the support connecting block 1221, and the support connecting rod 1222 may be arranged downwardly perpendicular to the support connecting block 1221; the support connecting plate 1223 may be vertically connected to the bottom of the support connecting rod 1222, and the support connecting plate 1223 may extend forward relatively perpendicularly to the fixed beam 110, and the support connecting plate 1223 may be used to connect the displacement cylinder 123.

[0160] Furthermore, the support connecting member 122 may also include a support reinforcing plate 1224 , which is disposed at a perpendicular angle between the support connecting rod 1222 and the support connecting plate 1223 , and may be used to strengthen the connection between the support connecting rod 1222 and the support connecting plate 1223 .

[0161] Furthermore, the shifting cylinder 123 may include a first shifting cylinder 1231, a second shifting cylinder 1232, and an inverted T-shaped connecting block 1233; wherein, the shell of the first shifting cylinder 1231 may be connected to the supporting connecting plate 1223, and the push rod of the first shifting cylinder 1231 may be connected to the vertical portion of the inverted T-shaped connecting block 1233; the shell of the second shifting cylinder 1232 may be connected to the horizontal portion of the inverted T-shaped connecting block 1233, and the push rod of the second shifting cylinder 1232 may be connected to the steering column support plate 124; the first shifting cylinder 1231 and the second shifting cylinder 1232 may be arranged in the same direction as the supporting connecting plate 1223, and both may extend forward relatively perpendicular to the fixed beam 110.

[0162] Furthermore, the shifting cylinder 123 may also include a transverse positioning block 1234, which may be arranged on the side of the second shifting cylinder 1232 toward the center of the fixed beam 110, and the transverse positioning block 1234 may be arranged in the same direction as the fixed beam 110, and the transverse positioning block 1234 may be used to assist in positioning the steering column support plate 124.

[0163] Furthermore, the shifting cylinder 123 may also include a transverse connecting member 1235, through which the second shifting cylinder 1232 and the transverse positioning block 1234 are respectively connected. The transverse connecting member 1235 is arranged along the Y-axis direction and can be in a Z-shaped structure. One end of the transverse connecting member 1235 of the Z-shaped structure is connected to the tail of the second shifting cylinder 1232, and the other end is connected to the transverse positioning block 1234.

[0164] Furthermore, the supporting cylinder 121 may further include a supporting fixing seat 125, and the supporting fixing seat 125 may be arranged above the fixed beam 110 corresponding to the supporting rodless cylinder 1211, and may be used to fix the supporting rodless cylinder 1211;

[0165] Furthermore, the support fixing seat 125 may include a fixing surface and a mounting surface which are perpendicular to each other, wherein the fixing surface is connected to the upper surface of the fixed beam 110, and the mounting surface is connected to the supporting rodless cylinder 1211, and a plurality of reinforcing ribs are provided between the fixing surface and the mounting surface.

[0166] Furthermore, the support mechanism 120 may also include a support protection cover 126 , which may wrap the support cylinder 121 and may be connected to the fixed beam 110 . The support protection cover 126 may be used to cover and protect the support cylinder 121 .

[0167] Further, such as Figure 7 As shown, the steering column support plate 124 has a V-shaped groove, and the V-shaped groove is used to support the steering column, and the steering column is the steering column of the automobile cockpit module to be transported.

[0168] Further, such as Figure 7 and Figure 8 As shown, the support mechanism 120 can be symmetrically arranged at both ends of the fixed beam 110 of the robot arm 100, so that the robot arm 100 can carry the automobile cockpit module of the left-rudder steering column or the right-rudder steering column through the support mechanism 120.

[0169] In the present application embodiment, Figure 7 and Fig. 9 As shown, in the clamping mechanism 130, the clamping connector 133 may be in an inverted L-shape, and the clamping connector 133 may include a transverse connecting portion and a vertical connecting portion, wherein the top of the transverse connecting portion may be connected to the clamping cylinder 131, the first end of the transverse connecting portion may be connected to the clamping hydraulic rod 132, and the second end of the transverse connecting portion may be connected to the vertical connecting portion; the vertical connecting portion may be arranged downwardly perpendicular to the transverse connecting portion, and a clamping plate 134 may be connected to the bottom of the vertical connecting portion; the clamping connector 133 may buffer the movement of the clamping cylinder 131 through the clamping hydraulic rod 132.

[0170] Furthermore, the clamping connector 133 may also include a reinforcing connection portion 1331 , which may be disposed between the vertical angles of the transverse connection portion and the vertical connection portion, and may be used to strengthen the connection between the transverse connection portion and the vertical connection portion.

[0171] Further, such as Fig. 9 As shown, the clamping mechanism 130 may further include a clamping position sensor 136 and a clamping detection end 137, wherein the clamping detection end 137 may be connected to the transverse connection portion of the clamping connector 133, and the clamping position sensor 136 may be arranged on the fixed crossbeam 110 corresponding to the clamping detection end 137. The clamping position sensor 136 and the clamping detection end 137 are used to detect whether the clamping mechanism 130 is clamped in place.

[0172] Furthermore, the clamping mechanism 130 may also include an L-shaped fixing seat, the vertical end of which may be fixedly connected to the fixed beam 110, and the lateral end of which may be vertically mounted with a clamping position sensor 136.

[0173] Furthermore, the clamping detection end 137 may be Z-shaped corresponding to the L-shaped fixing seat, one end of which may be parallel to the lateral end of the L-shaped fixing seat and the other end may be fixed to the bottom of the lateral connection portion of the clamping connector 133. The clamping position sensor 136 may be a photoelectric sensor.

[0174] Furthermore, the clamping pin 135 may include a conical head, a cylindrical pin rod, a pin rod connecting portion, and a pin rod extending portion connected in sequence, wherein the conical head and the cylindrical pin rod may be arranged on the side of the clamping plate 134 facing the center of the fixed beam 110, the pin rod connecting portion may be fixedly connected to the clamping plate 134, and the pin rod extending portion may be arranged on the side of the clamping plate 134 away from the center of the fixed beam 110.

[0175] Furthermore, a pair of pin grooves may be provided on the cylindrical pin rod, and the pair of pin grooves may be symmetrically arranged on the upper and lower sides of the cylindrical pin rod.

[0176] Furthermore, the clamping pin 135 may be disposed at one end of the clamping plate 134 away from the bottom of the clamping connector 133 , and the clamping pin 135 may include a pair of clamping pins, and the pair of clamping pins may be disposed side by side in a horizontal direction.

[0177] Further, such as Fig. 9 As shown, the clamping mechanism 130 may further include a clamping protection cover 138 , which may wrap the clamping hydraulic rod 132 and be connected to the fixed crossbeam 110 . The clamping protection cover 138 may be used to cover and protect the clamping hydraulic rod 132 .

[0178] Furthermore, the clamping cylinder 131 may be a rodless cylinder.

[0179] Furthermore, the clamping mechanism 130 may be symmetrically disposed at both ends of the fixed beam 110 of the robot arm 100 , so that the robot arm 100 clamps the workpiece through the clamping mechanism 130 .

[0180] In the present application embodiment, Figure 7 , Fig.10 , Fig.11 As shown, the guide mechanism 140 may include a guide connector 141 and a guide column 142 .

[0181] Wherein, the guide connecting member 141 may be arranged downwardly perpendicular to the fixed crossbeam 110 of the robot arm 100;

[0182] The guide column 142 may be vertically connected to the bottom of the guide connector 141 and extend forward relatively perpendicularly to the fixed beam 110, that is, extend toward the left side along the X-axis direction;

[0183] Among them, the guide column 142 may include a guide clamping block 1421, a guide fixing column 1422, a guide pin 1423, a guide stopper 1424, and a guide in-position sensor 1425. The guide clamping block 1421 can be set at the bottom of the guide connecting member 141 to clamp the guide fixing column 1422; the guide fixing column 1422 can be set in a direction perpendicular to the guide connecting member 141, and one end is connected to the guide clamping block 1421 and the other end is connected to the guide pin 1423; the guide pin 1423 can be coaxially arranged with the guide fixing column 1422, that is, arranged along the X-axis direction; the guide stopper 1424 can be sleeved on the guide pin 1423, and at least one guide detection hole is provided on the guide stopper 1424; the guide in-position sensor 1425 can be set in one of the guide detection holes, which can be used to detect whether the guide mechanism 140 is guided in place.

[0184] Further, such as Fig.11 As shown, the guide clamp block 1421 may be provided with a through clamping hole along the extending direction of the guide column 142, that is, a through clamping hole is provided along the X-axis direction. The clamping hole can be used to fix the guide fixing column 1422, so that when the guide fixing column 1422 moves along the clamping hole, the distance from the guide pin 1423 at the other end of the guide fixing column 1422 to the bottom of the guide connecting member 141 is adjusted to achieve adaptation to workpieces of different sizes.

[0185] Furthermore, the guide clamping block 1421 may include: a first guide clamping block and a second guide clamping block, and symmetrical semicircular grooves may be provided on opposite surfaces of the first guide clamping block and the second guide clamping block to enclose a clamping hole.

[0186] Furthermore, one end of the guide pin 1423 may be a conical protrusion and the other end may be provided with a fixing socket extending inward, and the inner diameter of the fixing socket may be the same as the diameter of the guide fixing column 1422, and the fixing socket can be used to insert and fix the guide fixing column 1422.

[0187] Further, such as Fig.11 As shown, the guide block 1424 can be arranged in a circular shape on the side wall of the guide pin 1423, and the guide block 1424 can be arranged concentrically with the guide pin 1423, and the guide block 1424 can also be connected to the guide pin 1423 as an integral whole.

[0188] Further, such as Fig.11 As shown, the guide block 1424 may also be provided with a countersunk hole corresponding to the guide detection hole. The countersunk hole may be provided on the detection side of the guide block 1424 for detection, so that the guide in-position sensor 1425 sinks into the detection side without protruding. The detection side may be the side of the guide block 1424 away from the guide connector 141.

[0189] Furthermore, the guide-to-position sensor 1425 may be a photoelectric sensor.

[0190] Furthermore, the guide mechanism 140 may be symmetrically disposed at both ends of the fixed beam 110 of the robot arm 100 , so that the robot arm 100 may be aligned with the workpiece to be transported through the guide mechanism 140 .

[0191] In the present application embodiment, Figure 7 As shown, the robot 100 may further include a main control box 160 and a robot armrest 170. The main control box 160 may be disposed at the rear side of the center of the fixed beam 110. The robot armrest 170 may be disposed corresponding to the main control box 160 and may be disposed around the periphery of the main control box 160.

[0192] The main control box 160 may be provided with a clamping button, an unlocking button, a line release button, a fault alarm light, a line start and stop button, a left and right rudder selection button, and a descending button. The clamping button can be used to control the supporting mechanism 120 to hold the workpiece and control the clamping mechanism 130 to clamp the workpiece. The unlocking button can be used to control the unlocking mechanism 150 to unlock the workpiece from the assembly line. The line release button can be used to control the release of the stacking line. The line start and stop button can be used to control the pause of the assembly line. The left and right rudder selection buttons can be used to select the supporting mechanism 120 set at the left end or the right end of the fixed beam 110. The descending button can be used to control the lifting cylinder 220 to accelerate the descent. The workpiece is the workpiece to be transported in the assembly line.

[0193] Furthermore, the robot arm 100 may also include a side control handle 180, and the side control handle 180 may be disposed at the left end of the fixed beam 110 along the Y-axis direction;

[0194] Furthermore, the side control handle 180 may be provided with a side control box 181 and an air intake compensation knob 182;

[0195] The side control box 181 may be provided with a positioning knob and a release button. The positioning knob may be used to select a material rack at the left or right position, and the release button may be used to control the reset of the support mechanism 120 and the clamping mechanism 130 to lower the workpiece into the material rack. The material rack is a material rack arranged in the stacking line body and is used to stack the workpiece.

[0196] The air intake compensation knob 182 can be used to increase the air intake of the lifting cylinder 220, control the lifting cylinder 220 to accelerate when it rises, and control the lifting cylinder 220 to accelerate when it descends.

[0197] Furthermore, the side control handle 180 may be a rectangular ring handle, the side control box 181 may be fixed inside the rectangle, the air intake compensation knob 182 may be installed at the vertical section of the rectangle to be integrated with the ring handle, and the user may hold the air intake compensation knob 182 for adjustment when pushing or pulling the ring handle. The air intake compensation knob 182 may be arranged on the right side of the side control handle 180 along the X-axis direction.

[0198] The above description is merely an exemplary embodiment of the present application and is not intended to limit the protection scope of the present application. The protection scope of the present application is determined by the appended claims.

Claims

1. An automobile cockpit module turnover system, characterized in that: include: Assemble the cart and the robotic arm; The assembly trolley includes a body frame, a suspension mechanism, a workpiece support, a pair of hinge mechanisms, a compensation mechanism, a pair of locking mechanisms and at least one pair of foreign body protection rollers; The mechanical arm includes a fixed beam and a supporting mechanism, a clamping mechanism, a guiding mechanism, and an unlocking mechanism symmetrically arranged at both ends of the fixed beam; Wherein, the body frame is rectangular and is arranged perpendicular to the horizontal plane; The suspension mechanism is arranged at the top of the body frame, and comprises a first suspension mechanism and a second suspension mechanism, wherein the first suspension mechanism and the second suspension mechanism are respectively arranged at two ends of the top of the body frame, the first suspension mechanism is used to pull the body frame to move, and the second suspension mechanism is used to follow the first suspension mechanism to move; The workpiece support is horizontally arranged in the vehicle body frame and is used for placing and supporting the workpiece; The pair of hinge mechanisms are respectively arranged on the left and right sides of the body frame and connected to the two ends of the workpiece support, so as to enable the workpiece support to be horizontally flipped in the body frame; The compensation mechanism is connected to a hinge mechanism arranged on the left side of the vehicle body frame and is used to adjust the flip angle of the workpiece support; The pair of locking mechanisms are respectively arranged at two ends of the workpiece support and are used to lock the workpiece; The at least one pair of anti-foreign-object rollers are respectively arranged at two ends of the bottom of the body frame, and are used for the body frame to roll under the traction of the suspension mechanism; Wherein, the fixed crossbeam is arranged parallel to the vehicle body frame along the Y-axis direction, and the supporting mechanism, the guiding mechanism, the clamping mechanism, and the unlocking mechanism are arranged in the XZ-axis plane relative to the fixed crossbeam; The support mechanism includes a support cylinder, a support connector, a displacement cylinder, and a steering column support plate. The support cylinder is fixed to the rear side of the fixed beam along the Y-axis direction. The support connector is arranged downward perpendicularly to the support cylinder along the Z-axis direction. The displacement cylinder is vertically connected to the bottom of the support connector along the X-axis direction and extends forward relatively perpendicularly to the fixed beam. The displacement cylinder is connected to the steering column support plate. The support mechanism is used to support the steering column of the workpiece placed on the workpiece holder. The clamping mechanism comprises a clamping cylinder, a clamping hydraulic rod, a clamping connector, a clamping plate, and a clamping pin. The clamping cylinder and the clamping hydraulic rod are arranged at the bottom of the fixed beam along the Y-axis direction. The top of the clamping connector is connected to the clamping cylinder and the clamping hydraulic rod respectively, and the clamping connector is arranged downward perpendicular to the clamping cylinder along the Z-axis direction. The clamping plate is connected to the bottom of the clamping connector along the X-axis direction. The clamping pin is arranged on the side of the clamping plate toward the center of the fixed beam along the Y-axis direction. The clamping mechanism is used to clamp the workpiece. The guide mechanism includes a guide connecting member and a guide column, wherein the guide connecting member is arranged downwardly perpendicular to the fixed beam along the Z-axis direction, and the guide column is connected to the bottom of the guide connecting member along the X-axis direction, and the guide mechanism is used to align the workpiece; The unlocking mechanism comprises an unlocking connector, an unlocking cylinder, and an unlocking block which are sequentially connected along the X-axis, and the unlocking connector is connected to the guide connector. The unlocking mechanism is used to correspond to the pair of locking mechanisms to unlock the workpiece from the workpiece support.

2. The automotive cockpit module turnover system according to claim 1, characterized in that: The workpiece support comprises: a left support, a right support, a support beam, an air conditioning support, a steering column support, a pair of pick-up guides and a plurality of workpiece positioning parts; The left bracket, the right bracket and the bracket cross beam are arranged in the same plane, the bracket cross beam is arranged in parallel on the rear side of the vehicle body frame, the left bracket and the right bracket are perpendicular to the two ends of the bracket cross beam and extend to the front side of the vehicle body frame, and the side edges of the left bracket and the right bracket are connected to the pair of hinge mechanisms; The air conditioner bracket is vertically connected to the bracket crossbeam and is arranged toward the bottom of the vehicle body frame, and the air conditioner bracket is used to support the air conditioner of the workpiece; The steering column bracket is arranged side by side on the left side and / or the right side of the air conditioner bracket, and the steering column bracket is used to position the steering column of the workpiece; The pair of pick-up guides are respectively arranged at the extended ends of the left bracket and the right bracket, and are arranged in the same direction as the extending direction of the left bracket and the right bracket; The plurality of workpiece positioning members are respectively arranged on the left bracket, the right bracket and the bracket crossbeam, and are used to position the workpiece; Furthermore, the workpiece positioning members arranged on the left bracket and the right bracket are located at the front side of the body frame, and the workpiece positioning members arranged on the bracket cross beam extend to the front side of the body frame, so that when the workpiece is placed on the workpiece bracket, the center of gravity position of the workpiece bracket is balanced.

3. The automotive cockpit module turnover system according to claim 2, characterized in that: The left bracket and the right bracket are T-shaped, one end of the transverse portion of the T-shape is vertically connected to the bracket crossbeam, and the other end extends to the front side of the vehicle body frame, and the vertical portion of the T-shape is connected to the pair of hinge mechanisms; Wherein, the pair of hinge mechanisms comprises: a left hinge mechanism and a right hinge mechanism, the left hinge mechanism comprises a left fixed block, a left rotating shaft and a left rotating block connected in sequence, and the right hinge mechanism comprises a right fixed block, a right rotating shaft and a right rotating block connected in sequence; The left fixed block is arranged on the left side of the body frame, and the right fixed block is arranged symmetrically on the right side of the body frame relative to the left fixed block. The left rotating shaft and the right rotating shaft are arranged horizontally opposite to each other and are located on the same axis. Then, the T-shaped vertical parts of the left bracket and the right bracket are respectively connected to the side walls of the left rotating block and the right rotating block, so that the center of gravity of the workpiece bracket deviates from the axis where the left rotating shaft and the right rotating shaft are located, and when the workpiece is placed on the workpiece bracket, the center of gravity of the workpiece bracket is on the axis.

4. The automotive cockpit module turnover system according to claim 3, characterized in that: The compensation mechanism includes: a compensation pin seat, a compensation pin, a compensation turntable, a turntable handle and a pair of compensation limit blocks; The compensation rotating disk is arranged between the left fixed block and the left rotating block of the left hinge mechanism, and the compensation rotating disk is arranged coaxially with the left rotating shaft and fixed to the left rotating block; Furthermore, the compensation rotating disk is evenly provided with a plurality of latch fixing holes and a plurality of position limiting installation grooves around the center of the circle, and the plurality of latch fixing holes are arranged along the edge of the compensation rotating disk, and the plurality of position limiting installation grooves are arranged on a side of the compensation rotating disk facing the left fixed block; The compensation pin seat is arranged above the left fixing block, and the compensation pin seat is provided with a compensation pin hole at a height corresponding to the pin fixing hole; The compensation pin is horizontally connected to the compensation pin hole and is used to be inserted into one of the pin fixing holes to fix the flip angle of the workpiece support; The pair of compensation limit blocks are respectively arranged in two of the limit installation grooves to limit the flip angle of the workpiece support, and the limited flip angle is the angle formed by the pair of compensation limit blocks; The turntable handle is arranged on a side of the compensation turntable facing the left rotation block, and the turntable handle extends toward the front side of the vehicle body frame. The turntable handle is used to rotate the compensation turntable to flip the workpiece support.

5. The automotive cockpit module turnover system according to claim 4, characterized in that: The pair of locking mechanisms are symmetrically arranged at one end of the left bracket and the right bracket extending to the front side of the vehicle body frame, and each locking mechanism includes: a locking fixing block, a locking hook, a locking spring, a locking guide, and a locking support plate; wherein The locking and fixing block is connected to the left bracket or the right bracket; The locking hook is arranged above the locking fixing block along the extension direction of the left bracket and the right bracket, and the head of the locking hook is bent in a hook shape, and the locking hook hook hooks the workpiece placed on the workpiece bracket through the hook shape bending, and the head of the locking hook is an end away from the left bracket and the right bracket; The locking spring is arranged between the tail of the locking hook and the locking fixing block, and is used to lift the tail of the locking hook and press down the head of the locking hook. The tail of the locking hook is one end close to the left bracket and the right bracket. The locking guide is arranged at the front side of the locking and fixing block along the extension direction of the left bracket and the right bracket, and the locking guide is used for guiding the workpiece; The locking support plate is arranged below the locking and fixing block along the extending direction of the left support and the right support, and the locking support plate is used to support the workpiece.

6. The automotive cockpit module turnover system according to claim 5, characterized in that: The locking claw comprises: a claw body, a claw moving block, a claw fixing block, a spring connecting block and an unlocking lever; The hook body is arranged in a straight line, and its head is bent downward to form a barb shape, and its tail is away from the head and tilted upward; The hook claw toggling block is arranged above the hook claw body and at one side close to the head thereof, and the hook claw toggling block is used to toggle the locking hook claw; The hook fixing block is arranged below the hook body and at one side close to the tail thereof, and the hook fixing block is used to be hingedly connected to the locking fixing block; The spring connection block is arranged below the tail of the hook body and is used to connect the locking spring so as to press the head of the hook body down into a hook shape through the locking spring; The unlocking lever is vertically arranged on the left or right side of the hook claw moving block along a direction perpendicular to the extending direction of the hook claw body. The unlocking lever is used to move the locking hook claw to lift the hook-shaped bend of the head of the hook claw body.

7. The automotive cockpit module turnover system according to claim 6, characterized in that: The supporting mechanism, clamping mechanism, guiding mechanism and unlocking mechanism are perpendicular to the workpiece support of the assembly trolley along the X-axis direction; Furthermore, the guide column of the guide mechanism is aligned with a pair of pick-up guides at both ends of the workpiece support, so that the unlocking mechanism unlocks the pair of locking mechanisms, and the supporting mechanism and the clamping mechanism of the robot arm remove the workpiece.

8. The automotive cockpit module turnover system according to claim 7, characterized in that: When the guide column of the guide mechanism is aligned with a pair of pick-up guides at both ends of the workpiece support, the unlocking block of the unlocking mechanism corresponds to the unlocking lever of the locking claw; In addition, the unlocking block is provided with an upward protrusion toward the head of the unlocking lever, and the unlocking lever is pushed by the upward protrusion to lift up the hook-shaped bend of the head of the locking claw to unlock the workpiece.

9. The automotive cockpit module turnover system according to claim 8, characterized in that: The tail of the unlocking block is connected to the push rod of the unlocking cylinder so that the unlocking block extends perpendicularly to the workpiece support along the X-axis direction.

Images