Manipulator for carrying automobile sheet metal parts

Abstract

The invention discloses a manipulator for carrying automobile sheet metal parts, and relates to the technical field of manipulators, the manipulator comprises a supporting base, a mechanical arm and a plurality of suckers, the mechanical arm is mounted at the top of the supporting base, a U-shaped plate is mounted at the end, away from the supporting base, of the mechanical arm, and a supporting plate is fixedly connected to the lower end of the U-shaped plate; the supporting plate is provided with an adjusting assembly for automatically adjusting the height of the suction cups according to the automobile door frame, the adjusting assembly comprises limiting springs arranged on the outer surfaces of the suction cups in a sleeving mode, the middle of the U-shaped plate is hollow, and adjustment can be rapidly conducted according to the concave-convex condition of the door frame through the suction cups capable of being adjusted up and down; the time for manual intervention or readjustment due to the fact that the suction cups are not matched with the automobile door frame is shortened, the situation that adsorption is not stable due to the fact that the suction cups do not effectively make contact with the automobile door frame is avoided, and the phenomenon that abrasion occurs due to too large pressure when only a small number of suction cups are matched with clamping jaws to grab the automobile door frame is avoided; and the universality and the application range of the sucker type manipulator are improved.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a manipulator used for transporting automobile sheet metal parts. Background Art

[0002] Automotive sheet metal refers to automotive parts formed by processing metal sheets through processes such as stamping, bending, and stretching. They play supporting, connecting, and protecting roles in the vehicle body. Among them, the automobile door frame belongs to automotive sheet metal and is the basic framework for door installation. It has a direct impact on the installation accuracy, sealing, and stability of the door. It also affects the overall rigidity and safety of the vehicle body to a certain extent.

[0003] The design of the car door frame needs to consider the overall aesthetics and aerodynamic performance. In order to reduce wind resistance, improve fuel economy and vehicle driving stability, the shape of the door frame will be designed with a certain curvature and curve, which will inevitably lead to inconsistent heights of the door frame surface. The suction cups in the traditional two-in-one suction cup and clamp handling robot have a uniform height. Therefore, when using a suction cup robot for transportation, some suction cups may not be able to contact the car door frame. If some suction cups do not effectively contact the car door frame, it will lead to unreliable adsorption and the risk of falling. In addition, the suction cups and clamps that contact the car door frame will be subjected to excessive pressure, which will cause increased wear.

[0004] In view of this, the present invention provides a manipulator for transporting automobile sheet metal parts. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a manipulator for transporting automobile sheet metal parts, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A manipulator for handling automobile sheet metal parts comprises a supporting base, a mechanical arm and a plurality of suction cups, wherein the mechanical arm is mounted on the top of the supporting base, a U-shaped plate is mounted on the end of the mechanical arm away from the supporting base, the lower end of the U-shaped plate is fixedly connected to the supporting plate, an adjusting component for self-adjusting the height of the suction cup according to the automobile door frame is arranged on the supporting plate, the adjusting component comprises a limit spring sleeved on the outer surfaces of the plurality of suction cups, the plurality of suction cups are evenly slidably connected to the supporting plate, an infrared sensor is arranged on the lower surface of each suction cup, a vacuum pump is arranged on the mechanical arm, the outer walls of the plurality of suction cups are connected to the vacuum pump through a hose, the middle part of the U-shaped plate is arranged to be hollow, a driving motor is fixedly connected in the cavity of the U-shaped plate A support shaft is fixedly connected to the output shaft of the driving motor, and the support shaft is rotatably connected to the support plate. A spiral bevel groove and an annular flat groove are respectively opened on the outer surface of the support shaft, and the spiral bevel groove is communicated with the annular flat groove. A sliding column is slidably connected in the spiral bevel groove, and an end of the sliding column away from the spiral bevel groove is fixedly connected with a sliding sleeve. The sliding sleeve is sleeved on the outer wall of the support shaft, and the outer wall of the sliding sleeve is rotatably connected to two connecting rods. The bottom ends of the two connecting rods are rotatably connected to an I-shaped push rod, and the two I-shaped push rods are slidably connected to the upper surface of the support plate, and one side of the two I-shaped push rods is fixedly connected to a limit plate with the same number of suction cups, and the multiple suction cups are fixedly connected to multiple arc convex plates on the outer surface of the I-shaped push rod.

[0007] Preferably, the upper end of the limit spring is fixedly connected to the bottom of the support plate, and the lower end of the limit spring is fixedly connected to the outer surface of the suction cup.

[0008] Preferably, a clamping claw assembly for clamping automobile door frames of different sizes is provided on the support plate, and the clamping claw assembly includes a double-headed convex rod fixedly connected to the support shaft passing through one end of the support plate, both ends of the double-headed convex rod are rotatably connected to a sleeve plate, a sliding rod is slidably connected inside the sleeve plate, two support sleeves are fixedly connected to the lower surface of the support plate, and an adaptive spring is fixedly connected between the sliding rod and the sleeve plate.

[0009] Preferably, the adaptable spring is located inside the sleeve plate, the two support sleeves are slidably connected with clamping plates, the two clamping plates are fixedly connected with rubber pads on the sides close to each other, and the pressure sensor is arranged inside the rubber pad.

[0010] Preferably, a limit assembly for adjusting the number of limit suction cups is provided on the support plate, and the limit assembly includes a protrusion fixedly connected to the upper surface of the support plate and close to the number of suction cups, a magnetic column is slidably connected to the protrusion, and an auxiliary spring is sleeved on the outer surface of the magnetic column.

[0011] Preferably, one end of the auxiliary spring is fixedly connected to the protrusion, and the other end of the auxiliary spring is fixedly connected to the outer surface of the magnetic column, and the outer surface of the suction cup is fixedly connected with a circular magnetic block.

[0012] Preferably, a base support assembly for supporting the car door frame is provided on the support plate, and the base support assembly includes an inclined guide rail fixedly connected to the side of the support plate close to the mechanical arm, a movable rod is slidably connected to the inclined guide rail, one end of the movable rod passes through the inclined guide rail and is fixedly connected to a vertical rod, and the lower end of the vertical rod is fixedly connected to a rectangular frame.

[0013] Preferably, a plurality of movable springs are fixedly connected in the rectangular frame, one side of the rectangular frame is slidably connected to an oblique bottom support plate via a slider, and the upper ends of the movable springs are fixedly connected to the slider on the oblique bottom support plate.

[0014] Preferably, an L-shaped rod is fixedly connected to a side of the rectangular frame away from the inclined bottom support plate, a pulley is rotatably connected to the lower end of the L-shaped rod, and an inclined spring is fixedly connected between the inclined guide rail and the movable rod.

[0015] The manipulator for handling automobile sheet metal parts provided by the present invention has the following beneficial effects: By allowing the limit plate on the I-shaped push rod to move synchronously and insert it between the two arc-shaped convex plates on the outer surface of the corresponding suction cup, the limit plate will fix the suction cup that is squeezed and moved upward, so that the suction cup remains in the current position and does not move. The suction cup will not be reset due to the reset rebound of the limit spring on the outer surface of the suction cup. At this time, the positions of multiple suction cups should be uneven and in a state of adapting to the uneven surface of the automobile door frame. The suction cup that can be adjusted up and down can be quickly adjusted according to the unevenness of the door frame, reducing the time required for manual intervention or readjustment due to mismatch between the suction cup and the automobile door frame, avoiding the situation where the suction cup does not effectively contact the automobile door frame resulting in unstable adsorption, and avoiding the phenomenon that only a small number of suction cups cooperate with the clamping claw to grasp the automobile door frame resulting in excessive pressure and wear, thereby improving the versatility and applicability of the suction cup manipulator.

[0016] Due to the action of the adaptive spring in the sleeve plate, the sleeve plate will pull the adaptive spring to deform while following the rotation of the double-headed convex rod, and the sliding rod will also slide in the corresponding sleeve plate, so that the clamping plates and rubber pads on both sides can remain in place, and the automobile door frame will not be deformed due to excessive clamping force, and the automobile door frame can be kept in a state of elastic clamping. When the rubber pad contacts and applies a force to squeeze the automobile door frame, the pressure sensor inside it will sense the squeezing force, thereby transmitting a signal to the controller, so that the drive motor no longer drives the support shaft to rotate, and the clamping plate and the rubber pad can maintain a state of clamping the automobile door frame. After that, the automobile door frame can be moved by the mechanical arm, and the clamping plate and the rubber pad cooperate with the adaptive spring, so that the mechanical arm can effectively clamp the two sides of the automobile door frame when it is not in the middle position of the automobile door frame, and can also adaptively clamp automobile door frames of different sizes, thereby improving the efficiency of the mechanical arm in grasping and moving.

[0017] By storing the suction cups that are not needed, they are no longer on the moving path of the clamping plate, so that the clamping plate can continue to stay close to clamp smaller car door frames. Car door frames of different models and styles vary in size and shape. The manipulator with adjustable number of suction cups can be quickly adjusted according to actual conditions to achieve precise adaptation to various smaller car door frames. There is no need to replace manipulators of different specifications, which improves the versatility and adaptability of the equipment.

[0018] Automobile door frames usually have a certain weight and size. If they are only adsorbed by suction cups during transportation, they may shake slightly. However, by using the inclined bottom support plate to resist the bottom of the automobile door frame, additional support can be provided from below, effectively limiting the freedom of the door frame, reducing its horizontal and vertical shaking, and reducing the risk of the door frame slipping from the robot arm, thereby improving the stability and safety of the transportation process.

[0019] The inclined bottom support plate can adapt to supporting automobile door frames of different thicknesses, and the actual bottom support assembly can also be symmetrically arranged in two groups on the support plate to increase the supporting area of ​​the inclined bottom support plate and the clamped automobile door frame, further limiting the situation in which the automobile door frame will not move up and down and fall off following the movement of the robotic arm during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 For the present invention Figure 1 A schematic diagram of the enlarged structure of the middle A area; Figure 3 It is a schematic diagram of the installation structure of the connecting rod and the I-shaped push rod of the present invention; Figure 4 For the present invention Figure 3 Schematic diagram of the enlarged structure of the middle B area; Figure 5 It is a schematic diagram of the partial cross-section structure of the support plate and the U-shaped plate of the present invention; Figure 6 For the present invention Figure 5 Schematic diagram of the enlarged structure of the middle C area; Figure 7 This is a schematic diagram of the installation of the sleeve plate, slide rod, adaptive spring and other structures of the present invention; Figure 8 For the present invention Figure 7 Schematic diagram of the enlarged structure of the middle D area; Fig. 9 This is a schematic diagram of the bottom structure of the support plate of the present invention; Fig.10 It is a schematic diagram of the installation of the structures such as the inclined guide rail, inclined spring and vertical rod of the present invention.

[0021] In the figure: 1. Support base; 2. Robot arm; 3. U-shaped plate; 4. Support plate; 5. Suction cup; 51. Limit spring; 52. Drive motor; 53. Support shaft; 54. Spiral inclined groove; 55. Annular flat groove; 56. Sliding column; 57. Sliding sleeve; 58. Connecting rod; 59. I-shaped push rod; 510. Limit plate; 511. Arc convex plate; 61. Double-headed convex rod; 62. Sleeve plate; 63. Sliding rod; 64. Support sleeve; 65. Adaptive spring; 66. Clamping plate; 67. Rubber pad; 71. Bump; 72. Magnetic column; 73. Auxiliary spring; 74. Circular magnetic block; 81. Inclined guide rail; 82. Vertical rod; 83. Movable rod; 84. Rectangular frame; 85. Movable spring; 86. Inclined bottom support plate; 87. L-shaped rod; 88. Pulley; 89. Inclined spring. DETAILED DESCRIPTION

[0022] Embodiments of the present invention: See also Figures 1 to 6, a manipulator for handling automobile sheet metal parts, comprising a support base 1, a manipulator arm 2, and a plurality of suction cups 5. The manipulator arm 2 is installed on the top of the support base 1. The support base 1 and the manipulator arm 2 constitute a multi-joint manipulator arm of a robot in the prior art. The manipulator arm 2 can grab automobile sheet metal parts through its end effector (such as a clamp, a suction cup, etc.) and transfer them from one production station to another. The manipulator arm 2 is a prior art and will not be described in detail here. A U-shaped plate 3 is installed at one end of the manipulator arm 2 away from the support base 1. A support plate 4 is fixedly connected to the lower end of the U-shaped plate 3. An adjustment component for self-adjusting the height of the suction cup 5 according to the automobile door frame is arranged on the support plate 4. The adjustment component comprises a limit spring 51 sleeved on the outer surface of the plurality of suction cups 5. The plurality of suction cups 5 are evenly slidably connected to the support plate 4. An infrared sensor is arranged on the lower surface of each suction cup 5. A vacuum pump is arranged on the manipulator arm 2. The outer walls of the plurality of suction cups 5 are connected to the support plate 4 through a hose. The vacuum pump is connected, and the middle part of the U-shaped plate 3 is set to be hollow. A driving motor 52 is fixedly connected in the cavity of the U-shaped plate 3, and a supporting shaft 53 is fixedly connected to the output shaft of the driving motor 52. The supporting shaft 53 is rotatably connected to the supporting plate 4. The outer surface of the supporting shaft 53 is respectively provided with a spiral inclined groove 54 and an annular flat groove 55, and the spiral inclined groove 54 is connected to the annular flat groove 55. A sliding column 56 is slidably connected in the spiral inclined groove 54, and a sliding sleeve 57 is fixedly connected to the end of the sliding column 56 away from the spiral inclined groove 54. The sliding sleeve 57 is sleeved on the outer wall of the supporting shaft 53, and the outer wall of the sliding sleeve 57 is rotatably connected to two connecting rods 58. The bottom ends of the two connecting rods 58 are rotatably connected to an I-shaped push rod 59, and the two I-shaped push rods 59 are slidably connected to the upper surface of the supporting plate 4. A limiting plate 510 with the same number and position as the plurality of suction cups 5 is fixedly connected to one side of the two I-shaped push rods 59, and a plurality of arc-shaped convex plates 511 are fixedly connected to the outer surfaces of the plurality of suction cups 5 close to the I-shaped push rods 59. The spacing between the two arc-shaped convex plates 511 allows the limiting plate 510 to be inserted. The upper end of the limiting spring 51 is fixedly connected to the bottom of the support plate 4 , and the lower end of the limiting spring 51 is fixedly connected to the outer surface of the suction cup 5 .

[0023] See also Figure 1 , Figure 7 and Fig. 9 A clamping claw assembly for clamping automobile door frames of different sizes is provided on the support plate 4. The clamping claw assembly includes a double-headed convex rod 61 fixedly connected to the support shaft 53 passing through one end of the support plate 4. Both ends of the double-headed convex rod 61 are rotatably connected with a sleeve plate 62, and a slide rod 63 is slidably connected in the sleeve plate 62. Two support sleeves 64 are fixedly connected to the lower surface of the support plate 4. The two sleeve plates 62 are set to be hollow. An adaptive spring 65 is fixedly connected between the slide rod 63 and the sleeve plate 62. The adaptive spring 65 is located inside the sleeve plate 62. A clamping plate 66 is slidably connected to the two support sleeves 64. A rubber pad 67 is fixedly connected to the side where the two clamping plates 66 are close to each other, and a pressure sensor is arranged inside the rubber pad 67.

[0024] See also Figure 2 and Figure 4 The support plate 4 is provided with a limit assembly for adjusting the number of limit suction cups 5. The limit assembly includes a protrusion 71 fixedly connected to the upper surface of the support plate 4 and close to the number of suction cups 5. A magnetic column 72 is slidably connected to the protrusion 71. The outer surface of the magnetic column 72 is sleeved with an auxiliary spring 73. One end of the auxiliary spring 73 is fixedly connected to the protrusion 71, and the other end of the auxiliary spring 73 is fixedly connected to the outer surface of the magnetic column 72. A circular magnetic block 74 is fixedly connected to the outer surface of the suction cup 5. A circular groove is opened on the circular magnetic block 74, and the circular magnetic block 74 is magnetically matched with the magnetic column 72. The magnetic column 72 can be inserted into the circular groove of the circular magnetic block 74 to limit the suction cup 5.

[0025] See also Figure 5 , Figure 7 , Figure 8 and Fig.10 The support plate 4 is provided with a bottom support assembly for supporting the door frame of the automobile. The bottom support assembly includes an inclined guide rail 81 fixedly connected to the side of the support plate 4 close to the mechanical arm 2. A movable rod 83 is slidably connected to the inclined guide rail 81. One end of the movable rod 83 passing through the inclined guide rail 81 is fixedly connected to a vertical rod 82. The lower end of the vertical rod 82 is fixedly connected to a rectangular frame 84. A plurality of movable springs 85 are fixedly connected in the rectangular frame 84. One side of the rectangular frame 84 is slidably connected to an inclined bottom support plate 86 through a slider. The movable springs 85 are The upper end of the spring 85 is fixedly connected to the slider on the inclined bottom support plate 86. The upper surface of the inclined bottom support plate 86 is inclined, and the end facing the support plate 4 is the lower end. The side of the rectangular frame 84 away from the inclined bottom support plate 86 is fixedly connected to an L-shaped rod 87, and the lower end of the L-shaped rod 87 is rotatably connected to a pulley 88. An inclined spring 89 is fixedly connected between the inclined guide rail 81 and the movable rod 83. The pulley 88 and the inclined bottom support plate 86 are not in the same horizontal plane, and the pulley 88 is lower than the height of the inclined bottom support plate 86.

[0026] The following is the entire working process and working principle of the above embodiment: Initial state: the two clamping plates 66 are in a state of being away from each other, the limit springs 51 outside the multiple suction cups 5 are in a normal undeformed state, and the multiple magnetic columns 72 are in a state of being squeezed by the outer surface of the suction cup 5, so the auxiliary springs 73 on the outer surface of the magnetic columns 72 are in a compressed state.

[0027] When in use, first adjust the support plate 4 and the suction cup 5 to the top of the car door frame through the mechanical arm 2 and the U-shaped plate 3. For details, please refer to Figure 3The example car door frame drawn below the middle support plate 4 makes multiple suction cups 5 gradually approach the car door frame. Since the shape of the door frame is designed to have a certain curvature and curved surface, when the suction cup 5 robot is used to carry the car door frame, some suction cups 5 will not completely contact the car door frame. Therefore, the infrared sensor on the lower surface of the suction cup 5 does not sense that it has contacted the door frame, so that the robot arm 2 will continue to drive the support plate 4 and the suction cup 5 to move downward, and the suction cup 5 that has contacted the car door frame will be squeezed on the support plate 4 and gradually slide upward, and The corresponding limit spring 51 is compressed, and the suction cup 5 that has not touched the car door frame will continue to descend until it touches the car door frame. When all the suction cups 5 touch the car door frame, the infrared sensor will simultaneously transmit a signal to the controller that controls the movement of the mechanical arm 2, so that the mechanical arm 2 stops driving the support plate 4 to descend. At this time, the vacuum pump can be turned on to make the suction cup 5 adsorb the car door frame. At this time, the driving motor 52 will also be started to make the support shaft 53 rotate synchronously. When the support shaft 53 rotates, the spiral bevel 54 on its outer wall will squeeze the corresponding sliding The sliding column 56 drives the sliding sleeve 57 to slide downward. The sliding sleeve 57 moves downward and drives the two connecting rods 58 on its outer surface to descend at the same time, so that the connecting rod 58 gradually rotates from an inclined state to a horizontal state, so that the connecting rod 58 can push the corresponding I-shaped push rod 59 to slide in a direction away from the support shaft 53, and the limiting plate 510 on the I-shaped push rod 59 can move synchronously and be inserted between the two arc-shaped convex plates 511 on the outer surface of the corresponding suction cup 5, so that the limiting plate 510 can fix the suction cup 5 that is squeezed and moves upward, so that the suction cup 5 The suction cup 5 remains at its current position and will not be reset due to the reset rebound of the limit spring 51 on the outer surface of the suction cup 5. At this time, the positions of the multiple suction cups 5 should be uneven and in a state of adapting to the uneven surface of the automobile door frame. The suction cup 5 that can be adjusted up and down can be quickly adjusted according to the unevenness of the door frame, reducing the time required for manual intervention or readjustment due to the mismatch between the suction cup 5 and the automobile door frame, avoiding the situation where the suction cup 5 does not effectively contact the automobile door frame and causing unstable adsorption, thereby improving the versatility and applicability of the suction cup type manipulator.

[0028] Furthermore, when the support shaft 53 rotates, the double-headed convex rod 61 will also be driven to rotate synchronously, so that the double-headed convex rod 61 gradually rotates and tilts from the horizontal state, and the corresponding sleeve plate 62, the adaptive spring 65 and the slide rod 63 will gradually move synchronously. The sleeve plate 62 will also rotate accordingly with the connection point with the double-headed convex rod 61 as the axis, so as to cooperate with the slide rod 63 to pull the corresponding clamping plate 66 to slide on the support sleeve 64 and gradually move to the middle. At this time, if the car door frame is not in the middle position of the support plate 4, it will lead The clamping plate 66 and the rubber pad 67 on one side first contact the car door frame, so that the clamping plate 66 and the rubber pad 67 that contact the car door frame first gradually push the car door frame to move toward the middle, until the clamping plate 66 and the rubber pad 67 on the other side both contact the car door frame. As the double-headed protruding rod 61 rotates, it will continue to pull the sleeve plates 62, the sliding rod 63 and the clamping plate 66 at both ends closer to each other, so that the clamping plates 66 and the rubber pad 67 on both sides apply a squeezing force to the car door frame. The spring 65 will pull the adaptive spring 65 to deform while the sleeve plate 62 rotates with the double-headed convex rod 61, and the slide rod 63 will also slide in the corresponding sleeve plate 62, so that the clamping plates 66 and rubber pads 67 on both sides can keep their positions unchanged, and the automobile door frame will not be deformed due to excessive clamping force, and the automobile door frame can be kept in a state of elastic clamping. When the rubber pad 67 contacts and applies a force to squeeze the automobile door frame, the pressure sensor inside it will sense the squeezing force, thereby transmitting a signal to the controller, so that the drive motor 52 no longer drives the support shaft 53 to rotate, and the clamping plates 66 and rubber pads 67 can keep clamping the automobile door frame. After that, the automobile door frame can be transported by the robot arm 2. The clamping plates 66 and rubber pads 67 cooperate with the adaptive spring 65, so that the robot arm 2 can effectively clamp the two sides of the automobile door frame when it is not in the middle position of the automobile door frame, and can also clamp automobile door frames of different sizes adaptively, thereby improving the efficiency of the robot arm in grabbing and transporting.

[0029] It should be noted that the reference Figure 6 It can be seen that the length of the spiral bevel groove 54 is only sufficient to squeeze the slide post 56 and the sleeve 57 down to the position of the annular flat groove 55 after the support shaft 53 rotates thirty degrees. After that, the support shaft 53 will no longer drive the sleeve 57 to descend if it continues to rotate, allowing the slide post 56 to slide in the annular flat groove 55, thereby limiting the position of the sleeve 57 after it has descended, and the support shaft 53 can continue to rotate to drive the double-headed convex rod 61 to rotate so that the clamping plate 66 clamps the car door frame. In layman's terms, the support shaft 53 only needs to rotate a small amount to move the limit plate 510 and insert it between the two arc-shaped convex plates 511 on the outer surface of the corresponding suction cup 5 to achieve the limiting effect. Subsequently, the support shaft 53 can rotate arbitrarily to clamp the car door frame.

[0030] Furthermore, when it is necessary to clamp a smaller car door frame, the number of suction cups 5 used can be adjusted according to the size of the car door frame. Specifically, the two suction cups 5 located on the outermost sides are manually pulled upward and the corresponding limit springs 51 are compressed. As the suction cups 5 continue to rise, the circular magnetic block 74 on the outer surface of the suction cup 5 will gradually approach the adjacent magnetic column 72. At this time, the auxiliary spring 73 on the outer surface of the magnetic column 72 resets and rebounds, and cooperates with the magnetic attraction of the magnetic column 72 and the circular magnetic block 74, so that the magnetic column 72 can be inserted into the circular magnetic block. The suction cup 5 is now stored at the bottom of the support plate 4 and is no longer on the moving path of the clamping plate 66. Therefore, the clamping plate 66 can continue to be close to and clamp a smaller automobile door frame. The sizes and shapes of automobile door frames of different models and styles are different. The manipulator with adjustable number of suction cups 5 can be quickly adjusted according to actual conditions to achieve precise adaptation to various smaller automobile door frames without replacing manipulators of different specifications, thereby improving the versatility and adaptability of the equipment.

[0031] It should be noted that when the robotic arm 2 drives the U-shaped plate 3, the support plate 4 and the suction cup 5 to approach the automobile door frame to be grasped, since the pulley 88 is lower than the height of the inclined bottom supporting plate 86, the pulley 88 will first contact the table top on which the automobile door frame is placed. As the robotic arm 2 drives the support plate 4 to descend, the pulley 88 will squeeze the rectangular frame 84 and the movable rod 83 and slide obliquely upward along the trajectory of the inclined guide rail 81, so that the rectangular frame 84 can drive the oblique bottom supporting plate 86 to gradually move away from the bottom of the support plate 4. During this process, the vertical rod 82 will gradually compress the oblique spring 89 and shrink it, and the pulley 88 will slide along the table top on which the automobile door frame is placed and rotate, thereby reducing the friction of the pulley 88 moving. When the clamping of the clamping plate 66 and the adsorption of the suction cup 5 are completed, the robotic arm 2 will The clamped automobile door frame is driven to be transported and transferred. At this time, the pulley 88 is no longer resisted by the table surface. At this time, the inclined spring 89 is reset and rebounded, which will push the movable rod 83 to slide down in the inclined guide rail 81, and will also drive the rectangular frame 84 and the inclined bottom support plate 86 to gradually approach the clamped automobile door frame, so that the inclined bottom support plate 86 is in contact with the lower surface of the automobile door frame to limit the position. The automobile door frame usually has a certain weight and size. During the transportation process, it may shake slightly if it is only adsorbed by the suction cup 5. The oblique bottom support plate 86 is in contact with the bottom of the automobile door frame, which can provide additional support from below, effectively limit the freedom of the door frame, reduce its shaking in the horizontal and vertical directions, reduce the risk of the door frame slipping from the robot, and improve the stability and safety of the transportation process.

[0032] It should be noted that, since the thicknesses of different automobile door frames are inconsistent, and the oblique bottom support plate 86 is set to be oblique, if the automobile door frame is thicker, the lowest end of the oblique bottom support plate 86 will first contact the automobile door frame. As the oblique bottom support plate 86 continues to move toward the support plate 4, the oblique bottom support plate 86 will be squeezed and cooperate with the slider to slide on the rectangular frame 84. At the same time, the movable spring 85 will also be compressed adaptively, so that the oblique bottom support plate 86 can adapt to the automobile door frames of different thicknesses for support. In addition, two groups of actual bottom support components can also be symmetrically arranged on the support plate 4 to increase the supporting area of ​​the oblique bottom support plate 86 and the clamped automobile door frame, thereby further limiting the situation in which the automobile door frame will not move up and down and fall off following the movement of the robot arm 2 during transportation.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator for handling automobile sheet metal parts, comprising a support base (1), a manipulator arm (2) and a plurality of suction cups (5), characterized in that: The mechanical arm (2) is mounted on the top of the support base (1); a U-shaped plate (3) is mounted on one end of the mechanical arm (2) away from the support base (1); the lower end of the U-shaped plate (3) is fixedly connected to the support plate (4); an adjustment component for self-adjusting the height of a suction cup (5) according to a door frame of an automobile is arranged on the support plate (4); the adjustment component comprises a limit spring (51) sleeved on the outer surface of a plurality of suction cups (5); the plurality of suction cups (5) are evenly slidably connected to the support plate (4); an infrared sensor is arranged on the lower surface of each suction cup (5); a vacuum pump is arranged on the mechanical arm (2); the outer walls of the plurality of suction cups (5) are connected to the vacuum pump via a hose; the middle portion of the U-shaped plate (3) is arranged to be hollow; a driving motor (52) is fixedly connected to the cavity of the U-shaped plate (3); a supporting shaft (53) is fixedly connected to the output shaft of the driving motor (52); the supporting shaft (53) is connected to the support plate (4) The support shaft (53) is rotatably connected, and the outer surface of the support shaft (53) is respectively provided with a spiral bevel groove (54) and an annular flat groove (55), the spiral bevel groove (54) and the annular flat groove (55) are connected, a sliding column (56) is slidably connected in the spiral bevel groove (54), and one end of the sliding column (56) away from the spiral bevel groove (54) is fixedly connected with a sliding sleeve (57), the sliding sleeve (57) is sleeved on the outer wall of the support shaft (53), and the outer wall of the sliding sleeve (57) is rotatably connected with two connecting rods (58), and the bottom ends of the two connecting rods (58) are both rotatably connected with an I-shaped push rod (59), and the two I-shaped push rods (59) are slidably connected with the upper surface of the support plate (4), and one side of the two I-shaped push rods (59) is fixedly connected with a limit plate (510) having the same number and position as the plurality of suction cups (5), and the outer surfaces of the plurality of suction cups (5) close to the I-shaped push rod (59) are all fixedly connected with a plurality of arc-shaped convex plates (511).

2. The manipulator for handling automobile sheet metal parts according to claim 1 is characterized in that: The upper end of the limit spring (51) is fixedly connected to the bottom of the support plate (4), and the lower end of the limit spring (51) is fixedly connected to the outer surface of the suction cup (5).

3. The manipulator for handling automobile sheet metal parts according to claim 1 is characterized in that: The support plate (4) is provided with a clamping claw assembly for clamping automobile door frames of different sizes. The clamping claw assembly comprises a double-headed protruding rod (61) fixedly connected to a support shaft (53) and passing through one end of the support plate (4). Both ends of the double-headed protruding rod (61) are rotatably connected to a sleeve plate (62). A sliding rod (63) is slidably connected inside the sleeve plate (62). Two support sleeves (64) are fixedly connected to the lower surface of the support plate (4). An adaptable spring (65) is fixedly connected between the sliding rod (63) and the sleeve plate (62).

4. The manipulator for handling automobile sheet metal parts according to claim 3 is characterized in that: The adaptable spring (65) is located inside the sleeve plate (62), the two support sleeves (64) are slidably connected to the clamping plates (66), the two clamping plates (66) are fixedly connected to the mutually adjacent sides thereof with rubber pads (67), and a pressure sensor is arranged inside the rubber pads (67).

5. The manipulator for handling automobile sheet metal parts according to claim 1, characterized in that: A limit assembly for adjusting the number of limit suction cups (5) is provided on the support plate (4), the limit assembly comprising a protrusion (71) fixedly connected to the upper surface of the support plate (4) and close to the number of suction cups (5), a magnetic column (72) being slidably connected to the protrusion (71), and an auxiliary spring (73) being sleeved on the outer surface of the magnetic column (72).

6. The manipulator for handling automobile sheet metal parts according to claim 5, characterized in that: One end of the auxiliary spring (73) is fixedly connected to the protrusion (71), the other end of the auxiliary spring (73) is fixedly connected to the outer surface of the magnetic column (72), and the outer surface of the suction cup (5) is fixedly connected with a circular magnetic block (74).

7. The manipulator for handling automobile sheet metal parts according to claim 1, characterized in that: A bottom support assembly for supporting a car door frame is provided on the support plate (4), the bottom support assembly comprising an inclined guide rail (81) fixedly connected to a side of the support plate (4) close to the mechanical arm (2), a movable rod (83) being slidably connected to the inclined guide rail (81), one end of the movable rod (83) passing through the inclined guide rail (81) being fixedly connected to a vertical rod (82), and a lower end of the vertical rod (82) being fixedly connected to a rectangular frame (84).

8. The manipulator for handling automobile sheet metal parts according to claim 7 is characterized in that: A plurality of movable springs (85) are fixedly connected in the rectangular frame (84); one side of the rectangular frame (84) is slidably connected to an oblique bottom support plate (86) via a slider; and the upper ends of the movable springs (85) are fixedly connected to the slider on the oblique bottom support plate (86).

9. The manipulator for handling automobile sheet metal parts according to claim 8, characterized in that: An L-shaped rod (87) is fixedly connected to a side of the rectangular frame (84) away from the oblique bottom support plate (86), a pulley (88) is rotatably connected to the lower end of the L-shaped rod (87), and an oblique spring (89) is fixedly connected between the oblique guide rail (81) and the movable rod (83).

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