Automatic rear axle assembly tool

Abstract

The present application relates to the technical field of automobile manufacturing and assembling, and particularly relates to a rear axle automatic assembling tool, which comprises a rear axle gripper mounted on a robot arm, the rear axle gripper comprising a gripper frame, a vision device fixed on the gripper frame, a tray positioning mechanism, a rear axle part positioning mechanism, a rear axle part holding mechanism, a rear axle pressing mechanism and an overall floating mechanism; the vision device is used for visually guiding and positioning the moving track of the rear axle gripper; the tray positioning mechanism is used for positioning the relative position between the rear axle gripper and the tray; the rear axle part positioning mechanism is used for positioning the relative position between the rear axle gripper and the rear axle part; the rear axle part holding mechanism is used for holding the rear axle part; and the rear axle pressing mechanism is used for pressing the rear axle part to stabilize it after holding the rear axle part. The tool is relatively more compact and ingenious in positioning the rear axle part, realizes automatic positioning and grabbing of various different rear axles on a non-positioning device, and realizes accurate installation on a tray, and has higher process flexibility.

Description

Technical Field

[0001] This invention relates to the field of automobile manufacturing and assembly technology, and specifically to an automatic rear axle assembly fixture. Background Technology

[0002] Currently, the mechanism for automatically grabbing the rear axle on automotive-based platforms needs to solve the following problems:

[0003] 1. When picking up a part from the material box, the fixture is locked relative to the robot, and precise grasping is achieved solely through vision guidance.

[0004] 2. When the robot lowers the rear axle onto the pallet with the gripper, the rear axle may jam with the locating pin on the pallet and the bolts on the pallet.

[0005] 3. Due to the special structure of the rear axle component, the gripping and placement need to avoid the corresponding points of the material frame and pallet, while ensuring stable gripping.

[0006] 4. Given a fixed robot load, the gripper needs to be designed to be lightweight.

[0007] In view of the above problems, the inventors of this invention have finally obtained this invention after a long period of research and practice. Summary of the Invention

[0008] To address the aforementioned technical problems, this invention provides an automatic rear axle assembly fixture, which provides a more compact and ingenious positioning mechanism for rear axle components. This enables automatic positioning and gripping of various rear axles on non-positioning devices, as well as precise installation on pallets, resulting in greater process flexibility.

[0009] The technical solution adopted in this invention is as follows:

[0010] An automatic assembly fixture for a rear axle is provided, including a rear axle gripper mounted on a robot arm. The rear axle gripper includes a gripper frame, a vision device fixed on the gripper frame, a pallet positioning mechanism, a rear axle component positioning mechanism, a rear axle component clamping mechanism, a rear axle pressing mechanism, and an overall floating mechanism.

[0011] The vision device is used to visually guide and position the movement trajectory of the rear axle gripper.

[0012] The pallet positioning mechanism is used to position the relative position between the rear axle gripper and the pallet.

[0013] The rear axle positioning mechanism is used to position the relative position between the rear axle gripper and the rear axle component;

[0014] The rear axle clamping mechanism is used to grip the rear axle;

[0015] The rear axle clamping mechanism is used to press down on the rear axle component after gripping it to stabilize it;

[0016] The overall floating mechanism includes a first part and a second part connected to each other. The first part is capable of moving horizontally relative to the second part. The first part is connected to the robot arm, and the second part is fixed to the gripper frame.

[0017] Furthermore, the vision device includes three cameras and a photoelectric sensor with distance detection function.

[0018] Furthermore, the gripper frame includes two parallel crossbeams connected by a longitudinal beam.

[0019] Furthermore, the crossbeams and longitudinal beams are made of aluminum alloy octagonal tubing.

[0020] Furthermore, the pallet positioning mechanism includes two pallet positioning holes, which are respectively located on a crossbeam of the gripper frame near both ends, and the pallet positioning holes cooperate with the pallet positioning pins on the pallet.

[0021] Furthermore, the rear axle positioning mechanism is installed on the longitudinal beam of the gripper frame and includes a first cylinder and a telescopic positioning pin. The first cylinder drives the telescopic positioning pin to extend and retract, and the telescopic positioning pin matches the positioning hole on the front crossbeam plate of the rear axle.

[0022] Furthermore, the rear axle clamping mechanism is fixed to the middle of the longitudinal beam of the gripper frame, and includes a clamping cylinder and clamping hooks respectively disposed on the outer sides of both ends of the clamping cylinder. The clamping cylinder is used to drive the clamping hooks on both sides to close together to clamp the two side columns of the front crossbeam plate of the rear axle. The clamping cylinder has a self-locking function. A detection switch is provided on one side of the clamping cylinder to detect whether the rear axle clamping mechanism has reached the operating position.

[0023] Furthermore, the rear axle clamping mechanism includes four rear axle clamping parts, which are respectively disposed at the four ends of the two crossbeams of the gripper frame; the rear axle clamping part includes a second cylinder and a clamping block, the second cylinder drives the clamping block to clamp the rear axle, and the four clamping blocks are respectively clamped on the rear crossbeam and the front crossbeam plate of the rear axle.

[0024] Furthermore, the first part of the overall floating mechanism includes a flange and a floating plate fixedly connected thereto, the flange being connected to the robot arm; the second part of the overall floating mechanism includes a fixed plate and a limiting part, the fixed plate being fixed to the gripper frame, and the limiting part being fixed to the fixed plate to form an accommodating space, the floating plate being confined within the accommodating space and being able to move horizontally.

[0025] Furthermore, the limiting part includes at least two first limiting plates and at least two second limiting plates;

[0026] The two first limiting plates are respectively fixed to the two opposite sides of the fixed plate in the X direction to limit the movement range of the floating plate in the X direction; the two second limiting plates are respectively fixed to the two opposite sides of the fixed plate in the Y direction. The second limiting plate includes a vertical plate and a horizontal plate. The vertical plate is used to limit the movement range of the floating plate in the Y direction, and the horizontal plate is attached to the upper surface of the floating plate to limit the position of the floating plate in the Z direction.

[0027] Alternatively, the two first limiting plates are respectively fixed to opposite sides of the fixed plate in the Y direction to limit the movement range of the floating plate in the Y direction; the two second limiting plates are respectively fixed to opposite sides of the fixed plate in the X direction, the second limiting plates include a vertical plate and a horizontal plate, the vertical plate is used to limit the movement range of the floating plate in the X direction, and the horizontal plate is attached to the upper surface of the floating plate to limit the Z-direction position of the floating plate.

[0028] Furthermore, a omnidirectional ball is installed on the horizontal plate, and a wear-resistant plate is provided on the upper surface of the floating plate, allowing the omnidirectional ball to roll on the wear-resistant plate; an adjustable limiting rod is provided on the vertical plate of the first limiting plate and the second limiting plate, the limiting rod restricting the horizontal movement range of the floating plate, and adjusting the limiting rod can further adjust the horizontal movement range of the floating plate.

[0029] Furthermore, the overall floating mechanism also includes a locking device for locking and releasing the relative position between the first part and the second part.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] The automatic rear axle assembly fixture of this invention employs two hook points and four clamping points to achieve automatic fixing and clamping installation of various rear axles, ensuring stable gripping. The rear axle gripper can automatically float and fix itself relative to the robot, preventing jamming between the gripper and the rear axle components, as well as the positioning pins and bolts on the pallet. The gripping fixture is positioned relative to the workpiece and also relative to the pallet, ensuring precise positioning of the rear axle gripper. Equipped with a vision system, it can complete gripping even without precision positioning tools. The rear axle gripper has a simple structure, and the frame is made of aluminum alloy octagonal tubing, achieving lightweight while ensuring strength. Attached Figure Description

[0032] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 A schematic diagram of the gripping action of the automatic rear axle assembly fixture according to an embodiment of the present invention is shown.

[0034] Figure 2 A schematic diagram of the structure of the rear axle gripper according to an embodiment of the present invention is shown;

[0035] Figure 3 A schematic diagram of the rear axle clamping mechanism according to an embodiment of the present invention is shown;

[0036] Figure 4 A positioning schematic diagram of a pallet positioning mechanism according to an embodiment of the present invention is shown;

[0037] Figure 5 A schematic diagram showing the clamping position and the rear axle positioning position according to an embodiment of the present invention is provided.

[0038] Figure 6 A schematic diagram of the rear axle clamping position according to an embodiment of the present invention is shown;

[0039] Figure 7 A schematic diagram of the overall floating mechanism according to an embodiment of the present invention is shown;

[0040] Figure 8 A schematic diagram of the omnidirectional ball and wear-resistant plate mating part of the overall floating mechanism according to an embodiment of the present invention is shown. Detailed Implementation

[0041] The above-mentioned and other technical features and advantages of the present invention will be described in more detail below with reference to the accompanying drawings.

[0042] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0043] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, unless otherwise explicitly specified.

[0044] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0045] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0046] like Figure 1 As shown, the automatic rear axle assembly fixture includes a rear axle gripper 1 mounted on a robot arm for gripping a rear axle component 100 on a vehicle assembly line, which is placed on a pallet 200.

[0047] like Figure 2 As shown, the rear axle gripper 1 includes a gripper frame 11, a vision device fixed to the gripper frame, a pallet positioning mechanism 17, a rear axle component positioning mechanism 13, a rear axle component clamping mechanism 14, a rear axle pressing mechanism, and an overall floating mechanism 16. This automatic rear axle assembly fixture has a vision-guided positioning function. The vision device is used to visually guide and position the movement trajectory of the rear axle gripper. The pallet positioning mechanism 17 is used to position the relative position between the rear axle gripper 1 and the pallet 200. The rear axle component positioning mechanism 13 is used to position the relative position between the rear axle gripper 1 and the rear axle component 100. The rear axle component clamping mechanism 14 is used to clamp the rear axle component 100, and the rear axle pressing mechanism is used to press down on the rear axle component 100 to stabilize it after clamping it.

[0048] The vision device includes three cameras 12 and a photoelectric sensor (not shown) with distance detection function, specifically two 3D cameras, one 2D camera, and a photoelectric switch with distance detection.

[0049] The gripper frame 11 includes two parallel crossbeams 111, which are connected by a longitudinal beam 112. The crossbeams 111 and 112 are made of aluminum alloy octagonal tubing, ensuring strength while being lightweight.

[0050] like Figure 2 , Figure 3 , Figure 5 As shown, the rear axle clamping mechanism 14 is fixed to the middle of the longitudinal beam 112 of the gripper frame 11. It includes a clamping cylinder 142 and clamping hooks 141 respectively disposed on the outer sides of both ends of the clamping cylinder 142. The clamping cylinder 142 drives the clamping hooks 141 on both sides to close and clamp the two side posts 1021 of the front crossbeam plate 102 of the rear axle 100. The clamping cylinder 142 has a self-locking function; after reaching its position, the brake self-locks to ensure reliable clamping. A detection switch 143 is provided on one side of the clamping cylinder 142 to detect whether the rear axle clamping mechanism 14 has reached the operating position, i.e., whether it is close to the front crossbeam plate 102 and has reached the closing position.

[0051] The rear axle positioning mechanism 13 is mounted on the longitudinal beam 1112 of the gripper frame 11. It includes a first cylinder 132 and a telescopic positioning pin 131. The first cylinder 132 drives the telescopic positioning pin 131 to extend and retract. The telescopic positioning pin 131 matches the positioning hole 1022 on the front crossbeam plate 102 of the rear axle component 100. For multiple rear axle parts of various vehicle models adapted to this automatic rear axle assembly fixture, the positions of the positioning holes on the front crossbeam plate 102 are consistent, but there is a deviation in the Y-direction of the clamping position of the clamping mechanism. The clamping position of the clamping hook is controlled by the rear axle clamping mechanism 14, and in conjunction with the four-point clamping of the rear axle pressing mechanism, automatic fixing and clamping installation of various different rear axle components is achieved.

[0052] like Figure 2 , Figure 4 As shown, the pallet positioning mechanism 17 includes two pallet positioning holes 171, respectively located on one of the crossbeams 111 of the gripper frame 11 near both ends. The pallet positioning holes 171 engage with pallet positioning pins 201 on the pallet 200. The positioning between the rear axle gripper 1 and the pallet 200 is achieved through the engagement of the positioning holes and pallet pins (the overall floating mechanism 16 is released, allowing for floating positioning), and is equipped with sensor detection. The pallet positioning holes 171 are 0.2mm smaller than the pallet positioning pins. The two pallet positioning pins 201 on the pallet are RPS positioning points for the combined workstation and vehicle body positioning.

[0053] like Figure 2 , Figure 6As shown, the rear axle clamping mechanism includes four rear axle clamping parts 15, respectively disposed at the four ends of the two crossbeams 111 of the gripper frame 11. Each rear axle clamping part 15 includes a second cylinder 152 and clamping blocks 151. The second cylinder 152 drives the clamping blocks 151 to clamp the rear axle 100. The four clamping blocks 151 are respectively clamped at the four corner positions on the rear crossbeam 101 and the front crossbeam plate 102 of the rear axle 100. For example, refer to... Figure 6 The four positions A, B, C, and D are the four positions where the clamping block 151 clamps.

[0054] like Figure 7 , Figure 8 As shown, the overall floating mechanism 16 includes a first part and a second part connected to each other. The first part is capable of moving horizontally relative to the second part. The first part is connected to the robot arm, and the second part is fixed to the gripper frame 11.

[0055] In one specific embodiment, the first part of the overall floating mechanism 16 includes a flange 161 and a floating plate 162 fixedly connected thereto, with the flange 161 connected to the robot arm. The second part of the overall floating mechanism includes a fixed plate 163 and a limiting part, with the fixed plate 163 fixed to the gripper frame 11 and the limiting part fixed to the fixed plate 163 to form an accommodating space, within which the floating plate 162 is confined and can move horizontally. The limiting part includes at least two first limiting plates 165 and at least two second limiting plates 164; the two first limiting plates 165 are respectively fixed to the two opposite sides of the fixed plate 162 in the X direction to limit the movement range of the floating plate in the X direction; the two second limiting plates 164 are respectively fixed to the two opposite sides of the fixed plate 162 in the Y direction. The second limiting plate 164 includes a vertical plate 1641 and a horizontal plate 1642. The vertical plate 1641 is used to limit the movement range of the floating plate in the Y direction, and the horizontal plate 1642 is attached to the upper surface of the floating plate 162 to limit the Z-direction position of the floating plate. Alternatively, two first limiting plates 165 are respectively fixed to two opposite sides of the fixed plate 163 in the Y direction to limit the movement range of the floating plate in the Y direction; two second limiting plates 164 are respectively fixed to two opposite sides of the fixed plate 163 in the X direction. The second limiting plate 164 includes a vertical plate 1641 and a horizontal plate 1642. The vertical plate 1641 is used to limit the movement range of the floating plate in the X direction, and the horizontal plate 1642 is attached to the upper surface of the floating plate 162 to limit the Z-direction position of the floating plate.

[0056] The overall floating mechanism 16 is equipped with a locking device 168, which is used to lock and release the relative position between the first part and the second part. For example, the locking device 168 can be a pneumatic locking pin. A universal ball 166 is installed on the horizontal plate 1642, and a wear-resistant plate 1621 is provided on the upper surface of the floating plate 162. The universal ball 166 can roll on the wear-resistant plate 1621. The wear-resistant plate 1621 is provided at the contact position with the universal ball 166 to facilitate later maintenance and replacement. An adjustable limit rod 167 is provided on the vertical plate 1641 of the first limit plate 165 and the second limit plate. The limit rod 167 restricts the horizontal movement range of the floating plate 162. Adjusting the limit rod 167 can further adjust the horizontal movement range of the floating plate 162. The initial movement range of the floating plate 162 in the XY direction can be set to ±5mm respectively, and can be adjusted on site according to the actual situation. The limiting rod 167 can be configured to be threadedly connected to the limiting plate, thereby adjusting the extension length and changing the movement range of the floating plate 162.

[0057] The operation process of the automatic rear axle assembly fixture of the present invention is as follows:

[0058] 1. The robot, with the rear axle gripper, quickly moves to a position approximately 250mm above the rear axle component;

[0059] 2. Accurately locate the current position of the rear axle component using a camera and distance detection switch;

[0060] 3. The robot quickly moves to a position approximately 50mm above the rear axle based on the coordinates fed back from the camera;

[0061] 4. The robot moves forward slowly. When the proximity switch on the rear axle gripper is triggered, the robot stops moving.

[0062] 5. The telescopic positioning pin on the rear axle gripper extends to position the rear axle component; the rear axle clamping hook on the rear axle gripper actuates to clamp the rear axle component; the clamping block on the rear axle gripper actuates to press the rear axle component firmly.

[0063] 6. The robot slowly lifts the rear axle part about 50mm, then moves quickly to move the rear axle assembly onto the pallet.

[0064] The above are merely preferred embodiments of the present invention and are illustrative rather than restrictive. The structure and connection methods of the components in the present invention can be varied, and any equivalent transformations and improvements made based on the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. An automated rear axle assembly fixture, comprising a rear axle gripper mounted on a robot arm, characterized in that, The rear axle gripper includes a gripper frame, a vision device fixed on the gripper frame, a pallet positioning mechanism, a rear axle positioning mechanism, a rear axle clamping mechanism, a rear axle pressing mechanism, and an overall floating mechanism; The vision device is used to visually guide and position the movement trajectory of the rear axle gripper. The pallet positioning mechanism is used to position the relative position between the rear axle gripper and the pallet. The rear axle positioning mechanism is used to position the relative position between the rear axle gripper and the rear axle component; The rear axle clamping mechanism is used to grip the rear axle; The rear axle clamping mechanism is used to press down on the rear axle component after gripping it to stabilize it; The overall floating mechanism includes a first part and a second part connected to each other. The first part is capable of moving horizontally relative to the second part. The first part is connected to the robot arm, and the second part is fixed to the gripper frame. The first part of the overall floating mechanism includes a flange and a floating plate fixedly connected thereto, the flange being connected to the robot arm; the second part of the overall floating mechanism includes a fixed plate and a limiting part, the fixed plate being fixed to the gripper frame, the limiting part being fixed to the fixed plate to form an accommodating space, the floating plate being confined within the accommodating space and being able to move horizontally; the limiting part includes at least two first limiting plates and at least two second limiting plates; The two first limiting plates are respectively fixed to the two opposite sides of the fixed plate in the X direction to limit the movement range of the floating plate in the X direction; the two second limiting plates are respectively fixed to the two opposite sides of the fixed plate in the Y direction. The second limiting plate includes a vertical plate and a horizontal plate. The vertical plate is used to limit the movement range of the floating plate in the Y direction, and the horizontal plate is attached to the upper surface of the floating plate to limit the position of the floating plate in the Z direction. Alternatively, the two first limiting plates are respectively fixed to opposite sides of the fixed plate in the Y direction to limit the movement range of the floating plate in the Y direction; the two second limiting plates are respectively fixed to opposite sides of the fixed plate in the X direction, the second limiting plates include a vertical plate and a horizontal plate, the vertical plate is used to limit the movement range of the floating plate in the X direction, and the horizontal plate is attached to the upper surface of the floating plate to limit the Z-direction position of the floating plate.

2. The automatic rear axle assembly fixture as described in claim 1, characterized in that, The vision device includes three cameras and a photoelectric sensor with distance detection function.

3. The automatic rear axle assembly fixture as described in claim 1, characterized in that, The gripper frame includes two parallel crossbeams connected by a longitudinal beam.

4. The automatic rear axle assembly fixture as described in claim 3, characterized in that, The crossbeams and longitudinal beams are made of aluminum alloy octagonal tubing.

5. The automatic rear axle assembly fixture as described in claim 3, characterized in that, The pallet positioning mechanism includes two pallet positioning holes, which are respectively located on a crossbeam of the gripper frame near both ends. The pallet positioning holes cooperate with the pallet positioning pins on the pallet.

6. The automatic rear axle assembly fixture as described in claim 3, characterized in that, The rear axle positioning mechanism is mounted on the longitudinal beam of the gripper frame and includes a first cylinder and a telescopic positioning pin. The first cylinder drives the telescopic positioning pin to extend and retract, and the telescopic positioning pin matches the positioning hole on the front crossbeam plate of the rear axle.

7. The automatic rear axle assembly fixture as described in claim 3, characterized in that, The rear axle clamping mechanism is fixed to the middle of the longitudinal beam of the gripper frame, and includes a clamping cylinder and clamping hooks respectively disposed on the outer sides of both ends of the clamping cylinder. The clamping cylinder is used to drive the clamping hooks on both sides to close together to clamp the two side columns of the front crossbeam plate of the rear axle. The clamping cylinder has a self-locking function. A detection switch is provided on one side of the clamping cylinder to detect whether the rear axle clamping mechanism has reached the action position.

8. The automatic rear axle assembly fixture as described in claim 1, characterized in that, The rear axle clamping mechanism includes four rear axle clamping parts, which are respectively disposed at the four ends of the two crossbeams of the gripper frame. Each rear axle clamping part includes a second cylinder and a clamping block. The second cylinder drives the clamping block to clamp the rear axle. The four clamping blocks are respectively clamped on the rear crossbeam and the front crossbeam plate of the rear axle.

9. The automatic rear axle assembly fixture as described in claim 1, characterized in that, A omnidirectional ball is installed on the horizontal plate, and a wear-resistant plate is provided on the upper surface of the floating plate. The omnidirectional ball can roll on the wear-resistant plate. An adjustable limiting rod is provided on the vertical plate of the first limiting plate and the second limiting plate. The limiting rod restricts the horizontal movement range of the floating plate. Adjusting the limiting rod can further adjust the horizontal movement range of the floating plate.

10. The automatic rear axle assembly fixture as described in claim 1, characterized in that, The overall floating mechanism also includes a locking device for locking and releasing the relative position between the first part and the second part.

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