Carrying robot for automobile part machining

Abstract

The invention discloses a carrying robot for automobile part machining, and relates to the technical field of industrial robots, the carrying robot comprises a suspension column and a first mechanical arm, the first mechanical arm is rotatably connected to the top end of the suspension column, the end, away from the suspension column, of the first mechanical arm is rotatably connected with a second mechanical arm, and the end, away from the first mechanical arm, of the second mechanical arm is provided with a flexible soft rope; an actuator is fixedly connected to the bottom end of the flexible soft rope, a connecting column is fixedly connected to the top face of the actuator, an operating rod is installed at the end, away from the actuator, of the connecting column, and the flexible soft rope is spirally sleeved with a wiring harness pipeline; the four corners of the actuator are pulled through the four flexible wires, and compared with an existing state that only a flexible soft rope and the actuator are connected in a single-point mode and the center is stressed, connection of the four flexible wires can conduct auxiliary fixing on the posture of the actuator, swing is reduced, carrying and placing are convenient, and stability and safety in the cargo carrying process are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robots, in particular to a handling robot for processing automobile parts. Background Art

[0002] The soft-cable assisted manipulator is an industrial robot used to assist workers in carrying and assembling automotive parts. It is mainly composed of a suspension device, a soft cable, a robotic arm and an end effector.

[0003] However, when the soft-cable power-assisted manipulator is in use, the gravity and inertia of goods such as car windows and doors, as well as the influence of the external environment, will cause the soft rope to swing during movement. At the same time, the existing soft-cable power-assisted manipulator is usually designed for a human-machine collaborative working mode, that is, the operator needs to support the actuator at the bottom of the soft rope. When the soft rope swings, in order to maintain the stability of the actuator, the operator needs to constantly adjust his or her own strength and posture, which will not only endanger the operator's work safety, such as the swing of the soft rope causing the actuator to hit the operator, or the goods falling and injuring the operator, but also the swing of the soft rope causes the actuator to swing, affecting the placement of auto parts, greatly affecting the handling efficiency during auto parts processing.

[0004] Therefore, a handling robot for automobile parts processing is proposed. Summary of the invention

[0005] The object of the present invention is to provide a handling robot for processing automobile parts to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a handling robot for processing automobile parts, comprising a suspension column and a mechanical arm 1, wherein the mechanical arm 1 is rotatably connected to the top of the suspension column, the mechanical arm 1 is rotatably connected to the mechanical arm 2, the end of the mechanical arm 2 away from the mechanical arm 1 is equipped with a flexible soft cable, the bottom end of the flexible soft cable is fixedly connected to an actuator, the top surface of the actuator is fixedly connected to a connecting column, an operating rod is installed on the connecting column, and a wiring harness pipeline is arranged on the outside of the flexible soft cable, characterized in that the end of the mechanical arm 2 away from the mechanical arm 1 is fixedly connected to two connecting rods, the two The bottom end of the connecting rod is slidably connected to a swivel, and the outer ring surface of the swivel is fixedly connected to four extension rods in a circular array, and the ends of the four extension rods away from the swivel are rotatably connected to a flexible line, and the top surface of the actuator is fixedly connected to four side plates one and four side plates two in a circular array, and a rotating shaft is rotatably provided on side plate one, and the end of the rotating shaft away from side plate one is rotatably connected to the adjacent side plate two, and the end of the rotating shaft passing through side plate one is fixedly connected to a rotating column, and a clockwork spring is provided between the rotating column and the adjacent side plate one, and the end of the flexible line away from the extension rod is fixedly connected to the adjacent rotating shaft.

[0007] Furthermore, one end of the rotating shaft passing through the side plate two is fixedly connected with a gear, and two support plates are symmetrically fixedly connected on the side of the side plate two close to the gear, each of the two support plates is slidably connected with a sliding column, the top of the two sliding columns is fixedly connected with a connecting plate, and a return spring is sleeved on the two sliding columns, and a tooth plate is fixedly connected between the two connecting plates on the same side plate two, and there are four tooth plates in total, which are meshed with adjacent gears, and an annular bearing rod is fixedly connected between the four tooth plates, a telescopic rod is fixedly connected to the side of the operating rod close to the connecting column, and a handle is fixedly connected to the end of the telescopic rod away from the operating rod, and a pull rope is fixedly connected between the handle and the annular bearing rod.

[0008] Furthermore, the clockwork spring is sleeved on the outer sides of the adjacent rotating columns.

[0009] Furthermore, two ends of the return spring are fixedly connected to the adjacent connecting plate and the supporting plate respectively.

[0010] Furthermore, two pulleys are fixedly connected to the lower surface of the connecting column.

[0011] Further, the flexible wire is wound around the adjacent rotating shaft.

[0012] Furthermore, the actuator includes a turntable and a carrying plate. The turntable is rotatably arranged on the inner side of the carrying plate. The end of the flexible cable away from the mechanical arm 1 is installed on the turntable. The side plate 1, the side plate 2 and the connecting column are fixedly connected to the carrying plate.

[0013] Compared with the prior art, the beneficial effects of the present invention are: by pulling the four corners of the actuator through four flexible lines, compared with the existing state where the center is stressed only by the flexible soft cable and the actuator at a single point, the connection of the four flexible lines can assist in fixing the posture of the actuator, reduce swinging, facilitate transportation and placement, and ensure the stability and safety of the cargo handling process; After you stop pressing the handle, the four rotating shafts can be locked, that is, the length of the four flexible wires cannot be freely extended and retracted, and the operator does not need to exert force to maintain them, thereby greatly reducing the operator's physical exertion. At the same time, it can reduce the shaking of the actuator and the car door, and avoid the car door falling or operator injury due to excessive shaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional schematic diagram of the overall device of the present invention; Figure 2 It is a three-dimensional schematic diagram of the structure of the second mechanical arm, connecting rod, swivel and the like of the present invention; Figure 3 It is a three-dimensional schematic diagram of the structure of the extension rod, flexible wire, etc. of the present invention; Figure 4 For the present invention Figure 3 The enlarged schematic diagram at A in the middle; Figure 5 For the present invention Figure 3 The enlarged schematic diagram of point B in the middle; Figure 6 It is a three-dimensional schematic diagram of the structure of the second mechanical arm and the flexible soft cable of the present invention; Figure 7 It is a three-dimensional schematic diagram of the structure of the actuator, telescopic rod, handle, etc. of the present invention; Figure 8 For the present invention Figure 7 The enlarged schematic diagram at C in the middle; Fig. 9 It is a three-dimensional schematic diagram of the structure of the clamping tooth plate and the annular bearing rod of the present invention.

[0015] In the figure: 11, suspension column; 12, mechanical arm 1; 13, mechanical arm 2; 14, flexible cable; 15, actuator; 16, connecting column; 17, operating rod; 18, wiring harness; 21, connecting rod; 22, swivel; 23, extension rod; 24, flexible wire; 25, side plate 1; 26, side plate 2; 27, rotating shaft; 28, rotating column; 29, spring; 210, gear; 211, support plate; 212, slide column; 213, connecting plate; 214, return spring; 215, latch plate; 216, annular bearing rod; 217, telescopic rod; 218, handle; 219, pulley; 220, pull rope. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] The embodiments provided by the present invention are as follows: Figures 1 to 9 As shown, a handling robot for automobile parts processing includes a suspension column 11 and a robot arm 12, the robot arm 12 is rotatably connected to the top of the suspension column 11, the end of the robot arm 12 away from the suspension column 11 is rotatably connected to the robot arm 2 13, the end of the robot arm 2 13 away from the robot arm 12 is installed with a flexible cable 14, the bottom end of the flexible cable 14 is fixedly connected to an actuator 15, the top surface of the actuator 15 is fixedly connected to a connecting column 16, the end of the connecting column 16 away from the actuator 15 is installed with an operating rod 17, and the outer side of the flexible cable 14 is provided with a spiral wiring harness pipeline 18.

[0018] The motor on the suspension column 11 drives the robot arm 12 to rotate, the motor on the robot arm 12 drives the robot arm 2 13 to rotate, and the motor on the robot arm 2 13 winds and unwinds the flexible cable 14. The structures of the above-mentioned motor, robot arm 12, robot arm 2 13, suspension column 11 and flexible cable 14 and their connection methods are all prior arts, and the above-mentioned motors are electrically connected to an external controller.

[0019] The bottom of the actuator 15 is externally connected with a suction cup required for transportation. The suction cup here is a prior art. The actuator 15 here transports the car door (not shown in the figure) through the suction cup.

[0020] When in use, the operator controls the motor through an external controller, thereby controlling the rotation of the robot arm 12 and the robot arm 2 13 and controlling the winding and unwinding of the flexible soft cable 14, and adsorbing the car door through the suction cup for transportation.

[0021] The end of the mechanical arm 2 13 away from the mechanical arm 1 12 is fixedly connected to two connecting rods 21, and the bottom ends of the two connecting rods 21 are slidably connected to a rotating ring 22, so that the operator can drive the actuator 15 to rotate through the rotating ring 22. The outer ring surface of the rotating ring 22 is in a circular array and is fixedly connected to four extension rods 23. The ends of the four extension rods 23 away from the rotating ring 22 are all rotatably connected to a flexible line 24. The top surface of the actuator 15 is in a circular array and is symmetrically fixedly connected to four side plates 1 25 and four side plates 2 26. A rotating shaft 27 is rotatably provided on the side plate 1 25, and one end of the rotating shaft 27 away from the side plate 1 25 is rotatably connected to the adjacent side plate 2 26, and one end of the rotating shaft 27 passing through the side plate 1 25 is fixedly connected to a rotating column 28, and a spring 29 is sleeved on the outer side of the rotating column 28, and the two ends of the spring 29 are respectively fixedly connected to the adjacent rotating column 28 and the side plate 1 25, and one end of the rotating shaft 27 passing through the side plate 26 is fixedly connected to a gear 210, and two support plates are symmetrically fixedly connected to the side of the side plate 26 close to the gear 210 211, a sliding column 212 is slidably connected to each of the two support plates 211, a connecting plate 213 is fixedly connected to the top of each of the two sliding columns 212, a return spring 214 is sleeved on each of the two sliding columns 212, and the two ends of the return spring 214 are respectively fixedly connected to the adjacent connecting plates 213 and the support plate 211, and a tooth plate 215 is fixedly connected between the two connecting plates 213 on the same side plate 26, and a total of four tooth plates 215 are provided, and the tooth plates 215 are connected to the adjacent gears 210 Engaged, an annular load-bearing rod 216 is fixedly connected between the four tooth plates 215, and a telescopic rod 217 is fixedly connected to the side of the operating rod 17 close to the connecting column 16. The end of the telescopic rod 217 connected to the operating rod 17 is the fixed end, and the end of the telescopic rod 217 away from the operating rod 17 is the telescopic end. The telescopic end of the telescopic rod 217 is fixedly connected to a handle 218, and two pulleys 219 are fixedly connected to the lower surface of the connecting column 16, and a pull rope 220 is fixedly connected between the handle 218 and the annular load-bearing rod 216.

[0022] like Figure 8 As shown, one end of the flexible wire 24 away from the extension rod 23 is fixedly connected to the adjacent rotating shaft 27 , and the flexible wire 24 is wound around the rotating shaft 27 .

[0023] It should be noted that Figure 8 The tooth pitches of the middle latch plate 215 and the gear 210 are for illustration only. In actual applications, the tooth pitches between the teeth are smaller to facilitate the meshing engagement between the latch plate 215 and the gear 210 .

[0024] like Figure 5 , Figure 7 As shown, the pull rope 220 is fitted with two pulleys 219, and the two pulleys 219 play the role of changing the direction of the pull rope 220, that is, converting the inclined movement of the pull rope 220 driven by the handle 218 into the pull rope 220 driving the annular bearing rod 216 to move vertically upward.

[0025] The spring 29 is always in an elastic deformation state, so as to facilitate winding the flexible wire 24 around the rotating shaft 27 .

[0026] like Figure 5 and Figure 8 As shown, the actuator 15 includes two parts, namely a turntable connected to the flexible cable 14, and a supporting plate connected to the side plate 1 25, the side plate 26 and the connecting column 16. The turntable and the supporting plate are rotatably arranged to prevent the flexible cable 14 from elastically twisting when the actuator 15 is rotated to adjust the position of the transported automotive parts, and at the same time, it can avoid the wiring harness pipeline 18 from being knotted due to the rotation of the actuator 15.

[0027] In the initial state, that is, when the car door is not moved by the suction cup, the telescopic end of the telescopic rod 217 is located on the side away from the fixed end, that is, the telescopic rod 217 is in the maximum extension state, the tooth plate 215 and the gear 210 are meshed and engaged with each other, and the return spring 214 does not produce elastic deformation.

[0028] When in use, the operator holds the operating rod 17 and cooperates with the suction cup to grab the car door at the bottom of the actuator 15. After completion, the operator reels the flexible soft cable 14 through the external controller, so that the car door is in a suspended state. Then the operator controls the rotation of the mechanical arm 12 and the mechanical arm 2 13 through the external controller, so that the actuator 15 drives the car door to move to the position where it needs to be transported and placed. In this process, the operator needs to adjust the posture and direction of the car door due to the shaking of the car door and the obstacles encountered on the road.

[0029] At this time, the operator needs to apply force to the operating rod 17 to adjust the tilt angle, direction and other postures of the actuator 15. When the actuator 15 needs to adjust its posture, the operator presses the handle 218 in the direction close to the operating rod 17, and the handle 218 drives the pull rope 220 to move upward, so that the pull rope 220 pulls the annular support rod 216 to move upward.

[0030] When the annular bearing rod 216 moves upward, the annular bearing rod 216 drives the four tooth plates 215 to move upward synchronously, so that the tooth plates 215 no longer mesh with the engaging gear 210, and at the same time, the tooth plates 215 drive the connecting plates 213 to move upward synchronously, and the connecting plates 213 move upward while driving the sliding column 212 to move upward synchronously. At this time, the sliding column 212 slides upward on the support plate 211 and elastically stretches the reset spring 214. At this time, the rotation of the rotating shaft 27 and the rotating column 28 is no longer restricted by the tooth plates 215. At this time, the spring spring 29 elastically contracts, driving the rotating column 28 and the rotating shaft 27 to rotate, so that the flexible wire 24 that is loosened after the actuator 15 is lifted is wound around the rotating shaft 2 7, at this time, the operator keeps pressing the handle 218 and adjusts the posture of the actuator 15 through the operating rod 17. The operating rod 17 can drive the supporting plate, flexible wire 24, extension rod 23 and swivel ring 22 of the actuator 15 to rotate relative to the mechanical arm 2 13 to adjust the direction of the car door, and the operating rod 17 can drive the actuator 15 to rotate around the lower end of the flexible cable 14 to adjust the tilt angle of the car door. When the actuator 15 is rotated to adjust the tilt angle, the four flexible wires 24 are kept in a taut state under the action of the four springs 29, so that the four flexible wires 24 apply tension to the four positions of the supporting plate of the actuator 15. The longer the flexible wire 24 is stretched, that is, the greater the distance between the rotating shaft 27 and the corresponding extension rod 23, the greater the deformation degree of the clockwork spring 29 corresponding to the flexible wire 24, and thus the greater the force of the flexible wire 24 on the actuator 15. By using four flexible wires 24 to assist in pulling the actuator 15, the operator can be helped to stabilize the actuator 15, reduce the labor intensity of the operator, and reduce the shaking of the actuator 15 and the car door, thereby avoiding the car door falling off or the operator being injured due to excessive shaking.

[0031] After the adjustment is completed, the operator no longer presses the handle 218. Under the elastic contraction of the reset spring 214, the latch plate 215 and the annular bearing rod 216 move downward, and then the latch plate 215 contacts the adjacent gear 210 again, and the tooth surface of the latch plate 215 is squeezed with the tooth surface of the gear 210. The gear 210 is limited by the latch plate 215, and then the four rotating shafts 27 are limited, that is, the extended lengths of the four flexible lines 24 cannot be freely telescopically adjusted. The four corners of the actuator 15 are pulled by the four flexible lines 24 to reduce the shaking of the actuator 15 and assist in fixing the tilt angle of the actuator 15. The operator does not need to maintain the tilt angle of the actuator 15 and the car door all the time, which makes it more convenient to use.

[0032] When the posture adjustment of the actuator 15 is completed, the four corners of the actuator 15 are pulled by the flexible wires 24 to bear force. Compared with the existing state where the center is subjected to force only by the single-point connection between the flexible cable 14 and the actuator 15, the connection of the four flexible wires 24 can assist in fixing the posture of the actuator 15, reduce swinging, and facilitate transportation and placement.

[0033] It should be noted that after the vehicle door is moved to a designated position by the device, the vehicle door is placed at a suitable height by reeling and unreeling the flexible cable 14 .

[0034] When adjusting the height of the car door by winding and unwinding the flexible soft cable 14, the operator presses the handle 218 again to unlock the four flexible lines 24, so that the four flexible lines 24 always remain in a straight state during the process of adjusting the height of the car door. At the same time, when the operator presses the handle 218, the operator applies pressure to the operating rod 17 to adjust the inclination angle of the actuator 15 and the car door to ensure the stability and safety of the cargo handling process.

[0035] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0036] 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 handling robot for processing automobile parts, comprising a suspension column (11) and a first mechanical arm (12), wherein the first mechanical arm (12) is rotatably connected to the top end of the suspension column (11), a second mechanical arm (13) is rotatably connected to the first mechanical arm (12), a flexible soft cable (14) is installed at one end of the second mechanical arm (13) away from the first mechanical arm (12), an actuator (15) is fixedly connected to the bottom end of the flexible soft cable (14), a connecting column (16) is fixedly connected to the top surface of the actuator (15), an operating rod (17) is installed on the connecting column (16), and a wiring harness pipeline (18) is provided on the outer side of the flexible soft cable (14), characterized in that: The end of the second mechanical arm (13) away from the first mechanical arm (12) is fixedly connected to two connecting rods (21), the bottom ends of the two connecting rods (21) are slidably connected to a rotating ring (22), the outer ring surface of the rotating ring (22) is fixedly connected to four extension rods (23) in a circular array, and the ends of the four extension rods (23) away from the rotating ring (22) are all rotatably connected to a flexible wire (24), and the top surface of the actuator (15) is fixedly connected to four side plates (25) and four side plates (24) in a circular array. A second side plate (26) is provided, a rotating shaft (27) is rotatably provided on the first side plate (25), one end of the rotating shaft (27) away from the first side plate (25) is rotatably connected to the adjacent second side plate (26), one end of the rotating shaft (27) passing through the first side plate (25) is fixedly connected to a rotating column (28), a spring (29) is provided between the rotating column (28) and the adjacent first side plate (25), and one end of the flexible wire (24) away from the extension rod (23) is fixedly connected to the adjacent rotating shaft (27).

2. A handling robot for automobile parts processing according to claim 1, characterized in that: One end of the rotating shaft (27) passing through the second side plate (26) is fixedly connected to a gear (210), and one side of the second side plate (26) close to the gear (210) is symmetrically fixedly connected to two support plates (211), each of the two support plates (211) is slidably connected to a sliding column (212), and the top ends of the two sliding columns (212) are fixedly connected to a connecting plate (213), and the two sliding columns (212) are sleeved with a return spring (214), and the two connecting plates (213) on the same second side plate (26) are fixedly connected to each other. A latch plate (215), four latch plates (215) are provided in total, the latch plates (215) mesh with adjacent gears (210), an annular bearing rod (216) is fixedly connected between the four latch plates (215), a telescopic rod (217) is fixedly connected to a side of the operating rod (17) close to the connecting column (16), a handle (218) is fixedly connected to the end of the telescopic rod (217) away from the operating rod (17), and a pull rope (220) is fixedly connected between the handle (218) and the annular bearing rod (216).

3. The handling robot for automobile parts processing according to claim 1, characterized in that: The spring (29) is sleeved on the outside of the adjacent rotating column (28).

4. The handling robot for automobile parts processing according to claim 2, characterized in that: Two ends of the return spring (214) are respectively fixedly connected to the adjacent connecting plate (213) and the supporting plate (211).

5. The handling robot for automobile parts processing according to claim 2, characterized in that: Two pulleys (219) are fixedly connected to the lower surface of the connecting column (16).

6. The handling robot for automobile parts processing according to claim 1, characterized in that: The flexible wire (24) is wound around the adjacent rotating shaft (27).

7. The handling robot for automobile parts processing according to claim 1, characterized in that: The actuator (15) comprises a turntable and a bearing plate, the turntable being rotatably arranged inside the bearing plate, the end of the flexible cable (14) away from the first mechanical arm (12) being mounted on the turntable, and the first side plate (25), the second side plate (26) and the connecting column (16) being fixedly connected to the bearing plate.

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