A servo control-based loading door assisting mechanical hand

Abstract

The application discloses a loading door assisting mechanical hand based on servo control, 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 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 make forward and backward pitching actions; and the first connecting block is also connected with a second electric cylinder for driving the first movable arm to make left and right pitching actions; the application has the beneficial effects that 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 make forward and backward pitching rotations, the first movable arm is driven by the second electric cylinder to make left and right pitching rotations, the full-angle rotation of the door is realized, and the door is convenient to operate and install.

Description

Technical Field

[0001] This invention relates to the field of automobile assembly and production technology, and in particular to a servo-controlled door-assisting robotic arm. Background Technology

[0002] In modern vehicle manufacturing plants, door assembly involves first disassembling the doors on an assembly line, then separating them into individual units on a specialized assembly line, and finally transporting them to the assembly line for final assembly. To reduce the workload of workers during assembly, power-assisted robotic arms are used. These arms adjust the front-to-back and left-to-right tilt of the doors, and to further minimize worker fatigue, the quality of the power-assisted equipment must be carefully controlled.

[0003] The patent application number "CN202011263009.3" discloses "a clamping device for the production of new energy vehicle doors". Although it can achieve assisted rotation during the installation of the door, it only has 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 clamping fixture itself, making it difficult to perform subsequent operations and processing on that surface. Summary of the Invention

[0004] The purpose of this invention is to propose a servo-controlled door loading robot with three clamping points, which facilitates the operator's processing of the door.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A servo-controlled door loading robot includes a fixed flange, a fixed arm connected to the fixed flange, and a first movable arm connected to the fixed arm via a 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 that drives the first movable arm to perform forward and backward pitching movements; the first connecting block is also connected to a second electric cylinder that drives the first movable arm to perform left and right pitching movements.

[0006] Preferably, the first clamp is used to clamp the glass part of the car door, and the second and third clamps are both used to clamp the bottom edge of the car 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 includes a slider mounted on the side wall of the first movable arm, the slider being connected to a cylinder, and a track for the slider to slide on the side wall of the first movable arm.

[0009] Preferably, the first connecting block includes a base, one end of which is provided with a positioning pivot that extends into the fixed arm, and the side wall of the base is provided with a rotating part that connects to the telescopic shaft of the first electric cylinder, and the main body of the first electric cylinder is provided on the fixed arm.

[0010] Preferably, the base is provided with a first fixing part at the end away from the pivot, and the side wall of the first movable arm is provided with a pin passing through the first fixing part.

[0011] Preferably, the bottom of the base is provided with a second fixing part that connects to the telescopic shaft of the second electric cylinder.

[0012] Preferably, the first movable arm is connected to the pallet via a second connecting block, and the pallet is provided with the main body of the second electric cylinder.

[0013] Preferably, the second connecting block includes two guide plates with identical structures, and a space is formed between the two guide plates for the first movable arm to move. Two guide plates are connected to the pressure block by a pin. The pressure block is fixedly connected to the support plate. The pressure block is connected to a push rod that drives the first movable arm to move. A spring is sleeved on the outside of the top rod, and a top block for accommodating the spring is provided 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 miscellaneous box.

[0015] The beneficial effects of this invention are as follows: 1. The first movable arm and the clamp (together with the door fixed by the clamp) are driven by the first electric cylinder to tilt and rotate forward and backward, and the first movable arm is driven by the second electric cylinder to tilt and rotate left and right, so as to realize the full-angle rotation of the door, which facilitates its operation and installation.

[0016] 2. By driving the slider of the first clamp to move along the height direction of the first movable arm through the cylinder, the present invention can clamp car doors of different heights and sizes, thus improving the applicability of the equipment.

[0017] 3. The operating device allows for easy control of the rotation angle of the clamp and the door; the storage box can hold essential work parts such as bolts, the bracket can hold the tightening gun, and the auxiliary handle can assist in pulling when rotating the clamp, while also adjusting the distance between the door and the vehicle body when installing the door. Attached Figure Description

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

[0019] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. Detailed Implementation

[0020] The present invention will now be further described with reference to the accompanying drawings. Example

[0021] like Figure 1 — Figure 3 As shown, an embodiment of the present invention provides a servo-controlled loading door assisting robot, including a fixed flange 1, which is fixedly connected to a door conveying device in the workshop to fix and position the overall device of the present invention. 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. The first movable arm 4 is provided with a clamp for clamping the door. The first connecting block 3 is connected to a first electric cylinder 21 that drives 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 that drives the first movable arm 4 to perform left and right pitching movements.

[0022] The main body of the fixed flange 1, fixed arm 2 and first electric cylinder 21 is fixed. The first electric cylinder 21 extends and retracts to drive the first movable arm 4 to move. When the second electric cylinder 42 extends and retracts, its extension rod is fixed, pushing the main body of the second electric cylinder 42 to move and retract, thereby driving the first movable arm 4 to move.

[0023] The fixture includes a first fixture 43, a second fixture 51, and a third fixture 52. The first fixture 43 is used to clamp the glass part of the car door, while the second fixture 51 and the third fixture 52 are both used to clamp the bottom edge of the car door. This achieves three-point clamping of the car door workpiece, facilitating operation and processing of the car door during rotation.

[0024] The bottom of the first movable arm 4 is provided with a second movable arm 5. The first clamp 43 is installed on the first movable arm 4, and the second clamp 51 and the third clamp 52 are installed on the second movable arm 5.

[0025] like Figure 6 As shown, the first clamp 43 includes a slider 432 mounted on the side wall of the first movable arm 4. The slider 432 is connected to a 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 extends and retracts 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 car 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 car 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 that extends into the fixed arm 2. A bearing is provided inside 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. The side wall of the base 31 is provided with a rotating part 33 that connects to the telescopic shaft of the first electric cylinder 21. The main body of the first electric cylinder 21 is provided on the fixed arm 2. When the telescopic shaft of the first electric cylinder 21 extends or retracts, the rotating part 33 drives the base 31 to rotate, so that the first movable arm 4 connected to the base 31 performs a pitching motion.

[0027] The base 31 is provided with a first fixing part 34 at the end away from the rotating shaft 32, and a pin seat is provided on the side wall of the first movable arm 4. The pin seat is provided with a pin that passes through the first fixing part 34, so that the first movable arm 4 can tilt left and right around the pin.

[0028] The base 31 has a second fixing part 35 at the bottom that connects to the telescopic shaft of the second electric cylinder 42. When the telescopic shaft of the second electric cylinder 42 extends or retracts, it cannot move up or down because its telescopic shaft is connected to the base 31 (first connecting block 3). At this time, its telescopic shaft will drive the body of the second electric cylinder 42 to move up and down (relative to the extension or retraction of its telescopic shaft), thereby pushing the first movable arm 4 to perform left and right pitching movements.

[0029] like Figure 7 and Figure 8As shown, the first movable arm 4 is connected to the support plate 421 via the second connecting block 41. The support plate 421 is equipped with the main body of the second electric cylinder 42. The second connecting block 41 includes two guide plates 413 with identical structures, forming a space between the two guide plates 413 for the first movable arm 4 to move. The two guide plates 413 are connected to a pressure block 412 via a pin. The pressure block 412 is connected to the support plate 421 and is connected to a push rod 411 that drives the first movable arm 4 to move. When the second electric cylinder 42 extends or retracts, its main body moves up and down under the action of the extension rod. When it extends, its main body moves downward, pressing down the support plate 421 and the pressure block 412, causing the pressure block 412 to rotate 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 it shortens, its main body moves upward, causing the support plate 421 and the pressure block 412 to move upward. 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 tilting action of the first movable arm 4.

[0030] A spring 415 is sleeved on the outside of the push rod 411. A protrusion is provided on the side wall of the push rod 411 to limit the leftward movement of the spring 415. A top block 414 is provided on the side wall of the first movable arm 4 to accommodate the spring. The top block 414 is fixedly connected to the first movable arm 4. The spring 415 buffers the left and right pitching movements of the first movable arm 4, making its movement range smooth and avoiding excessive swing amplitude that may cause accidents.

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

[0032] This invention achieves automatic positioning and adjustment of the vehicle door posture through the combined use of two sets of servo systems, solving the key technical problem of relying on manual adjustment for precision control during vehicle door assembly. It can greatly reduce the labor intensity of operators and achieve the effect of labor saving.

[0033] This embodiment does not impose any limitation on the shape, material, structure, etc. of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments 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 this invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to facilitate the description of this invention and to simplify the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0035] If the terms "first" or "second" are used in this document to define components, those skilled in the art should know that the use of "first" or "second" is merely for the convenience of describing the invention and simplifying the description, and unless otherwise stated, the above terms 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, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A servo-controlled loading door assist robot, comprising a fixed flange, characterized in that, A fixed flange connects to a fixed arm, which is connected to a first movable arm via a first connecting block. The first movable arm is equipped with a clamp for clamping the car 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 that drives the first movable arm to perform a forward and backward pitching motion; the first connecting block is also connected to a second electric cylinder that drives the first movable arm to perform a left and right pitching motion. The first connecting block includes a base, one end of which is provided with a positioning pivot that extends into the fixed arm, and the side wall of the base is provided with a rotating part that connects to the telescopic shaft of the first electric cylinder. The main body of the first electric cylinder is mounted on the fixed arm. The first movable arm is connected to the pallet via the second connecting block, and the pallet is provided with the main body of the second electric cylinder; The second connecting block includes two guide plates with identical structures, and a space is formed between the two guide plates for the first movable arm to move. Two guide plates are connected to a pressure block via pins. The pressure block is connected to a support plate and a push rod that drives the first movable arm to move. A spring is sleeved on the outside of the top rod, and a top block for accommodating the spring is provided on the side wall of the first movable arm.

2. The servo-controlled loading door assist robot according to claim 1, characterized in that, The first clamp is used to clamp the glass part of the car door, and the second and third clamps are both used to clamp the bottom edge of the car door.

3. A servo-controlled loading door assist robot according to claim 2, characterized in that, 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.

4. A servo-controlled loading door assist robot according to claim 3, characterized in that, The first clamp includes a slider mounted on the side wall of the first movable arm, the slider being connected to a cylinder, and a track for the slider to slide on the side wall of the first movable arm.

5. A servo-controlled loading door assist robot according to claim 1, characterized in that, The base is provided with a first fixing part at the end away from the pivot, and the side wall of the first movable arm is provided with a pin that passes through the first fixing part.

6. A servo-controlled loading door assist robot according to claim 1, characterized in that, The bottom of the base is provided with a second fixing part that connects to the telescopic shaft of the second electric cylinder.

7. A servo-controlled loading door assist robot according to claim 1, characterized in that, The first movable arm is equipped with an auxiliary handle and an operating device, and the operating device is also equipped with a placement bracket and a miscellaneous box.

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