Manipulator for hot riveting of automobile sun shield framework and hot riveting machining method

Abstract

The invention discloses a manipulator for hot riveting of an automobile sun shield framework and a hot riveting processing method. The manipulator comprises a gripper mechanism and a mechanical arm, the gripper mechanism comprises a gripper frame, a first suction cup assembly, a second suction cup assembly, a first mechanical gripper and a second mechanical gripper, and the first suction cup assembly comprises two first vacuum suction cups which are downwards installed on the left side and the right side of the rear portion of the gripper frame correspondingly; the second suction cup assembly comprises two second vacuum suction cups which are downwards installed on the left side and the right side of the front portion of the gripper frame respectively, the first mechanical gripper is downwards installed on the portion, between the two second vacuum suction cups, of the gripper frame, and the second mechanical gripper is upwards installed on the gripper frame. The mechanical arm is connected with the gripper mechanism and used for controlling the gripper mechanism to move and turn over. According to the automatic assembling and discharging device, assembling, discharging and taking can be automatically completed in the hot riveting machining process of the sun visor, the machining efficiency is improved, and the labor cost is saved.

Description

Technical Field

[0001] The invention relates to the technical field of automobile sun visor processing, and in particular to a manipulator for hot riveting an automobile sun visor frame and a hot riveting processing method. Background Art

[0002] During the processing of automobile sun visors, the sun visor frame needs to be clamped between two half shells and the three are hot-riveted by a hot riveting machine.

[0003] The specific process of hot riveting the two half shells and the sun visor frame is as follows: first, place the two half shells after coating in the first hot riveting mold and the second hot riveting mold of the hot riveting machine respectively, then install the sun visor frame on the half shell in the second hot riveting mold, then heat the half shells and the sun visor frame in the first hot riveting mold and the second hot riveting mold, then rotate the first hot riveting mold to cover it on the second hot riveting mold, and then apply pressure to the first hot riveting mold covered on the second hot riveting mold, so that the two half shells and the sun visor frame are fully contacted and fused together in a molten state, and after keeping for a period of time, open the first hot riveting mold, and take out the sun visor that has been hot riveted. For details, please refer to the Chinese invention patent CN109834943A, which discloses a hot riveting device, a frame and a preparation method for a foamed polypropylene frame of a car sun visor.

[0004] At present, the material placement and removal of sun visor hot riveting are done manually, which is too inefficient, time-consuming and labor-intensive, and also poses certain safety hazards. Summary of the invention

[0005] In view of the defects in the prior art, the present invention provides a robot arm for hot riveting of an automobile sun visor frame and a hot riveting processing method, so as to automatically complete assembly, material discharge and material collection during the hot riveting processing of the sun visor, thereby improving processing efficiency and saving labor costs.

[0006] In one aspect, the present invention provides a robot for hot riveting a car sun visor frame, comprising:

[0007] A gripper mechanism, the gripper mechanism comprising a gripper frame, a first suction cup assembly, a second suction cup assembly, a first mechanical gripper and a second mechanical gripper, the first suction cup assembly comprising two first vacuum suction cups respectively mounted downwardly on the left and right sides of the rear portion of the gripper frame, the second suction cup assembly comprising two second vacuum suction cups respectively mounted downwardly on the left and right sides of the front portion of the gripper frame, the first mechanical gripper being mounted downwardly on the gripper frame between the two second vacuum suction cups, and the second mechanical gripper being mounted upwardly on the gripper frame;

[0008] A mechanical arm is connected to the gripper mechanism and is used to control the movement and flipping of the gripper mechanism.

[0009] Furthermore, the gripper frame comprises:

[0010] A bracket, the bracket being fixed to the free end of the mechanical arm;

[0011] A rectangular frame fixed to the lower side of the bracket;

[0012] Wherein, each of the first vacuum suction cups, each of the second vacuum suction cups and the first mechanical gripper are respectively fixed on a rectangular frame, and the second mechanical gripper is fixed on the upper side of the bracket.

[0013] Furthermore, the rectangular frame includes longitudinal rods arranged opposite to each other on the left and right sides and multiple transverse rods connected between two of the longitudinal rods, the bracket is fixed on the upper side of each of the transverse rods, the two first vacuum suction cups are respectively installed on the rear of the longitudinal rods on both sides, the two second vacuum suction cups are respectively installed on the front of the longitudinal rods on both sides, and the first mechanical gripper is installed on the transverse rod on the front side.

[0014] Furthermore, the front and rear parts of the longitudinal rods on both sides are provided with vacuum suction cup mounting plates extending outward, and each of the first vacuum suction cup and the second vacuum suction cup is mounted on each of the vacuum suction cup mounting plates in a one-to-one correspondence.

[0015] Furthermore, a mechanical gripper mounting plate is fixed to the front side of a front transverse rod, and the first mechanical gripper is mounted on the lower side of the mechanical gripper mounting plate.

[0016] Furthermore, the first mechanical gripper adopts a parallel air gripper, and the two jaws of the first mechanical gripper are adapted to the hollow of the sun visor frame, so as to be inserted into the hollow of the frame during the grasping process.

[0017] Furthermore, the second mechanical grippers all adopt parallel air grippers, and rubber pads are arranged on the inner sides of the two clamping claws of the second mechanical grippers.

[0018] Furthermore, the robotic arm is a six-axis robotic arm.

[0019] On the other hand, the present invention provides a method for hot riveting a car sun visor frame, which uses the above-mentioned hot riveting manipulator for the car sun visor frame to cooperate with a hot riveting machine, and comprises the following steps:

[0020] Step S10, the mechanical arm drives the first mechanical gripper to grab the skeleton from the skeleton feeding device;

[0021] Step S20, the first half shell and the second half shell are placed on the transfer table, the robotic arm drives the first robotic gripper to assemble the skeleton into the second half shell, and at the same time controls the first vacuum suction cup to grasp the first half shell, and the second vacuum suction cup to grasp the second half shell;

[0022] Step S30, the mechanical arm drives the gripper mechanism to rotate 180 degrees, and controls the second mechanical gripper to take out the sun visor that has been riveted by the hot riveting machine;

[0023] Step S40, the robot arm drives the gripper mechanism to rotate 180 degrees, and controls the first suction cup assembly and the second suction cup assembly to respectively place the first half shell into the first hot riveting mold and the second hot riveting mold of the hot riveting machine;

[0024] Step S50, the hot riveting machine performs hot riveting processing on the first half shell placed in the first hot riveting mold and the second half shell and the frame placed in the second hot riveting mold, and at the same time the robotic arm transfers away the sun visor taken out by the second robotic gripper.

[0025] The beneficial effects of the present invention are embodied in:

[0026] The present invention can first pick up the sun visor frame by the first mechanical gripper, and then the mechanical arm drives the first mechanical gripper to assemble the sun visor frame into the second half shell of the sun visor, and then respectively grasp the assembled but unfinished first half shell and the second half shell by the first suction cup assembly and transfer them to the hot riveting machine for processing. Before placing the unfinished automobile sun visor assembly, the mechanical arm drives the gripper mechanism to rotate 180°, so that the gripper of the second mechanical gripper is facing the automobile sun visor that has completed the hot riveting process, and the second mechanical gripper grasps the sun visor. Then the mechanical arm drives the gripper mechanism to rotate 180° again, and places the first half shell and the second half shell that have not yet been hot riveted in the hot riveting machine for hot riveting. Finally, the sun visor that has completed the hot riveting process is transferred to the next step of processing. When loading next time, the second mechanical gripper transfers the sun visor that has completed the hot riveting process away.

[0027] Therefore, the present application can greatly save manpower, and even completely replace manpower to assemble and transfer sun visors, realize the multi-directional picking and placing function of the robot, and can greatly improve the processing efficiency. Material placement and picking can be carried out simultaneously, the layout is more optimized, and the cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0029] Figure 1 A schematic diagram of the structure of a mechanical arm for hot riveting a car sun visor frame provided by an embodiment of the present invention;

[0030] Figure 2Schematic diagram of the installation of the first suction cup assembly, the second suction cup assembly and the first mechanical gripper in an embodiment of the present invention;

[0031] Figure 3 Schematic diagram of the structure of the first mechanical gripper in an embodiment of the present invention;

[0032] Figure 4 Schematic diagram of the structure of the second mechanical gripper in an embodiment of the present invention;

[0033] Figure 5 It is a layout diagram of a manipulator for hot riveting a car sun visor frame, a frame feeding device, a transfer table and a hot riveting machine in an embodiment of the present invention.

[0034] In the accompanying drawings,

[0035] 100-manipulator; 110-gripper frame; 111-bracket; 112-rectangular frame; 1121-longitudinal rod; 1122-transverse rod; 1123-vacuum suction cup mounting plate; 1124-manipulator gripper mounting plate; 120-first vacuum suction cup; 130-second vacuum suction cup; 140-first manipulator gripper; 150-second manipulator gripper; 151-rubber pad; 160-manipulator arm; 200-skeleton feeding device; 300-turntable; 400-hot riveting machine; 410-first hot riveting mold; 420-second hot riveting mold. DETAILED DESCRIPTION

[0036] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0037] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0038] like Figure 1-Figure 4 As shown, an embodiment of the present invention provides a robot for hot riveting a car sun visor frame, including a gripper mechanism and a robot arm 160.

[0039] The gripper mechanism includes a gripper frame 110, a first suction cup assembly, a second suction cup assembly, a first mechanical gripper 140 and a second mechanical gripper 150. The first suction cup assembly includes two first vacuum suction cups 120 respectively mounted downward on the left and right sides of the rear portion of the gripper frame 110, the second suction cup assembly includes two second vacuum suction cups 130 respectively mounted downward on the left and right sides of the front portion of the gripper frame 110, the first mechanical gripper 140 is mounted downward on the gripper frame 110 between the two second vacuum suction cups 130, and the second mechanical gripper 150 is mounted upward on the gripper frame 110.

[0040] The robot arm 160 is connected to the gripper mechanism and is used to control the movement and flipping of the gripper mechanism. The robot arm 160 is preferably a six-axis robot arm 160 .

[0041] In some embodiments, reference Figure 1 The gripper frame 110 specifically includes a bracket 111 and a rectangular frame 112. The bracket 111 is fixed to the free end of the mechanical arm 160. The rectangular frame 112 is fixed to the lower side of the bracket 111. Each first vacuum suction cup 120, each second vacuum suction cup 130 and the first mechanical gripper 140 are respectively fixed to the rectangular frame 112, and the second mechanical gripper 150 is fixed to the upper side of the bracket 111.

[0042] Preferably, refer to Figure 2 The rectangular frame 112 includes longitudinal rods 1121 arranged opposite to each other on the left and right sides and multiple transverse rods 1122 connected between the two longitudinal rods 1121. The bracket 111 is fixed on the upper side of each transverse rod 1122. The two first vacuum suction cups 120 are respectively installed at the rear of the longitudinal rods 1121 on both sides. The two second vacuum suction cups 130 are respectively installed at the front of the longitudinal rods 1121 on both sides. The first mechanical gripper 140 is installed on the front transverse rod 1122.

[0043] In order to facilitate the installation of the first vacuum suction cup 120 and the second vacuum suction cup 130, the front and rear parts of the longitudinal rods 1121 on both sides are provided with vacuum suction cup mounting plates 1123 extending outward, and each first vacuum suction cup 120 and the second vacuum suction cup 130 are installed on each vacuum suction cup mounting plate 1123 in a one-to-one correspondence.

[0044] In order to facilitate the installation of the first mechanical gripper 140 , a mechanical gripper mounting plate 1124 is fixed to the front side of the front transverse rod 1122 , and the first mechanical gripper 140 is mounted on the lower side of the mechanical gripper mounting plate 1124 .

[0045] In some embodiments, reference Figure 3 The first mechanical gripper 140 adopts a parallel air gripper. The two clamping claws of the first mechanical gripper 140 are adapted to the hollow of the sun visor frame and are used to penetrate the hollow of the frame during the grasping process. It is difficult to control the clamping force for small, easily deformed and hollow materials, which are prone to bending or damage. In this embodiment, the clamping claws of the first mechanical gripper 140 are used as support members to increase the contact area with the frame, play a supporting role, so as to prevent the sun visor frame material from bending during transportation, which can improve the qualified rate of the product.

[0046] The first mechanical gripper 140 is specifically composed of a cylinder, a magnetic proximity switch, a one-way throttle valve and a parallel clamp (claw). The parallel clamp can move according to air compression, the magnetic proximity switch can sense the position of the piston in the cylinder, and the one-way throttle valve controls the force of the parallel clamp by controlling the air pressure, thereby supporting the sun visor frame and the car sun visor shell.

[0047] Reference Figure 4 The second mechanical grippers 150 all adopt parallel air grippers, and rubber pads 151 are arranged on the inner sides of the two clamping claws of the second mechanical grippers 150. The rubber pads 151 can effectively avoid indentation and deformation of the side of the sun visor when the second mechanical grippers 150 grasp the sun visor.

[0048] The second mechanical gripper 150 controls the air pressure in the cylinder through a one-way throttle valve. The air pressure drives the piston in the cylinder to move. The movement trajectory of the piston can be sensed by a proximity switch. When pressure is applied to the piston, the parallel clamp (claws) clamp to pick up the sun visor that has completed the hot riveting process; when the pressure is released, the parallel clamp (claws) relax to place the processed sun visor on the platform.

[0049] Reference Figure 5 The embodiment of the present invention further provides a method for hot riveting a sun visor frame of an automobile, which uses the above-mentioned hot riveting manipulator 100 for the sun visor frame of the automobile to cooperate with the hot riveting machine 400, and includes the following steps:

[0050] Step S10, the mechanical arm 160 drives the first mechanical gripper 140 to grab the skeleton from the skeleton feeding device 200;

[0051] Step S20, the first half shell and the second half shell are placed on the transfer table 300, the robot arm 160 drives the first robot gripper 140 to assemble the skeleton into the second half shell, and at the same time controls the first vacuum suction cup 120 to grasp the first half shell, and the second vacuum suction cup 130 to grasp the second half shell;

[0052] Step S30, the mechanical arm 160 drives the gripper mechanism to rotate 180 degrees, and controls the second mechanical gripper 150 to take out the sun visor that has been riveted by the hot riveting machine 400;

[0053] Step S40, the robot arm 160 drives the gripper mechanism to rotate 180 degrees, and controls the first suction cup assembly and the second suction cup assembly to respectively put the first half shell into the first hot riveting mold 410 and the second hot riveting mold 420 of the hot riveting machine 400;

[0054] In step S50, the hot riveting machine 400 performs hot riveting processing on the first half shell placed in the first hot riveting mold 410 and the second half shell and the frame placed in the second hot riveting mold 420, and at the same time, the robot arm 160 transfers away the sun visor taken out by the second robot gripper.

[0055] The hot riveting machine 400 of this embodiment is internally provided with a first hot riveting mold 410, a second hot riveting mold 420, a pressurizing mechanism and a heating lamp, each of which has a power of 1-3KW. After the manipulator places the first half shell and the second half shell of the sun visor shell in the first hot riveting mold 410 and the second hot riveting mold 420 respectively, the first half shell, the second half shell and the skeleton pre-installed in the second half shell are first heated by the heating lamp to melt the part of the workpiece surface that needs hot riveting, and then the first hot riveting mold 410 is controlled to flip and cover the second hot riveting mold 420, and the first hot riveting mold 410 is pressed against the second hot riveting mold 420 by the pressurizing mechanism, so that the two half shells and the sun visor skeleton are fully contacted and fused together in a molten state, and the first hot riveting mold 410 is opened after a period of time to complete the hot riveting process of the sun visor.

[0056] The present invention can first pick up the sun visor frame by the first mechanical gripper 140, and then the mechanical arm 160 drives the first mechanical gripper 140 to assemble the sun visor frame into the second half shell of the sun visor, and then respectively grasp the assembled but unfinished first half shell and the second half shell by the first suction cup assembly and transfer them to the hot riveting machine 400 for processing. Before placing the unfinished automobile sun visor assembly, the mechanical arm 160 drives the gripper mechanism to rotate 180°, so that the gripper of the second mechanical gripper 150 is facing the automobile sun visor that has completed the hot riveting process, and the second mechanical gripper 150 grasps the sun visor, and then the mechanical arm 160 drives the gripper mechanism to rotate 180° again, and places the first half shell and the second half shell that have not yet been hot riveted in the hot riveting machine 400 for hot riveting, and finally transfers the sun visor that has completed the hot riveting process to the next step of processing. When loading next time, the sun visor that has completed the hot riveting process is transferred away by the second mechanical gripper 150.

[0057] Therefore, the present application can greatly save manpower, and even completely replace manpower to assemble and transfer sun visors, realize the function of multi-directional picking and placing of workpieces, and can greatly improve processing efficiency. Material placement and picking can be carried out simultaneously, the layout is more optimized, and costs are reduced.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A robot for hot riveting of automobile sun visor frame, characterized in that: include: A gripper mechanism, the gripper mechanism comprising a gripper frame, a first suction cup assembly, a second suction cup assembly, a first mechanical gripper and a second mechanical gripper, the first suction cup assembly comprising two first vacuum suction cups respectively mounted downwardly on the left and right sides of the rear portion of the gripper frame, the second suction cup assembly comprising two second vacuum suction cups respectively mounted downwardly on the left and right sides of the front portion of the gripper frame, the first mechanical gripper being mounted downwardly on the gripper frame between the two second vacuum suction cups, and the second mechanical gripper being mounted upwardly on the gripper frame; A mechanical arm is connected to the gripper mechanism and is used to control the movement and flipping of the gripper mechanism.

2. The hot riveting robot for automobile sun visor frame according to claim 1 is characterized in that: The grab frame comprises: A bracket, the bracket being fixed to the free end of the mechanical arm; A rectangular frame fixed to the lower side of the bracket; Wherein, each of the first vacuum suction cups, each of the second vacuum suction cups and the first mechanical gripper are respectively fixed on a rectangular frame, and the second mechanical gripper is fixed on the upper side of the bracket.

3. The hot riveting robot for automobile sun visor frame according to claim 2 is characterized in that: The rectangular frame includes longitudinal rods arranged opposite to each other on the left and right sides and multiple transverse rods connected between two of the longitudinal rods. The bracket is fixed on the upper side of each of the transverse rods. The two first vacuum suction cups are respectively installed on the rear of the longitudinal rods on both sides. The two second vacuum suction cups are respectively installed on the front of the longitudinal rods on both sides. The first mechanical gripper is installed on the transverse rod on the front side.

4. The hot riveting robot for automobile sun visor frame according to claim 3 is characterized in that: The front and rear parts of the longitudinal rods on both sides are provided with vacuum suction cup mounting plates extending outward, and each of the first vacuum suction cup and the second vacuum suction cup is mounted on each of the vacuum suction cup mounting plates in a one-to-one correspondence.

5. The hot riveting robot for automobile sun visor frame according to claim 3 is characterized in that: A mechanical gripper mounting plate is fixed to the front side of a front transverse rod, and the first mechanical gripper is mounted on the lower side of the mechanical gripper mounting plate.

6. The hot riveting robot for automobile sun visor frame according to claim 1 is characterized in that: The first mechanical gripper adopts a parallel air gripper, and the two clamping claws of the first mechanical gripper are adapted to the hollow of the sun visor frame, and are used to penetrate the hollow of the frame during the grasping process.

7. The hot riveting robot for automobile sun visor frame according to claim 6 is characterized in that: The second mechanical grippers all adopt parallel air grippers, and rubber pads are arranged inside the two clamping claws of the second mechanical grippers.

8. The hot riveting robot for automobile sun visor frame according to claim 1 is characterized in that: The mechanical arm is a six-axis mechanical arm.

9. A hot riveting method for a car sun visor frame, characterized in that: The hot riveting manipulator for the automobile sun visor frame according to any one of claims 1 to 8 is used in conjunction with a hot riveting machine, comprising the following steps: Step S10, the mechanical arm drives the first mechanical gripper to grab the skeleton from the skeleton feeding device; Step S20, the first half shell and the second half shell are placed on the transfer table, the robotic arm drives the first robotic gripper to assemble the skeleton into the second half shell, and at the same time controls the first vacuum suction cup to grasp the first half shell, and the second vacuum suction cup to grasp the second half shell; Step S30, the mechanical arm drives the gripper mechanism to rotate 180 degrees, and controls the second mechanical gripper to take out the sun visor that has been riveted by the hot riveting machine; Step S40, the robot arm drives the gripper mechanism to rotate 180 degrees, and controls the first suction cup assembly and the second suction cup assembly to respectively place the first half shell into the first hot riveting mold and the second hot riveting mold of the hot riveting machine; Step S50, the hot riveting machine performs hot riveting processing on the first half shell placed in the first hot riveting mold and the second half shell and the frame placed in the second hot riveting mold, and at the same time, the robot arm transfers away the sun visor taken out by the second robot gripper.

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