A robotic arm

Abstract

The present application relates to a robotic arm, comprising 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 fixed beam is arranged 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 beam, the supporting mechanism comprises a supporting cylinder, a supporting connecting member, a shifting cylinder, and a steering column support plate, the clamping mechanism comprises a clamping cylinder, a clamping hydraulic rod, a clamping connecting member, a clamping plate, and a clamping pin, the guiding mechanism comprises a guiding connecting member and a guide column, and the unlocking mechanism comprises an unlocking connecting member, an unlocking cylinder, and an unlocking block connected in sequence along the X-axis. By transporting workpieces by the robotic arm, not only can the efficiency of workpiece turnover be improved, but also scrapping due to improper manual operation can be greatly avoided.

Description

Technical Field

[0001] The present application relates to the technical field of automobile assembly, and in particular, to a robotic arm. Background Art

[0002] At present, with the rapid development of the automobile industry, automobile interiors are receiving more and more attention. The traditional turnover method is to manually transport the assembled workpieces to the shelves and fix them. Due to the heavy weight of the cockpit module and the fragility of some parts, if the employees are not careful, they will be deformed or damaged during the manual turnover process. In addition, the efficiency of manual turnover is relatively low. Therefore, it is urgent to develop a device that can be used to assist in the turnover of cockpit modules, improve turnover efficiency, and reduce the scrap rate of workpieces. Summary of the Invention

[0003] In order to solve the above technical problems, an embodiment of the present application provides a robotic arm that can not only improve the efficiency of workpiece turnover, but also significantly avoid scrapping due to improper manual operation.

[0004] In view of this, according to an embodiment of the present application, a robotic arm is provided, comprising 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

[0005] The fixed beam is arranged 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 beam;

[0006] The support mechanism includes a support cylinder, a support connector, a shifting cylinder, and a steering column support plate. The support cylinder is fixed to the rear side of the fixed crossbeam along the Y-axis direction. The support connector is arranged downwardly perpendicular to the support cylinder along the Z-axis direction. The shifting cylinder is vertically connected to the bottom of the support connector along the X-axis direction and extends forward relative to the fixed crossbeam. The shifting cylinder is connected to the steering column support plate.

[0007] 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. 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.

[0008] 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, and the guide column is connected to the bottom of the guide connector along the X-axis direction.

[0009] The unlocking mechanism includes 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.

[0010] Furthermore, the supporting cylinder includes a supporting rodless cylinder and a supporting linear guide rail arranged side by side along the Y-axis direction, and the supporting connecting parts include a supporting connecting block, a supporting connecting rod, a supporting connecting plate, and a supporting reinforcing plate; wherein, the supporting connecting block is respectively connected to the supporting rodless cylinder and the supporting linear guide rail; the top of the supporting connecting rod is connected to the supporting connecting block, and the supporting connecting rod is arranged downwardly along the Z-axis direction perpendicular to the supporting connecting block; the supporting connecting plate is connected to the bottom of the supporting connecting rod, and the supporting connecting plate is arranged forwardly along the X-axis direction perpendicular to the supporting connecting rod, and the supporting connecting plate is used to connect the displacement cylinder; the supporting reinforcing plate is arranged in the XZ-axis plane perpendicular to the supporting connecting rod and the supporting connecting plate, and is used to strengthen the connection between the supporting connecting rod and the supporting connecting plate.

[0011] Furthermore, the shifting cylinder includes: a first shifting cylinder, a second shifting cylinder, and an inverted T-shaped connecting block; wherein, the shell of the first shifting cylinder is connected to the support connecting plate, and the push rod of the first shifting cylinder is connected to the vertical part of the inverted T-shaped connecting block; the shell of the second shifting cylinder is connected to the horizontal part of the inverted T-shaped connecting block, and the push rod of the second shifting cylinder is connected to the steering column support plate; the first shifting cylinder and the second shifting cylinder are arranged in the same direction, and are both perpendicular to the support connecting rod along the X-axis direction.

[0012] Furthermore, the shift cylinder also includes: a lateral positioning block; the lateral positioning block is arranged along the Y-axis direction on the side of the second shift cylinder facing the center of the fixed beam, and the lateral positioning block is used to assist in positioning the steering column support plate.

[0013] Furthermore, the clamping connection is in an inverted L-shape, and the clamping connection includes: a transverse connection part and a vertical connection part; wherein, the top of the transverse connection part is connected to the clamping cylinder, the first end of the transverse connection part is connected to the clamping hydraulic rod, and the second end of the transverse connection part is connected to the vertical connection part; the vertical connection part is arranged downwardly perpendicular to the transverse connection part, and a clamping plate is connected to the bottom of the vertical connection part; the clamping connection part buffers the movement of the clamping cylinder through the clamping hydraulic rod.

[0014] Furthermore, the clamping mechanism also includes: a clamping in place sensor and a clamping detection end; wherein, the clamping detection end is arranged at the top of the clamping connector, and the clamping in place sensor corresponding to the clamping detection end is arranged on the fixed beam, and the clamping in place sensor and the clamping detection end are used to detect whether the clamping mechanism is clamped in place.

[0015] Furthermore, the guide column includes: a guide clamping block, a guide fixing column, a guide pin, a guide stopper, and a guide in-position sensor; wherein, the guide clamping block is arranged at the bottom of the guide connecting member for clamping the guide fixing column; the guide fixing column is arranged along the X-axis direction, and one end is connected to the guide clamping block and the other end is connected to the guide pin; the guide pin is coaxially arranged with the guide fixing column; the guide stopper is sleeved on the guide pin, and at least one guide detection hole is provided on the guide stopper; the guide in-position sensor is arranged in one of the guide detection holes for detecting whether the guide mechanism is in position.

[0016] Furthermore, the robotic arm also includes a lifting main unit, which is vertically arranged above the center of the fixed beam along the Z-axis direction; wherein, the lifting main unit includes a lifting cylinder and a lifting hydraulic rod, which are arranged in parallel along the Z-axis direction, the lifting cylinder is used to control the lifting and lowering of the robotic arm, and the lifting hydraulic rod is used to buffer the lifting and lowering of the robotic arm.

[0017] Furthermore, the robotic arm also includes a main control box and a robotic arm armrest. The main control box is arranged on the side and rear of the center of the fixed beam, and the robotic arm armrest is arranged around the main control box; and the main control box is provided with a clamping button, an unlocking button, a line release button, a fault alarm light, a line start and stop button, left and right rudder selection buttons, and a descending button. The clamping button is used to control the support mechanism to hold the workpiece and control the clamping mechanism to clamp the workpiece. The unlocking button is used to control the unlocking mechanism to unlock the workpiece from the assembly line. The line release button is used to control the release of the stacking line. The line start and stop button is used to control the pause of the assembly line. The left and right rudder selection buttons are used to select the support mechanism set at the left or right end of the fixed beam. The descending button is used to control the lifting cylinder to accelerate the descent. The workpiece is the workpiece to be transported in the assembly line.

[0018] Furthermore, the robotic arm also includes a side control handle, which is arranged at the left end of the fixed beam along the Y-axis direction; the side control handle is provided with a side control box and an air intake compensation knob, and the side control box is provided with a positioning knob and a release button, the positioning knob is used to select the left or right position of the material rack, and the release button is used to control the resetting of the support mechanism and the clamping mechanism to lower the workpiece into the material rack, which is a material rack arranged in the stacking line body for stacking workpieces; the air intake compensation knob is used to increase the air intake of the lifting cylinder, control its accelerated ascent when the lifting cylinder rises, and control its accelerated descent when the lifting cylinder descends.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The embodiment of the present application is provided with a Y-axis guide rail, an X-axis guide rail, a travel trolley, a lifting main unit, and a robotic arm connected in sequence, and an angle compensation mechanism, a lifting cylinder, and a lifting hydraulic rod are provided in the lifting main unit. The robotic arm is provided with a fixed crossbeam and a support mechanism, a clamping mechanism, a guide mechanism, and an unlocking mechanism symmetrically arranged at both ends of the fixed crossbeam. The guide mechanism is used to align the workpiece, the support mechanism supports the workpiece, the clamping mechanism clamps the workpiece, and the unlocking mechanism unlocks the workpiece. The lifting cylinder is used to lift and lower the workpiece in the Z-axis direction, and the travel trolley is used to move in the X-axis guide rail and the Y-axis guide rail, thereby achieving efficient turnover of the workpiece and significantly avoiding scrapping caused by improper manual operation. Before transporting the workpiece, the angle compensation mechanism can also be used to compensate for the angular position relationship between the robotic arm and the workpiece, so that the robotic arm can align the workpiece and facilitate the transport of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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 described below only relate to some embodiments of the present application, and are not limitations to the present application.

[0022] Figure 1 This is a schematic diagram of the auxiliary turnover system for the vehicle cockpit module;

[0023] Figure 2 This is a schematic diagram of the auxiliary turnover device for the vehicle cockpit module;

[0024] Figure 3 This is a schematic diagram of the expansion of the lifting cylinder and lifting hydraulic rod in the lifting main unit;

[0025] Figure 4 It is a schematic diagram of the expansion of the angle compensation mechanism;

[0026] Figure 5 Schematic diagram of the robotic arm structure;

[0027] Figure 6 Schematic diagram of the support mechanism in the robotic arm;

[0028] Figure 7 Schematic diagram of the clamping mechanism in the robotic arm;

[0029] Figure 8 Schematic diagram of the guide mechanism and unlocking mechanism in the robotic arm;

[0030] Figure 9 for Figure 8 Enlarged view of the middle guide mechanism;

[0031] Figure 10 This is a schematic diagram of the X-axis guide rail positioning;

[0032] Figure 11This is a schematic diagram of the Y-axis guide rail positioning.

[0033] Description of reference numerals:

[0034] 100-Robot arm, 200-Lifting host, 300-Travel trolley, 400-X-axis guide rail, 500-Y-axis guide rail, 600-Revolving truss;

[0035] 110-fixed beam, 120-support mechanism, 130-clamping mechanism, 140-guide mechanism, 150-unlocking mechanism, 160-main control box, 170-robotic arm armrest, 180-side control handle;

[0036] 210-angle compensation mechanism, 220-lifting cylinder, 230-lifting hydraulic rod, 240-control chassis, 250-drag chain;

[0037] 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 reinforcement plate, 1231-first shift cylinder, 1232-second shift cylinder, 1233-inverted T-shaped connecting block, 1234-lateral positioning block, 1235-lateral connecting piece;

[0038] 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;

[0039] 141-guide connector, 142-guide column, 1421-guide clamp, 1422-guide fixing column, 1423-guide latch, 1424-guide stopper, 1425-guide in-position sensor;

[0040] 151-unlocking connector, 152-unlocking cylinder, 153-unlocking block;

[0041] 181-side control box, 182-intake compensation knob;

[0042] 211-upper fixed plate, 212-lower fixed plate, 213-flange bearing sleeve, 214-rotating chuck, 215-rotating shaft with seat, 216-angle compensation seat, 217-rotating clamping block, 2131-retraction nut, 2132-isolation gasket, 2133-tapered roller bearing, 2171-block compensation block;

[0043] 221-lifting connection block, 222-lifting rail, 223-lifting rodless cylinder, 224-cylinder fixing plate, 225-fixing rail, 226-lifting block, 227-up limit block, 228-down limit block, 229-cylinder connecting strip;

[0044] 231-Hydraulic rod fixing seat, 232-Lifting hydraulic rod body, 233-Hydraulic rod connecting seat;

[0045] 310-X axis positioning cylinder, 320-X axis positioning roller, 330-X axis positioning sensor;

[0046] 410-X axis positioning block;

[0047] 510-Y-axis positioning cylinder, 520-Y-axis positioning sensor, 530-Y-axis limit switch, 540-Y-axis buffer device. DETAILED DESCRIPTION

[0048] To make the purpose, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meanings understood by persons of ordinary skill in the field to which this application belongs. The words “first”, “second”, “third” and similar terms 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”, “perpendicular”, “horizontal”, “up”, “down”, “left”, “right”, “front”, “back”, “top”, “bottom”, etc. used to indicate the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and 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 limiting the present invention.

[0050] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0051] Please refer to Figures 1 to 9 As shown, in the embodiment of the present application, the robotic arm 100 may include a fixed beam 110 and a support mechanism 120 , a clamping mechanism 130 , a guide mechanism 140 , and an unlocking mechanism 150 symmetrically arranged at both ends of the fixed beam 110 .

[0052] 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 ;

[0053] The support mechanism 120 may include a support cylinder 121, a support connector 122, a shifting 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 shifting cylinder 123 may be vertically connected to the bottom of the support connector 122 along the X-axis direction and extend forward relative to the fixed beam 110, that is, extend toward the left side along the X-axis direction. The shifting cylinder 123 may be connected to the steering column support plate 124.

[0054] 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. 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 the side of the clamping plate 134 toward the center of the fixed beam 110 along the Y-axis direction.

[0055] The guide mechanism 140 may include a guide connector 141 and a guide post 142. The guide connector 141 may be arranged downwardly perpendicular to the fixed beam 110 along the Z-axis direction, and the guide post 142 may be connected to the bottom of the guide connector 141 along the X-axis direction.

[0056] The unlocking mechanism 150 may include an unlocking connector 151, an unlocking cylinder 152, and an unlocking block 153 that are sequentially connected along the X axis, and the unlocking connector 151 is connected to the guide connector 141, as shown in FIG. Figure 8 shown.

[0057] The lifting host 200 may include an angle compensation mechanism 210 , a lifting cylinder 220 , and a lifting hydraulic rod 230 ;

[0058] The angle compensation mechanism 210 includes an upper fixed plate 211, a lower fixed plate 212, a flange bearing sleeve 213, a rotating chuck 214, a rotating shaft with a seat 215, an angle compensation seat 216, and a rotating block 217. The upper fixed plate 211 and the lower fixed plate 212 can be clamped on the upper and lower sides of the center of the fixed beam 110. The flange bearing sleeve 213 can be arranged on the upper fixed plate 211 perpendicular to the center of the fixed beam 110 along the Z-axis direction. The chuck 214 can be sleeved on the side wall of the flange bearing sleeve 213, the shaft of the seated rotating shaft 215 can be connected to the flange bearing sleeve 213, the seat plate of the seated rotating shaft 215 can be connected to the lower surface of the angle compensation seat 216, the rotating block 217 can be fixed on the lower surface of the angle compensation seat 216 in parallel with the seated rotating shaft 215, and the rotating block 217 can be provided with a slot corresponding to the rotating chuck 214 to limit the rotation of the rotating chuck 214;

[0059] Among them, the lifting cylinder 220 includes a lifting connection block 221, a lifting rail 222, a lifting rodless cylinder 223, a cylinder fixing plate 224, and a pair of fixed rails 225 connected in sequence. The lifting rail 222 and the pair of fixed rails 225 can be arranged along the Z-axis direction, and the lifting rail 222 can be clamped between the pair of fixed rails 225. The cylinder fixing plate 224 can be arranged at the bottom of the pair of fixed rails 225 and can be respectively connected to the pair of fixed rails 225. The lifting rodless cylinder 223 can be arranged on the lifting rail 222 along the Z-axis direction and can be fixedly connected to the cylinder fixing plate 224. The lifting connection block 221 can be arranged at the bottom of the lifting rail 222 and used to connect the lifting rail 222 and the angle compensation seat 216 in the angle compensation mechanism 210;

[0060] Among them, the lifting hydraulic rod 230 includes a hydraulic rod fixing seat 231, a lifting hydraulic rod body 232, and a hydraulic rod connecting seat 233 connected in sequence. The hydraulic rod fixing seat 231 can be fixed on the top of a pair of fixed rails 225, and the hydraulic rod connecting seat 233 can be set on the upper surface of the angle compensation seat 216 corresponding to the rotating block 217 of the angle compensation mechanism 210.

[0061] The lifting host 200 and the robotic arm 100 can form an auxiliary turnover device for the vehicle cockpit module.

[0062] Further, such as Figure 2 As shown, the automobile cockpit module auxiliary turnover device may also include a travel trolley 300, which can be fixedly connected to the top of a pair of fixed rails 225 of the lifting cylinder 220 in the lifting host 200, and can make the lifting rail 222 in the lifting cylinder 220 perpendicular to the center of the travel trolley 300 along the Z-axis direction. The travel trolley 300 can be used to suspend and move the lifting host 200 and the robotic arm 100.

[0063] In the embodiment of this application, Figure 3 As shown, the lifting cylinder 220 may include a pair of lifting connecting blocks 221, which are arranged opposite to each other at the bottom of the lifting rail 222, and the lifting connecting plates of the pair of lifting connecting blocks 221 can be vertically arranged and connected to the bottom of the lifting rail 222, and the pair of C-shaped connecting frames of the pair of lifting connecting blocks 221 can be clamped on both sides of the bottom of the lifting rail 222.

[0064] Furthermore, the pair of lifting connecting blocks 221 include a first lifting connecting block and a second lifting connecting block. The lifting connecting plate of the first lifting connecting block can be correspondingly arranged on one side of the lifting track 222 where the lifting rodless cylinder 223 is located, and the lifting connecting plate of the second lifting connecting block can be correspondingly arranged on the other side of the lifting track 222 relative to the lifting rodless cylinder 223.

[0065] Furthermore, the first lifting connection block and the second lifting connection block are stacked toward each other, that is, a pair of C-shaped connecting frames of the first lifting connection block and the second lifting connection block are stacked toward each other, and the C-shaped connecting frames stacked toward each other are used to connect with the robot arm 100, such as Figure 2 and Figure 3 shown.

[0066] Further, such as Figure 3 As shown, the lifting cylinder 220 may also include a lifting block 226, a pair of rising limit blocks 227, and a pair of descending limit blocks 228, wherein the lifting block 226 can be set at the top of the lifting rail 222 opposite to the cylinder fixed plate 224; the pair of rising limit blocks 227 can be respectively set at the top of a pair of fixed rails 225 corresponding to the lifting block 226; the pair of descending limit blocks 228 can be respectively set at the bottom of a pair of fixed rails 225 corresponding to the lifting block 226.

[0067] Furthermore, the lifting cylinder 220 may also include a cylinder connecting bar 229, which can be set inside the lifting track 222 and fixed to the lifting rodless cylinder 223 by bolts or screws. It can strengthen the connection between the lifting rodless cylinder 223 and the lifting track 222, and can specifically be set inside the top of the lifting track 222 and connected to the top of the lifting rodless cylinder 223.

[0068] Further, such as Figure 2As shown, the lifting host 200 may also include a control box 240 and a drag chain 250. The control box 240 is arranged on the outside of a pair of fixed rails 225 and may be adjacent to the lifting hydraulic rod 230. One end of the drag chain 250 is connected to the control box 240 and the other end is fixed to the outside of the lifting rail 222. The outside of the lifting rail 222 is the side relative to the lifting rodless cylinder 223. The drag chain 250 can rise and fall with the lifting rail 222 to prevent the control box 240 from breaking in the drag chain 250.

[0069] In the embodiment of this application, Figure 4 As shown, in the angle compensation mechanism 210, the shaft of the seat rotating shaft 215 may include a first rotating shaft, a second rotating shaft, and a third rotating shaft connected in sequence, wherein the first rotating shaft is arranged at the connection with the seat plate, the third rotating shaft is arranged away from the seat plate, and the diameters of the first rotating shaft, the second rotating shaft, and the third rotating shaft decrease in sequence.

[0070] Furthermore, the angle compensation mechanism 210 may also include a first tapered roller bearing and a second tapered roller bearing (a pair of tapered roller bearings 2133). The first tapered roller bearing may be arranged at the first rotating axis of the seat rotating shaft 215, and the second tapered roller bearing may be arranged at the second rotating axis of the seat rotating shaft 215. The cone angles of the first tapered roller bearing 2133 and the second tapered roller bearing 2133 are arranged facing each other to prevent the seat rotating shaft 215 from detaching from the flange bearing sleeve 213.

[0071] Furthermore, the angle compensation mechanism 210 may also include a pair of stop nuts 2131, which can be arranged in the same direction at the third rotation axis of the belt seat rotating shaft 215, and can be used to prevent the flange bearing sleeve 213 from separating from the belt seat rotating shaft 215.

[0072] Furthermore, the angle compensation mechanism 210 may also include: an isolation gasket 2132, which can be set between the pair of retaining nuts 2131 and the second tapered roller bearing 2133, and can be used to isolate the pair of retaining nuts 2131 and the second tapered roller bearing 2133.

[0073] Furthermore, the third rotating shaft of the belt seat rotating shaft 215 may be provided with a connecting groove, and the angle compensation mechanism 210 may also include a connecting key (not shown in the figure), which is installed in the connecting groove to connect the third rotating shaft of the belt seat rotating shaft 215 and the pair of stop nuts 2131.

[0074] Furthermore, the rotating chuck 214 includes a rotating surface and a fixed surface. The rotating surface can be perpendicular to the side wall of the bearing end of the flange bearing sleeve 213, and can be used to cooperate with the groove of the rotating block 217 to limit the rotation of the rotating chuck 214; the fixed surface can be coaxially arranged with the bearing end of the flange bearing sleeve 213, and is used to fix the rotating chuck 214 on the bearing end of the flange bearing sleeve 213.

[0075] Furthermore, the rotating surface of the rotating chuck 214 is provided with a plurality of evenly distributed rotating holes, which can be fixedly connected to the bottom of a pair of fixed rails 225 in the lifting cylinder 220 through bolts when the rotating chuck 214 is rotated into place.

[0076] Further, such as Figure 2 As shown, the angle compensation mechanism 210 can also be connected to the lifting cylinder 220 and the robotic arm 100, and the lifting cylinder 220 is connected to the upper surface of the angle compensation seat 216 so that the angle compensation mechanism 210 follows the lifting cylinder 220 to rise and fall; the robotic arm 100 is connected to the flange end of the flange bearing sleeve 213 so that the robotic arm 100 rotates following the angle compensation mechanism 210.

[0077] Further, such as Figure 4 As shown, an upper fixing plate 211 and a lower fixing plate 212 may be further provided between the angle compensation mechanism 210 and the robot arm 100, wherein the upper surface of the upper fixing plate 211 is fixedly connected to the flange end of the flange bearing sleeve 213, and the fixed beam 110 of the robot arm 100 is clamped between the upper fixing plate 211 and the lower fixing plate 212, and the lower fixing plate 212 and the upper fixing plate 211 may be connected by bolts.

[0078] In the embodiment of this application, Figure 5 and Figure 6 As shown, in the supporting mechanism 120, the supporting cylinder 121 may include a supporting rodless cylinder 1211 and a supporting linear guide 1212. 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 in the same direction as the fixed beam 110, that is, along the Y-axis direction.

[0079] 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 rail 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 perpendicular to the fixed beam 110, and the support connecting plate 1223 may be used to connect the displacement cylinder 123.

[0080] Furthermore, the support connecting member 122 may also include a support reinforcing plate 1224 , which is arranged at a perpendicular angle between the support connecting rod 1222 and the support connecting plate 1223 and can be used to strengthen the connection between the support connecting rod 1222 and the support connecting plate 1223 .

[0081] 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 part of the inverted T-shaped connecting block 1233; the shell of the second shifting cylinder 1232 may be connected to the horizontal part 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.

[0082] Furthermore, the shift cylinder 123 may also include a lateral positioning block 1234, which may be arranged on the side of the second shift cylinder 1232 toward the center of the fixed beam 110, and the lateral positioning block 1234 may be arranged in the same direction as the fixed beam 110, and the lateral positioning block 1234 may be used to assist in positioning the steering column support plate 124.

[0083] 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.

[0084] 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 ;

[0085] In addition, the support fixing seat 125 may include a fixing surface and an installation surface that are perpendicular to each other, the fixing surface is connected to the upper surface of the fixed beam 110, the installation surface is connected to the supporting rodless cylinder 1211, and multiple reinforcing ribs are provided between the fixing surface and the installation surface.

[0086] Furthermore, the support mechanism 120 may further 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 .

[0087] Further, such as Figure 5 As shown, the steering column support plate 124 has a V-shaped groove, which is used to support the steering column, which is the steering column of the automobile cockpit module to be transported.

[0088] Further, such as Figure 5 and Figure 6 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-hand steering column or the right-hand steering column through the support mechanism 120.

[0089] In the embodiment of this application, Figure 5 and Figure 7 As shown, in the clamping mechanism 130, the clamping connection 133 may be in an inverted L-shape, and the clamping connection 133 may include a transverse connection portion and a vertical connection portion, wherein the top of the transverse connection portion may be connected to the clamping cylinder 131, the first end of the transverse connection portion may be connected to the clamping hydraulic rod 132, and the second end of the transverse connection portion may be connected to the vertical connection portion; the vertical connection portion may be arranged downwardly perpendicular to the transverse connection portion, and a clamping plate 134 may be connected to the bottom of the vertical connection portion; the clamping connection 133 may buffer the movement of the clamping cylinder 131 through the clamping hydraulic rod 132.

[0090] Furthermore, the clamping connector 133 may further include a reinforcing connection portion 1331 . The reinforcing connection portion 1331 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.

[0091] Further, such as Figure 7As 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 provided 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.

[0092] Furthermore, the clamping mechanism 130 may also include an L-shaped fixing seat, the vertical end of the L-shaped fixing seat may be fixedly connected to the fixed beam 110, and the horizontal end of the L-shaped fixing seat may be vertically installed with a clamping position sensor 136.

[0093] In addition, the clamping detection end 137 can be Z-shaped corresponding to the L-shaped fixing seat, one end of which can be parallel to the lateral end of the L-shaped fixing seat, and the other end can be fixed to the bottom of the lateral connection part of the clamping connector 133. The clamping position sensor 136 can be a photoelectric sensor.

[0094] 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.

[0095] 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.

[0096] 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, which may be disposed side by side in a horizontal direction.

[0097] Further, such as Figure 7 As shown, the clamping mechanism 130 may further include a clamping protective cover 138 , which may wrap the clamping hydraulic rod 132 and be connected to the fixed beam 110 . The clamping protective cover 138 may be used to cover and protect the clamping hydraulic rod 132 .

[0098] Furthermore, the clamping cylinder 131 may be a rodless cylinder.

[0099] Furthermore, the clamping mechanism 130 may be symmetrically arranged at both ends of the fixed beam 110 of the robotic arm 100 , so that the robotic arm 100 can clamp the workpiece through the clamping mechanism 130 .

[0100] In the embodiment of this application, Figure 5 、 Figure 8 、 Figure 9 As shown, the guide mechanism 140 may include a guide connector 141 and a guide post 142 .

[0101] The guide connector 141 may be arranged downwardly perpendicular to the fixed beam 110 of the robotic arm 100 ;

[0102] The guide post 142 may be vertically connected to the bottom of the guide connector 141 and extend forward relative to the fixed beam 110, that is, extend toward the left side along the X-axis direction;

[0103] 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 set coaxially with the guide fixing column 1422, that is, set along the X-axis direction; the guide stopper 1424 can be sleeved on the guide pin 1423, and the guide stopper 1424 is provided with at least one guide detection hole; 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 into position.

[0104] Further, such as Figure 9 As shown, the guide clamping block 1421 may be provided with a through-hole along the extension direction of the guide post 142, that is, a through-hole along the X-axis. The through-hole can be used to fix the guide fixing post 1422, so that when the guide fixing post 1422 moves along the through-hole, the distance between the guide pin 1423 at the other end of the guide fixing post 1422 and the bottom of the guide connector 141 can be adjusted to accommodate workpieces of different sizes.

[0105] 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.

[0106] 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.

[0107] Further, such as Figure 9As 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 a whole.

[0108] Further, such as Figure 9 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.

[0109] Furthermore, the guide-to-position sensor 1425 may be a photoelectric sensor.

[0110] Furthermore, the guide mechanism 140 may be symmetrically arranged at both ends of the fixed beam 110 of the robot arm 100 , so that the robot arm 100 can align with the workpiece to be transported through the guide mechanism 140 .

[0111] In the embodiment of this application, Figure 5 As shown, the robot arm 100 may further include a main control box 160 and a robot arm handrail 170. The main control box 160 may be disposed at the side and rear of the center of the fixed crossbeam 110. The robot arm handrail 170 may be disposed corresponding to the main control box 160 and may be disposed around the periphery of the main control box 160.

[0112] 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 / stop button, a left and right rudder selection button, and a descending button. The clamping button may be used to control the support mechanism 120 to hold the workpiece and control the clamping mechanism 130 to clamp the workpiece. The unlocking button may be used to control the unlocking mechanism 150 to unlock the workpiece from the assembly line. The line release button may be used to control the release of the stacking line. The line start / stop button may be used to control the pause of the assembly line. The left and right rudder selection buttons may be used to select the support mechanism 120 set at the left or right end of the fixed beam 110. The descending button may be used to control the lifting cylinder 220 to accelerate the descent. The workpiece is the workpiece to be transported in the assembly line.

[0113] Furthermore, the robot arm 100 may further include a side control handle 180 , which may be disposed at the left end of the fixed beam 110 along the Y-axis direction;

[0114] Furthermore, the side control handle 180 may be provided with a side control box 181 and an air intake compensation knob 182;

[0115] The side control box 181 may be provided with a positioning knob and a release button. The positioning knob may be used to select the left or right material rack, 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 provided in the stacking line body for stacking the workpieces.

[0116] 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 falls.

[0117] Furthermore, the side control handle 180 can be a rectangular ring handle, with the side control box 181 fixed to the inner side of the rectangle, and the air intake compensation knob 182 mounted on the vertical section of the rectangle to form an integral part of the ring handle. When pushing or pulling the ring handle, the user can hold the air intake compensation knob 182 to adjust the air intake. The air intake compensation knob 182 can be located on the right side of the side control handle 180 along the X-axis direction.

[0118] In one embodiment of the present application, please refer to Figures 1 to 11 As shown, the present application also provides a guide rail positioning system, which may include: a pair of Y-axis guide rails 500, a pair of X-axis guide rails 400, a travel trolley 300, an X-axis positioning cylinder 310, at least one X-axis positioning block 410, a Y-axis positioning cylinder 510, and a Y-axis positioning block (not shown).

[0119] The pair of X-axis guide rails 400 may be suspended below the pair of Y-axis guide rails 500 ;

[0120] The travel trolley 300 may be suspended below a pair of X-axis guide rails 400;

[0121] The X-axis positioning cylinder 310 may be arranged on one side of the travel carriage 300 in the X-axis direction, and the X-axis positioning cylinder 310 may be arranged upward along the Z-axis direction;

[0122] Among them, at least one X-axis positioning block 410 can be set at a preset position of a pair of X-axis guide rails 400 corresponding to the X-axis positioning cylinder 310, and the at least one X-axis positioning block 410 can be used to locate the position of the travel trolley 300 on the X-axis;

[0123] The Y-axis positioning cylinder 510 can be set at a preset position of a pair of Y-axis guide rails 500 and can be set on the side facing the travel trolley 300, and the Y-axis positioning cylinder 510 can be set downward along the Z-axis direction;

[0124] The Y-axis positioning block can be provided on a pair of X-axis guide rails 400 corresponding to the Y-axis positioning cylinder 510 , and the Y-axis positioning block is used to position the travel trolley 300 on the Y-axis.

[0125] Further, such as Figure 10 As shown, the guide rail positioning system may further include an X-axis positioning roller 320, which may include a roller seat and a roller. The roller seat may be connected to the push rod of the X-axis positioning cylinder 310, and the roller may be mounted on the roller seat to follow the movement of the push rod of the X-axis positioning cylinder 310. When the travel trolley 300 moves to the position where the X-axis positioning block 410 is located, the X-axis positioning cylinder 310 lifts the X-axis positioning roller 320 and engages it with the X-axis positioning block 410, thereby achieving positioning of the travel trolley 300 on the X-axis guide rail 400.

[0126] Furthermore, the roller seat may include: a roller seat plate and a pair of conical clamping plates, the pair of conical clamping plates can be vertically arranged on the roller seat plate along the Z-axis direction, and the top of the pair of conical clamping plates is narrower than the bottom connected to the roller seat plate, and the roller is clamped between the narrower tops of the pair of conical clamping plates, so that the roller can expose at least 5 / 6 of the roller surface. Taking the top angle of the pair of conical clamping plates as 60 degrees as an example, the cross-section of the roller in the Z-axis direction exposes an area of at least 300 degrees.

[0127] Furthermore, the guide rail positioning system may also include a Y-axis positioning roller, which, like the X-axis positioning roller, can be connected to the push rod of the Y-axis positioning cylinder 510 to move along with the push rod of the Y-axis positioning cylinder 510. When the X-axis guide rail 400 moves to the position where the Y-axis positioning cylinder 510 is located, the Y-axis positioning cylinder 510 lifts the Y-axis positioning roller to achieve positioning of the travel carriage 300 on the Y-axis guide rail 500.

[0128] Further, such as Figure 10 As shown, the at least one X-axis positioning block 410 may be provided with an inverted V-shaped roller groove, and both end edges of the inverted V-shaped roller groove are provided with arc chamfers to facilitate the rolling in and out of the X-axis positioning roller 320 .

[0129] Further, such as Figure 10 and Figure 11 As shown, the guide rail positioning system may also include an X-axis positioning sensor 330 and a Y-axis positioning sensor 520. The X-axis positioning sensor 330 may be arranged on the travel trolley 300 corresponding to the X-axis positioning cylinder 310, and the X-axis positioning sensor 330 may be arranged on the left side of the X-axis positioning cylinder 310 along the X-axis direction; the Y-axis positioning sensor 520 may be arranged on a pair of Y-axis guide rails 500 corresponding to the Y-axis positioning cylinder 510, and the Y-axis positioning sensor 520 may be arranged on the right side of the Y-axis positioning cylinder 510 along the Y-axis direction.

[0130] Furthermore, the X-axis positioning sensor 330 and the Y-axis positioning sensor 520 may be photoelectric sensors.

[0131] Furthermore, the guide rail positioning system may also include a Y-axis rolling pulley and an X-axis rolling pulley, wherein the Y-axis rolling pulley can be arranged between a pair of Y-axis guide rails 500 and a pair of X-axis guide rails 400, for moving the pair of X-axis guide rails 400 in the Y-axis direction along the pair of Y-axis guide rails 500; the X-axis rolling pulley can be arranged between a pair of X-axis guide rails 400 and the travel trolley 300, for moving the travel trolley 300 in the X-axis direction along the pair of X-axis guide rails 400.

[0132] Furthermore, the pair of Y-axis guide rails 500 and the pair of X-axis guide rails 400 can be aluminum alloy profiles, and the aluminum alloy profiles are provided with multiple mounting grooves and sliding grooves to correspondingly install and connect the above-mentioned travel trolley 300, X-axis positioning cylinder 310, at least one X-axis positioning block 410, Y-axis positioning cylinder 510, Y-axis positioning block, X-axis positioning sensor 330, Y-axis positioning sensor 520, Y-axis rolling pulley, X-axis rolling pulley, etc.

[0133] Further, such as Figure 1 As shown, the guide rail positioning system may also include a pair of Y-axis connecting rails, which are arranged at both ends of the pair of X-axis guide rails 400. The Y-axis connecting rails can connect and fix the pair of X-axis guide rails 400 to form a rectangular frame with H-shaped ends. In addition, the four perpendicular angles between the pair of Y-axis connecting rails and the pair of X-axis guide rails can be connected and fixed by L-shaped angle brackets.

[0134] In one embodiment of the present application, please refer to Figures 1 to 11 As shown, the present application also provides an automobile cockpit module auxiliary turnover system, which may include: a robotic arm 100, a lifting host 200, a travel trolley 300, a pair of X-axis guide rails 400, and a pair of Y-axis guide rails 500.

[0135] The pair of Y-axis guide rails 500 may be arranged along the Y-axis direction, and a working area is spaced between the pair of Y-axis guide rails 500;

[0136] The pair of X-axis guide rails 400 may be arranged along the X-axis direction and may be suspended below the pair of Y-axis guide rails 500 ;

[0137] The travel trolley 300 may be suspended below a pair of X-axis guide rails 400 and may be configured to move in the X-axis direction along the pair of X-axis guide rails 400 and in the Y-axis direction along the pair of Y-axis guide rails 500.

[0138] The top of the lifting main unit 200 can be connected to the travel trolley 300 and can be connected perpendicularly to the center of the travel trolley 300 along the Z-axis direction. The lifting main unit 200 can be used to move in the Z-axis direction.

[0139] Among them, the robotic arm 100 can be set along the Y-axis direction and can be connected to the bottom of the lifting host 200. The robotic arm 100 is used to carry workpieces and follow the travel trolley 300 to move in the X-axis and Y-axis directions, and follow the lifting host 200 to move in the Z-axis direction.

[0140] Further, such as Figure 2 As shown, the lifting host 200 may include an angle compensation mechanism 210, a lifting cylinder 220, and a lifting hydraulic rod 230;

[0141] The lifting cylinder 220 and the lifting hydraulic rod 230 can be vertically connected side by side above the angle compensation mechanism 210, and the top of the lifting cylinder 220 can be vertically connected to the center of the travel trolley 300;

[0142] The angle compensation mechanism 210 may be connected to the robot arm 100 and may be used to rotate the robot arm 100 in the XY axis plane to achieve angle compensation of the robot arm 100;

[0143] The lifting cylinder 220 may be used to lift and lower the angle compensation mechanism 210 and the robotic arm 100 connected to the angle compensation mechanism 210 .

[0144] Furthermore, the lifting cylinder 220 may be a pneumatic balancing cylinder, which may be used to balance the position of the robotic arm 100 in the Z-axis direction according to the weight of the robotic arm 100 and the workpiece being transported, so as to reduce manual effort when transporting the workpiece.

[0145] Further, such as Figure 2 As shown, the robotic arm 100 may include a robotic arm body, a main control box 160, a robotic arm armrest 170, and a side control handle 180. The main control box 160 may be arranged on the side and rear of the center of the robotic arm body, and the robotic arm armrest 170 may be arranged around the main control box 160 on its periphery. The side control handle 180 may be arranged at the left end of the robotic arm body along the Y-axis direction, and may be adjusted according to the actual work site, or may be arranged on the right side of the robotic arm body.

[0146] The main control box 160 can be used to control the robot body to carry workpieces, and the robot arm armrest 170 and the side control handle 180 can be used to push the robot body to move on the X axis, Y axis and Z axis.

[0147] Further, such as Figure 2 As shown, the side control handle 180 may include an air intake compensation knob 182, which can be used to increase the air intake of the pneumatic balancing cylinder, control the pneumatic balancing cylinder to accelerate when it rises, and control the pneumatic balancing cylinder to accelerate when it descends.

[0148] Furthermore, the automobile cockpit module auxiliary turnover system may also include a Y-axis rolling pulley and an X-axis rolling pulley. The Y-axis rolling pulley can be arranged between a pair of Y-axis guide rails 500 and a pair of X-axis guide rails 400, and is used for the pair of X-axis guide rails 400 to move in the Y-axis direction along the pair of Y-axis guide rails 500; the X-axis rolling pulley can be arranged between a pair of X-axis guide rails 400 and the travel trolley 300, and is used for the travel trolley 300 to move in the X-axis direction along the pair of X-axis guide rails 400.

[0149] Further, such as Figure 11 As shown, the automobile cockpit module auxiliary turnover system may further include a Y-axis limit switch 530 and an X-axis limit sensor.

[0150] The Y-axis limit switch 530 may be disposed at the left end of the pair of Y-axis guide rails 500 along the Y-axis direction and on the side facing the travel trolley 300 ;

[0151] The X-axis limit sensor may be arranged at the right end of a pair of X-axis guide rails 400 along the X-axis direction;

[0152] The Y-axis limit switch 530 and the X-axis limit sensor can be used to limit the travel of the travel vehicle 300 on the Y-axis and the X-axis respectively;

[0153] Furthermore, the Y-axis limit switch 530 may be a travel switch with a cross lever, and the X-axis limit sensor may be a photoelectric sensor.

[0154] Further, such as Figure 11 As shown, the automobile cockpit module auxiliary turnover system may include a pair of Y-axis limit switches 530, which are arranged side by side at the left end of a pair of Y-axis guide rails 500. By arranging two Y-axis limit switches 530 side by side, failure of one of them can be prevented, thereby avoiding losses.

[0155] Further, such as Figure 11 As shown, the automobile cockpit module auxiliary turnover system may also include an X-axis buffer device (not shown) and a Y-axis buffer device 540. The X-axis buffer device can be set at the bottom of the left end of a pair of X-axis guide rails 400 along the X-axis direction; the Y-axis buffer device 540 can be set at the bottom of the right end of a pair of Y-axis guide rails 500 along the Y-axis direction; and the X-axis buffer device and the Y-axis buffer device 540 can be oil pressure buffers.

[0156] Further, such as Figure 1As shown, the automobile cockpit module auxiliary turnover system may also include a turnover truss 600 and a laser ranging device (not shown). The turnover truss 600 can be used to fix the aforementioned pair of Y-axis guide rails 500, and the laser ranging device can be set at the right end of the turnover truss 600 along the Y-axis direction, and can be used to detect whether the workpiece is transported into place.

[0157] It should be understood that the right end of the turnover truss 600 along the Y-axis direction is connected to the stacking line, and the distance measured by the laser ranging device is the distance when the robot arm 100 transports the workpiece to the top of the material rack in the stacking line, so as to determine whether the workpiece is transported into place.

[0158] The left end of the turnover truss 600 along the X-axis direction may correspond to an assembly line for assembling workpieces, so that the robot arm 100 can transport the workpieces along the X-axis direction.

[0159] Compared with the prior art, at least the following beneficial effects can be achieved:

[0160] The embodiment of the present application is provided with a Y-axis guide rail 500, an X-axis guide rail 400, a travel trolley 300, a lifting host 200, and a robotic arm 100 connected in sequence, and an angle compensation mechanism 210, a lifting cylinder 220, and a lifting hydraulic rod 230 are provided in the lifting host 200, and a fixed beam 110 and a support mechanism 120, a clamping mechanism 130, a guide mechanism 140, and an unlocking mechanism 150 are symmetrically arranged at both ends of the fixed beam 110. The guide mechanism 140 is used to align the workpiece, the support mechanism 120 supports the workpiece, the clamping mechanism 130 clamps the workpiece, and the unlocking mechanism 150 unlocks the workpiece. The lifting cylinder 220 is used to lift and lower the workpiece in the Z-axis direction, and the travel trolley 300 is used to move in the X-axis guide rail 400 and the Y-axis guide rail 500, thereby achieving efficient turnover of the workpiece and greatly avoiding scrapping due to improper manual operation. Furthermore, before transporting the workpiece, the angle compensation mechanism 210 can be used to compensate for the angular position relationship between the robot arm and the workpiece, so that the robot arm can align the workpiece and facilitate the transport of the robot arm.

[0161] The above description is merely an exemplary embodiment of the present application and is not intended to limit the scope of protection of the present application. The scope of protection of the present application is determined by the appended claims.

Claims

1. A robotic arm, characterized in that: It 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; The fixed beam is arranged along the Y-axis direction, and the supporting mechanism, guiding mechanism, clamping mechanism, and unlocking mechanism are arranged in the XZ-axis plane relative to the fixed beam; The support mechanism includes a support cylinder, a support connector, a shifting cylinder, and a steering column support plate. The support cylinder is fixed to the rear side of the fixed crossbeam along the Y-axis direction. The support connector is arranged downwardly perpendicular to the support cylinder along the Z-axis direction. The shifting cylinder is vertically connected to the bottom of the support connector along the X-axis direction and extends forward relative to and perpendicular to the fixed crossbeam. The shifting cylinder is connected to the steering column support plate. 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 guide mechanism includes a guide connector and a guide column, wherein the guide connector 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 connector along the X-axis direction; The unlocking mechanism includes an unlocking connector, an unlocking cylinder, and an unlocking block sequentially connected along the X-axis, and the unlocking connector is connected to the guide connector; The clamping connector is in an inverted L-shape and comprises a horizontal connecting portion and a vertical connecting portion; The top of the transverse connecting portion is connected to the clamping cylinder, the first end of the transverse connecting portion is connected to the clamping hydraulic rod, and the second end of the transverse connecting portion is connected to the vertical connecting portion; The vertical connection portion is arranged downwardly perpendicular to the horizontal connection portion, and the clamping plate is connected to the bottom of the vertical connection portion; The clamping connector cushions the movement of the clamping cylinder via the clamping hydraulic rod; The robotic arm further comprises a lifting mainframe, which is vertically arranged above the center of the fixed beam along the Z-axis direction; Among them, the lifting main unit includes a lifting cylinder and a lifting hydraulic rod, and the lifting cylinder and the lifting hydraulic rod are arranged in parallel along the Z-axis direction. The lifting cylinder is used to control the lifting of the robotic arm, and the lifting hydraulic rod is used to buffer the lifting of the robotic arm.

2. The robotic arm according to claim 1, wherein: The supporting cylinder includes a supporting rodless cylinder and a supporting linear guide rail arranged side by side along the Y-axis direction, and the supporting connecting member includes a supporting connecting block, a supporting connecting rod, a supporting connecting plate, and a supporting reinforcing plate; in The supporting connecting blocks are respectively connected to the supporting rodless cylinder and the supporting linear guide rail; The top of the support connecting rod is connected to the support connecting block, and the support connecting rod is arranged downwardly along the Z-axis direction perpendicular to the support connecting block; The support connecting plate is connected to the bottom of the support connecting rod, and the support connecting plate is arranged forward perpendicular to the support connecting rod along the X-axis direction, and the support connecting plate is used to connect the displacement cylinder; The support reinforcement plate is arranged on an XZ axis plane perpendicular to the support connecting rod and the support connecting plate, and is used to strengthen the connection between the support connecting rod and the support connecting plate.

3. The robotic arm according to claim 2, wherein: The shift cylinder includes: a first shift cylinder, a second shift cylinder, and an inverted T-shaped connecting block; The housing of the first shift cylinder is connected to the supporting connecting plate, and the push rod of the first shift cylinder is connected to the vertical portion of the inverted T-shaped connecting block; The housing of the second shift cylinder is connected to the transverse portion of the inverted T-shaped connecting block, and the push rod of the second shift cylinder is connected to the steering column support plate; The first displacement cylinder and the second displacement cylinder are arranged in the same direction, and are both perpendicular to the supporting connecting rod along the X-axis direction.

4. The robotic arm according to claim 3, wherein: The displacement cylinder further comprises: a lateral positioning block; The transverse positioning block is arranged along the Y-axis direction on the side of the second displacement cylinder facing the center of the fixed beam, and the transverse positioning block is used to assist in positioning the steering column support plate.

5. The robotic arm according to claim 1, wherein: The clamping mechanism further comprises: a clamping position sensor and a clamping detection end; The clamping detection end is arranged on the top of the clamping connector, the clamping in place sensor is arranged on the fixed beam corresponding to the clamping detection end, and the clamping in place sensor and the clamping detection end are used to detect whether the clamping mechanism is clamped in place.

6. The robotic arm according to claim 1, wherein: The guide column includes: a guide clamping block, a guide fixing column, a guide pin, a guide stopper, and a guide in-position sensor; wherein The guide clamping block is arranged at the bottom of the guide connecting member and is used to clamp the guide fixing column; The guide fixing column is arranged along the X-axis direction, and one end is connected to the guide clamping block and the other end is connected to the guide pin; The guide pin is coaxially arranged with the guide fixing column; The guide block is sleeved on the guide pin, and the guide block is provided with at least one guide detection hole; The guide-in-place sensor is arranged in one of the guide detection holes and is used to detect whether the guide mechanism is in-place.

7. The robotic arm according to claim 1, wherein: The robotic arm further includes a main control box and a robotic arm armrest, wherein the main control box is arranged at the side and rear of the center of the fixed beam, and the robotic arm armrest is arranged around the main control box; In addition, the main control box is 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 is used to control the support mechanism to hold the workpiece and control the clamping mechanism to clamp the workpiece. The unlocking button is used to control the unlocking mechanism to unlock the workpiece from the assembly line. The line release button is used to control the release of the stacking line. The line start and stop button is used to control the pause of the assembly line. The left and right rudder selection buttons are used to select the support mechanism set at the left end or the right end of the fixed beam. The descending button is used to control the lifting cylinder to accelerate the descent. The workpiece is a workpiece to be transported in the assembly line.

8. The robotic arm according to claim 7, wherein: The robotic arm further includes a side control handle, which is arranged at the left end of the fixed beam along the Y-axis direction; The side control handle is provided with a side control box and an air intake compensation knob, and the side control box is provided with a positioning knob and a release button. The positioning knob is used to select the left or right material rack, and the release button is used to control the reset of the support mechanism and the clamping mechanism to lower the workpiece into the material rack. The material rack is a material rack set in the stacking line body and is used to stack the workpieces. The air intake compensation knob is used to increase the air intake volume of the lifting cylinder, control the lifting cylinder to accelerate when it rises, and control the lifting cylinder to accelerate when it falls.

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