Car door assembling power-assisted manipulator based on servo control

Abstract

The invention discloses a servo control-based vehicle door mounting power-assisted manipulator which comprises a fixed flange, the fixed flange is connected with a fixed arm, the fixed arm is connected with a first movable arm through a first connecting block, and a clamp for clamping a vehicle door is arranged on the first movable arm; the first connecting block is connected with a first electric cylinder for driving the first movable arm to do front-back pitching action; the first connecting block is also connected with a second electric cylinder for driving the first movable arm to do left-right pitching action; the full-angle rotating device has the beneficial effects that the first electric cylinder drives the first movable arm and the clamp (together with the vehicle door fixed by the clamp) arranged on the first movable arm to perform front-back pitching rotation, and the second electric cylinder drives the first movable arm to perform left-right pitching rotation, so that full-angle rotation of the vehicle door is realized, and the vehicle door is convenient to operate and mount.

Description

Technical Field

[0001] The invention relates to the technical field of automobile assembly production, and in particular to a door loading power-assisting manipulator based on servo control. Background Art

[0002] In modern vehicle manufacturing plants, the assembly of car doors requires the car doors to be removed from the line first, then assembled on a special assembly line, and then transported to the assembly line for final assembly. In order to reduce the labor intensity of operators during the assembly process, power-assisted manipulators are needed. During the operation, the front and rear and left and right pitch states of the car doors need to be adjusted. At the same time, in order to minimize the labor intensity of operators, the quality of the power-assisted equipment needs to be controlled.

[0003] The patent with application number "CN202011263009.3" discloses "a clamping device for the production of new energy vehicle doors". Although it can realize power-assisted rotation during the installation of the door, it has only one clamping position, which not only poses a safety hazard, but also causes the door surface where the clamping point is located to always face the fixture tooling itself, making it difficult to perform subsequent operations and processing on this surface. Summary of the invention

[0004] The purpose of the present invention is to provide a servo-controlled door loading assisting manipulator, which has three clamping points and is convenient for operators to process the door.

[0005] To achieve the above object, the present invention adopts the following technical solutions: A servo-controlled door loading assist manipulator comprises a fixed flange, the fixed flange is connected to a fixed arm, the fixed arm is connected to a first movable arm through a first connecting block, and a clamp for clamping the door is arranged on the first movable arm, the clamp comprises a first clamp, a second clamp and a third clamp; The first connecting block is connected to a first electric cylinder for driving the first movable arm to perform forward and backward pitching movements; the first connecting block is also connected to a second electric cylinder for driving the first movable arm to perform left and right pitching movements.

[0006] Preferably, the first clamp is used to clamp a glass portion of a vehicle door, and the second clamp and the third clamp are both used to clamp a bottom edge of the vehicle door.

[0007] Preferably, a second movable arm is provided at the bottom of the first movable arm, the first clamp is mounted on the first movable arm, and the second clamp and the third clamp are mounted on the second movable arm.

[0008] Preferably, the first clamp comprises a slider installed on the side wall of the first movable arm, the slider is connected to the cylinder, and a track for the slider to slide is arranged on the side wall of the first movable arm.

[0009] Preferably, the first connecting block comprises a base, one end of the base is provided with a positioning shaft extending into the fixed arm, the side wall of the base is provided with a rotating part connected to the telescopic shaft of the first electric cylinder, and the main body of the first electric cylinder is arranged on the fixed arm.

[0010] Preferably, a first fixing portion is provided at one end of the base away from the rotating shaft, and a pin passing through the first fixing portion is provided on the side wall of the first movable arm.

[0011] Preferably, a second fixing portion connected to the telescopic shaft of the second electric cylinder is provided at the bottom of the base.

[0012] Preferably, the first movable arm is connected to a supporting plate via a second connecting block, and a main body of the second electric cylinder is arranged on the supporting plate.

[0013] Preferably, the second connecting block comprises two guide plates with the same structure, and a space for the first movable arm to move is formed between the two guide plates; The two guide plates are connected to a pressing block through a pin shaft, the pressing block is fixedly connected to the supporting plate, and the pressing block is connected to a push rod for driving the first movable arm to move; A spring is sleeved on the outside of the push rod, and a push block for accommodating the spring is arranged on the side wall of the first movable arm.

[0014] Preferably, the first movable arm is provided with an auxiliary handle and an operating device, and the operating device is also provided with a placement bracket and a sundries box.

[0015] The beneficial effects of the present invention are: 1. The first movable arm and the clamp arranged thereon (together with the door fixed by the clamp) are driven by the first electric cylinder to perform forward and backward pitch rotation, and the first movable arm is driven by the second electric cylinder to perform left and right pitch rotation, so as to realize full-angle rotation of the door, which is convenient for its operation and installation.

[0016] 2. The slide block of the first clamp is driven by the cylinder to move along the height direction of the first movable arm, so that the present invention can clamp car doors of different heights, thereby improving the applicability of the equipment.

[0017] 3. The rotation angle of the clamp and the door can be easily controlled through the operating device; the necessary parts for work such as bolts can be placed in the sundries box, and the bracket is used to place the tightening gun. The auxiliary handle can assist in pulling when rotating the clamp angle, and can also adjust the distance between the door and the car body when installing the door. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A perspective view of the present invention; Figure 2 A three-dimensional diagram of the present invention from another angle; Figure 3 It is a framework diagram of the present invention; Figure 4 is a three-dimensional diagram of a first connecting block; Figure 5 is a three-dimensional diagram of the first connecting block from another angle; Figure 6 is a three-dimensional diagram of a first clamp; Figure 7 is a schematic diagram of the connection between the support plate and the first movable arm; Figure 8 is a three-dimensional diagram of a second connecting block; Fig. 9 is a cross-sectional view of the second connecting block.

[0019] The drawings are only used for illustrative purposes and should not be construed as limitations on this patent. In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted. DETAILED DESCRIPTION

[0020] The present invention is further described below in conjunction with the accompanying drawings. Example

[0021] like Figure 1 — Figure 3 As shown, a servo-controlled door loading assist manipulator according to an embodiment of the present invention comprises a fixed flange 1, which is fixedly connected to a door conveying device in a workshop and is used to fix and position the overall device of the present invention, and the fixed flange 1 is connected to a fixed arm 2, which is connected to a first movable arm 4 through a first connecting block 3, and a clamp for clamping the door is provided on the first movable arm 4; The first connecting block 3 is connected to a first electric cylinder 21 for driving the first movable arm 4 to perform forward and backward pitching movements; the first connecting block 3 is also connected to a second electric cylinder 42 for driving the first movable arm 4 to perform left and right pitching movements.

[0022] The fixed flange 1, the fixed arm 2 and the main body of the first electric cylinder 21 are fixed, the first electric cylinder 21 is extended and retracted to drive the first movable arm 4 to move, and when the second electric cylinder 42 is extended and retracted, its telescopic rod is fixed, pushing the main body of the second electric cylinder 42 to telescope and move, thereby driving the first movable arm 4 to move.

[0023] The clamp includes a first clamp 43, a second clamp 51 and a third clamp 52. The first clamp 43 is used to clamp the glass part of the door, and the second clamp 51 and the third clamp 52 are used to clamp the bottom edge of the door. The three-point clamping of the door workpiece is realized, and the door can be easily operated and processed when rotating.

[0024] A second movable arm 5 is disposed at the bottom of the first movable arm 4 . The first clamp 43 is mounted on the first movable arm 4 , and the second clamp 51 and the third clamp 52 are mounted on the second movable arm 5 .

[0025] like Figure 6 As shown, the first clamp 43 includes a slider 432 installed on the side wall of the first movable arm 4, the slider 432 is connected to the cylinder 431, and a track for the slider 432 to slide is provided on the side wall of the first movable arm 4. The cylinder 431 is extended and retracted to drive the slider 432 (and the first clamp 43) to move up and down in the height direction of the first movable arm 4. When the size of the door changes, the height of the first clamp 43 can be adjusted in time to change the distance between it and the second clamp 51 and the third clamp 52, thereby adapting to the change of the door.

[0026] like Figure 4 and Figure 5 As shown, the first connecting block 3 includes a base 31, one end of the base 31 is provided with a positioning shaft 32 extending into the fixed arm 2, a bearing is provided in the base 31, the positioning shaft 32 is connected to the base 31 through the bearing, so that the base 31 can rotate along the positioning shaft 32, and the side wall of the base 31 is provided with a rotating part 33 connected to the telescopic shaft of the first electric cylinder 21, and the main body of the first electric cylinder 21 is arranged on the fixed arm 2, so that when the telescopic shaft of the first electric cylinder 21 is extended and retracted, the base 31 is driven to rotate through the rotating part 33, so that the first movable arm 4 connected to the base 31 performs forward and backward pitching movements.

[0027] A first fixing portion 34 is disposed at one end of the base 31 away from the rotating shaft 32 , and a pin seat is disposed on the side wall of the first movable arm 4 . A pin passing through the first fixing portion 34 is disposed in the pin seat, so that the first movable arm 4 can perform left and right pitching movements around the pin.

[0028] A second fixing portion 35 connected to the telescopic shaft of the second electric cylinder 42 is provided at the bottom of the base 31. When the telescopic shaft of the second electric cylinder 42 is extended or retracted, the telescopic shaft is connected to the base 31 (the first connecting block 3) and cannot move up and down. At this time, the telescopic shaft will drive the main body of the second electric cylinder 42 to move up and down (relative to the extension and retraction of the telescopic shaft), thereby pushing the first movable arm 4 to perform left and right pitch movements.

[0029] like Figure 7 and Figure 8As shown, the first movable arm 4 is connected to the support plate 421 through the second connection block 41, and the support plate 421 is provided with the main body of the second electric cylinder 42; the second connection block 41 includes two guide plates 413 with the same structure, and a space for the first movable arm 4 to move is formed between the two guide plates 413; the two guide plates 413 are connected to the pressing block 412 through a pin shaft, and the pressing block 412 is connected to the support plate 421, and the pressing block 412 is connected to the push rod 411 for driving the first movable arm 4 to move. When the second electric cylinder 42 is extended or retracted, its main body moves up and down under the action of the telescopic rod. When extended, its main body moves downward, at this time pressing down the support plate 421 and the pressure block 412, so that the pressure block 412 rotates counterclockwise relative to the guide plate 413 with the pin as the center. At this time, the push rod 411 moves to the right, driving the first movable arm 4 to move to the right. When shortened, its main body moves upward, at this time driving the support plate 421 and the pressure block 412 to move upward, and the pressure block 412 rotates clockwise relative to the guide plate 413 with the pin as the center. The first movable arm 4 returns to its original position under the action of the pulling force, thereby realizing the left and right pitching action of the first movable arm 4.

[0030] A spring 415 is sleeved on the outer side of the top rod 411, a protrusion is provided on the side wall of the top rod 411 to limit the leftward movement of the spring 415, and a top block 414 for accommodating the spring is provided on the side wall of the first movable arm 4. The top block 414 is fixedly connected to the first movable arm 4, and the spring 415 buffers the left and right pitching movement of the first movable arm 4, so that the movement amplitude is stable and the accident caused by excessive swing amplitude is avoided.

[0031] like Figure 1 As shown, the first movable arm 4 is provided with an auxiliary handle 6 and an operating device 8, and the operating device 8 is also provided with a placement bracket 7 and a sundries box 9 for easy operation.

[0032] The present invention realizes automatic positioning and adjustment of the door installation posture through the combined use of two groups of servo systems, solves the key technical problem of precision control by manual adjustment during door assembly, can greatly reduce the labor intensity of operators, and achieves a labor-saving effect.

[0033] This embodiment does not impose any formal limitation on the shape, material, structure, etc. of the present invention. Any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0034] In the description of the present invention, it is necessary to understand that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the protection content of the present invention.

[0035] If the words "first", "second", etc. are used in this document to limit components, those skilled in the art should know that the use of "first" and "second" is only to facilitate the description of the present invention and simplify the description. Unless otherwise stated, the above words have no special meaning.

[0036] 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 make equivalent replacements for some of the technical features therein, but these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A servo-controlled door loading assist manipulator, comprising a fixed flange, characterized in that: The fixing flange is connected to the fixing arm, and the fixing arm is connected to the first movable arm through the first connecting block. The first movable arm is provided with a clamp for clamping the door, and the clamp includes a first clamp, a second clamp and a third clamp; The first connecting block is connected to a first electric cylinder for driving the first movable arm to perform forward and backward pitching movements; the first connecting block is also connected to a second electric cylinder for driving the first movable arm to perform left and right pitching movements.

2. A servo-controlled door loading assist manipulator according to claim 1, characterized in that: The first clamp is used for clamping the glass part of the vehicle door, and the second clamp and the third clamp are both used for clamping the bottom edge of the vehicle door.

3. A servo-controlled door loading assist manipulator according to claim 2, characterized in that: A second movable arm is arranged at the bottom of the first movable arm, the first clamp is mounted on the first movable arm, and the second clamp and the third clamp are mounted on the second movable arm.

4. The servo-controlled door loading assist manipulator according to claim 3, characterized in that: The first fixture comprises a sliding block installed on the side wall of the first movable arm, the sliding block is connected to the cylinder, and a track for the sliding block to slide is arranged on the side wall of the first movable arm.

5. The servo-controlled door loading assist manipulator according to claim 1, characterized in that: The first connection block comprises a base, one end of which is provided with a positioning shaft extending into the fixed arm, a side wall of the base is provided with a rotating part connected to the telescopic shaft of the first electric cylinder, and the main body of the first electric cylinder is arranged on the fixed arm.

6. The servo-controlled door loading assist manipulator according to claim 5, characterized in that: A first fixing portion is disposed at one end of the base away from the rotating shaft, and a pin shaft passing through the first fixing portion is disposed on the side wall of the first movable arm.

7. The servo-controlled door loading assist manipulator according to claim 5, characterized in that: A second fixing portion connected to the telescopic shaft of the second electric cylinder is provided at the bottom of the base.

8. The servo-controlled door loading assist manipulator according to claim 1, characterized in that: The first movable arm is connected to a supporting plate through a second connecting block, and a main body of a second electric cylinder is arranged on the supporting plate.

9. The servo-controlled door loading assist manipulator according to claim 8, characterized in that: The second connecting block comprises two guide plates with the same structure, and a space for the first movable arm to move is formed between the two guide plates; The two guide plates are connected to a pressing block through a pin shaft, the pressing block is connected to a supporting plate, and the pressing block is connected to a push rod for driving the first movable arm to move; A spring is sleeved on the outside of the push rod, and a push block for accommodating the spring is arranged on the side wall of the first movable arm.

10. The servo-controlled door loading assist manipulator according to claim 1, characterized in that: The first movable arm is provided with an auxiliary handle and an operating device, and the operating device is also provided with a placement bracket and a sundries box.

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