Clamping manipulator for automobile parts

Abstract

The invention discloses an automobile part clamping manipulator, and belongs to the technical field of automobile production clamping equipment, the automobile part clamping manipulator comprises a track, a six-axis mechanical arm, a part supporting table, an automobile door and a sliding rail, the sliding rail is provided with an automobile door grabbing and lifting device which slides in a clamping mode, and the six-axis mechanical arm is provided with a working box; an edge-adjustable clamping device for fixing an automobile door is arranged in the working box and comprises a first limiting clamping structure, a pressing self-feedback structure and a second self-feedback clamping device. According to the automobile part clamping manipulator, the problems that current automobile door fixing equipment completely depends on automatic driving, the regulation and control technology difficulty is large, and the operation cost is high are solved, the clamping equipment is automatically fed back and adjusted by adopting a pure mechanical structure, the equipment structure is easy to operate, structure adjustment is convenient and rapid, and the working efficiency is high. And the time, labor, economy and other costs consumed by adjusting the equipment are reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of automobile component clamping manipulators, and in particular relates to an automobile component clamping manipulator. Background Art

[0002] In the automotive manufacturing industry, doors are key body components, and their assembly precision and efficiency directly impact vehicle quality and production efficiency. Traditional door clamping processes rely primarily on manual operation or semi-automated equipment, resulting in high labor intensity, low positioning accuracy, and difficulty in timing matching. As the automotive industry evolves towards flexibility and intelligence, production lines must adapt to mixed-model production, placing higher demands on the automation, flexible adaptability, and intelligent control of door clamping equipment.

[0003] Different car models cannot be produced using the same production line. Purchasing new equipment or rewriting the clamping program are conventional means to solve the above problems. New equipment is expensive, and writing programs consumes labor costs and time costs. If the equipment can be made easier and more convenient to adjust while ensuring flexible clamping of car doors, thereby reducing costs, this is a technical issue that needs to be considered at present. Summary of the Invention

[0004] In view of the above situation, in order to change the problem that the current door fixing equipment relies entirely on automatic drive, has difficult control technology and high operating costs, the present invention provides an automobile parts clamping robot that adopts a purely mechanical structure to realize automatic feedback adjustment of the clamping equipment. The equipment structure is simple to operate and the structure adjustment is convenient and fast, which shortens the time, labor and economic costs of adjusting the equipment.

[0005] The technical solution adopted by the present invention is as follows: The present invention provides an automobile parts clamping robot, including a track, a six-axis robot arm, and a parts support platform. The six-axis robot arm slides on the track, and the parts support platform is provided with a car door waiting to be assembled, and the parts support platform is provided with a slide rail, and the slide rail is provided with a door grasping and lifting device that is engaged and sliding. The six-axis robot arm is provided with a working box, and the working box is provided with an edge-adjustable clamping device for fixing the car door. The edge-adjustable clamping device includes a limiting clamping structure 1, a pressing self-feedback structure and a self-feedback clamping device 2. The limiting clamping structure 1 is engaged and slid in the working box, the pressing self-feedback structure is engaged and installed in the working box, and the self-feedback clamping device 2 is engaged and connected with the pressing self-feedback structure.

[0006] Furthermore, the limit clamping structure includes a connecting bracket, a cylinder, a screw sleeve, a ball screw, a nut, a fixed splint, a deflection splint and a splint cylinder. The connecting bracket is engaged and slid in the working box, the cylinder is fixedly installed on the connecting bracket, the screw sleeve is hinged to the connecting bracket, the cylinder is hinged to the screw sleeve, as the cylinder extends, the screw sleeve tilts, the ball screw is engaged and rotated and arranged in the screw sleeve, the nut is threadedly connected to the ball screw, and at the same time, the nut is engaged and slides along the screw sleeve, the fixed splint is fixedly installed on the nut, the deflection splint is engaged and rotatably connected to the fixed splint, the splint cylinder is fixedly installed on the fixed splint, and the deflection splint and the splint cylinder are hinged.

[0007] Furthermore, the connecting bracket 1 is composed of a straight bracket 1, a flat bracket 1, a straight bracket 2, a flat bracket 2, and an oblique bracket 3, and the connecting areas between the straight bracket 1, the flat bracket 1, the straight bracket 2, the flat bracket 2 and the oblique bracket 3 are set to be chamfered.

[0008] Furthermore, a cross-shaped clamping block is provided on the straight bracket 1, a clamping block slide is provided on the working box, and a limit adjustment groove is also provided on the working box. A toothed clamping plate is provided in the limit adjustment groove to limit the movable direction of the cross-shaped clamping block. The toothed clamping plate is connected to the limit adjustment groove by a spring, and a protrusion is provided on the toothed clamping plate. Pressing the protrusion on the toothed clamping plate with a finger changes the position of the toothed clamping plate in the limit adjustment groove, pushing the cross-shaped clamping block, and changing the position of the connecting bracket 1 in the working box, so as to facilitate the clamping operation close to the edge of car doors of different lengths.

[0009] Furthermore, the press-self-feedback structure includes a press slot, a press card plate, a sliding rack, a rotating gear, bevel gear 1, bevel gear 2, a feedback gear and a feedback rack. The press slot is fixedly arranged in the working box, the press card plate slides in the press slot, the sliding rack is fixedly installed on the press card plate, the rotating gear and the sliding rack are meshed with each other, the bevel gear 1 and the rotating gear are fixedly connected through a bracket, the bevel gear 2 and the bevel gear 1 are meshed with each other, the feedback gear and the bevel gear 2 are fixedly connected through a bracket, and the feedback rack and the feedback gear are meshed with each other.

[0010] Furthermore, in order to adapt to the shape of the car door, the upper wall of the car door is arc-shaped and the lower wall of the car door is straight. Therefore, two groups of feedback racks are provided, one group of feedback racks is set to an arc-shaped structure, and the other group of feedback racks is set to a straight shape.

[0011] Furthermore, the self-feedback clamping device 2 is exactly the same as the limit clamping structure 1, the feedback rack is connected to the self-feedback clamping device 2 by snapping and sliding, the working box is provided with a slide groove for facilitating the sliding of the self-feedback clamping device 2 along with the movement of the feedback rack, and the working box is provided with a slot for adjusting the spatial height of the self-feedback clamping device 2 along the feedback rack, that is, as the self-feedback clamping device 2 slides on the block on the feedback rack, the self-feedback clamping device 2 can slide and adjust in the working box.

[0012] Furthermore, the door grasping and lifting device includes an I-shaped bracket, a door splint, a splint adjustment groove, and a splint telescopic cylinder. The I-shaped bracket is engaged and slid on the slide rail, the splint adjustment groove is arranged in the I-shaped bracket, the door splint slides along the splint adjustment groove, the splint telescopic cylinder is fixedly installed on the I-shaped bracket, and the splint telescopic cylinder is fixedly connected to the door splint.

[0013] Furthermore, a rack slot is provided on the component support, a rack is provided in the rack slot, and a gear that engages and rotates is provided on the bottom wall of the I-beam bracket, and the rotation of the gear causes the I-beam bracket to slide along the rack slot.

[0014] Furthermore, a laser emitter is provided on the parts support platform, a laser receiver is provided on the connecting bracket 1, and a central controller is provided on the work box. The laser receiver and the central controller are connected by a data cable, and the central controller is data-connected with cylinder 1 and splint cylinder 1. When the connecting bracket 1 moves to the top of the laser emitter, the laser receiver receives the laser signal emitted by the laser emitter, converts the optical signal into an electrical signal and sends it to the central controller. The central controller controls the rotation of ball screw 1, and the splint cylinder 1 and the deflection splint 1 move to the edge of the car door. The splint cylinder 1 and cylinder 1 extend to clamp the car door, and at the same time, the splint telescopic cylinder extends to release the car door from the I-bracket. The limiting clamping structure 1 and the self-feedback clamping device 2 remove the car door from the parts support platform, and move it to the car body to be assembled for installation and fixation.

[0015] This solution provides an automotive parts gripping robot with the following beneficial effects: (1) By utilizing the pressing force between the pressing plate and the car door, the spatial position of the self-feedback clamping device 2 in the working box is changed, so that the design goal of the clamping device automatically adjusting the equipment structure during the clamping preparation process is achieved, and the car door is fixed at a position close to the four corners of the car door, making the car door more stable during clamping; (2) The sliding and telescopic limit clamping structure 1 and the self-feedback clamping device 2 reduce the size of the clamping device when it is not clamping, thus preventing the device from being damaged by collision with the external environment; (3) The clamping device structure telescopically slides in the working box. According to the different heights of the car doors, the height of the limit clamping structure in the working box is selectively adjusted, which is beneficial to the stability of the door clamping process after the door is clamped; (4) Laser sensors are used during clamping to automatically clamp and fix the door during the door clamping and fixing process, achieving the technical effect of stable grip. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A three-dimensional diagram of an automobile parts clamping robot provided by the present invention; Figure 2 A three-dimensional diagram of the edge-adjustable clamping device on the six-axis robotic arm; Figure 3 An exploded view of the edge-adjustable clamping device and the six-axis robotic arm; Figure 4 It is a three-dimensional diagram of the limiting clamping structure 1; Figure 5 A stereogram of the pressing self-feedback structure; Figure 6 A three-dimensional diagram of the door gripping and lifting device; Figure 7 It is the main view of the pressing self-feedback structure; Figure 8 Schematic diagram of the structure of the pressing self-feedback structure in the working box; Figure 9 for Figure 4 A partial enlarged view of part A; Figure 10 for Figure 3 A partial enlarged view of part B.

[0017] Among them, 1. Car door gripping and lifting device, 2. Working box, 3. Edge adjustable clamping device, 4. Limit clamping structure 1, 5. Press self-feedback structure, 6. Self-feedback clamping device 2, 7. Connecting bracket 1, 8. Cylinder 1, 9. Screw sleeve 1, 10. Ball screw 1, 11. Nut 1, 12. Fixed splint 1, 13. Deflection splint 1, 14. Splint cylinder 1, 701, Straight bracket 1, 702, Flat bracket 1, 703, Straight bracket 2, 704, Flat bracket 2, 705, Oblique bracket 3, 15. Cross-shaped block, 16. Card Block slide, 17. Limit adjustment slot, 18. Toothed card plate, 19. Press card slot, 20. Press card plate, 21. Sliding rack, 22. Rotating gear, 23. Bevel gear one, 24. Bevel gear two, 25. Feedback gear, 26. Feedback rack, 27. I-beam bracket, 28. Door plywood, 29. Plywood adjustment slide, 30. Plywood telescopic cylinder, 31. Laser transmitter, 32. Laser receiver, 33. Central controller, 34. Track, 35. Six-axis robotic arm, 36. Parts support, 37. Car door, 38. Slide rail.

[0018] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] In the description of the present invention, it should be understood that terms such as "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0021] like Figures 1-10As shown, the present invention provides an automobile parts clamping robot, including a track 34, a six-axis robot arm 35, and a parts support 36. The six-axis robot arm 35 slides on the track 34, and the parts support 36 is provided with a car door 37 waiting to be assembled, and the parts support 36 is provided with a slide rail 38, and the slide rail 38 is provided with a door grasping and lifting device 1 that is engaged and sliding. The six-axis robot arm 35 is provided with a working box 2, and the working box 2 is provided with an edge-adjustable clamping device 3 for fixing the car door 37. The edge-adjustable clamping device 3 includes a limiting clamping structure 1 4, a pressing self-feedback structure 5 and a self-feedback clamping device 2 6. The limiting clamping structure 1 4 is engaged and slid in the working box 2, the pressing self-feedback structure 5 is engaged and installed in the working box 2, and the self-feedback clamping device 2 6 is engaged and connected with the pressing self-feedback structure 5.

[0022] The limiting clamping structure 4 includes a connecting bracket 7, a cylinder 8, a screw sleeve 9, a ball screw 10, a nut 11, a fixed splint 12, a deflection splint 13 and a splint cylinder 14. The connecting bracket 7 is engaged and slid in the working box 2, the cylinder 8 is fixedly installed on the connecting bracket 7, the screw sleeve 9 is hinged to the connecting bracket 7, the cylinder 8 is hinged to the screw sleeve 9, the ball screw 10 is engaged and rotatably arranged in the screw sleeve 9, the nut 11 is threadedly connected to the ball screw 10, and the nut 11 is engaged and slid along the screw sleeve 9, the fixed splint 12 is fixedly installed on the nut 11, the deflection splint 13 is engaged and rotatably connected to the fixed splint 12, the splint cylinder 14 is fixedly installed on the fixed splint 12, and the deflection splint 13 and the splint cylinder 14 are hinged.

[0023] The connecting bracket 7 is composed of a straight bracket 1 701, a flat bracket 1 702, a straight bracket 2 703, a flat bracket 2 704, and an inclined bracket 3 705.

[0024] A cross-shaped block 15 is provided on the straight bracket 701, a block slide 16 is provided on the working box 2, and a limit adjustment groove 17 is also provided on the working box 2. A toothed card plate 18 is provided in the limit adjustment groove 17 to limit the movable direction of the cross-shaped block 15. The toothed card plate 18 is connected to the limit adjustment groove 17 by a spring.

[0025] The pressing self-feedback structure 5 includes a pressing slot 19, a pressing card plate 20, a sliding rack 21, a rotating gear 22, a bevel gear 1 23, a bevel gear 2 24, a feedback gear 25 and a feedback rack 26. The pressing slot 19 is fixedly arranged in the working box 2, the pressing card plate 20 slides in the pressing slot 19, the sliding rack 21 is fixedly installed on the pressing card plate 20, the rotating gear 22 and the sliding rack 21 are meshed with each other, the bevel gear 1 23 and the rotating gear 22 are fixedly connected through a bracket, the bevel gear 24 and the bevel gear 1 23 are meshed with each other, the feedback gear 25 and the bevel gear 2 24 are fixedly connected through a bracket, and the feedback rack 26 and the feedback gear 25 are meshed with each other.

[0026] There are two groups of feedback racks 26 , one group of feedback racks 26 is configured as an arc structure, and the other group of feedback racks 26 is configured as a straight line.

[0027] The structure of the self-feedback clamping device 2 6 is exactly the same as that of the position-limiting clamping structure 1 4 .

[0028] The door grasping and lifting device 1 includes an I-shaped bracket 27, a door splint 28, a splint adjusting groove 29, and a splint telescopic cylinder 30. The I-shaped bracket 27 is engaged and slides on the slide rail 38. The splint adjusting groove 29 is set in the I-shaped bracket 27. The door splint 28 slides along the splint adjusting groove 29. The splint telescopic cylinder 30 is fixedly installed on the I-shaped bracket 27, and the splint telescopic cylinder 30 is fixedly connected to the door splint 28.

[0029] A laser emitter 31 is provided on the parts support 36, a laser receiver 32 is provided on the connecting bracket 7, and a central controller 33 is provided on the work box 2. The laser receiver 32 and the central controller 33 are connected by a data line, and the central controller 33 is data-connected to the cylinder 8 and the splint cylinder 14.

[0030] When in use, the car door 37 is placed on the parts support 36, the I-shaped bracket 27 lifts the car door 37, the clamping plate telescopic cylinder 30 contracts, and the door clamp 28 clamps the car door 37; The I-shaped bracket 27 slides on the slide rail 38 and moves to the working area of the six-axis robot arm 35. The six-axis robot arm 35 is telescopically adjusted, and the connecting bracket 1 7 and the component support 36 are parallel to each other. The six-axis robot arm 35 controls the work box 2 to approach and press it on the surface of the car door 37. The sliding rack 21 slides, driving the rotating gear 22 to rotate. Under the meshing connection between the bevel gears, the bevel gear 24 rotates, and the feedback gear 25 rotates together with the bevel gear 24. The feedback rack 26 slides while sliding in the work box 2, and the position of the self-feedback clamping device 2 6 moves with the movement of the feedback rack 26; When the position limiting clamping structure 1 4 and the self-feedback clamping device 2 6 are both moved to their positions and play a role in receiving signals from the laser emitter 31, subsequent operations are carried out; The laser light emitted by the laser emitter 31 on the component support 36 is received by the laser receiver 32 on the connecting bracket 7. The signal is converted and sent to the central controller 33. The central controller 33 controls the extension of the cylinder 8 and the tilting of the screw sleeve 9, so that the tilt angle of the screw sleeve 9 is parallel to the curved surface structure of the car door 37. The central controller 33 then controls the rotation of the ball screw 10 and the sliding of the fixed clamping plate 12 along the screw sleeve 9, thereby confining the car door 37 between the fixed clamping plate 12 and the deflection clamping plate 13. Finally, the clamping plate cylinder 14 is controlled to extend and the deflection clamping plate 13 is rotated. The fixed clamping plate 12 and the deflection clamping plate 13 cooperate with each other to clamp the car door 37. The plywood extension cylinder 30 extends, and the door plywood 28 releases the car door 37, making it easier for the six-axis robotic arm 35 to move the car door 37 to the car to be assembled; When dealing with different models of cars, the height of the doors is also different, and at this time it is necessary to adjust the position of the connecting bracket 7 on the working box 2; When adjusting the connecting bracket 17, the thumb presses the toothed clamping plate 18 to move it, and the cross-shaped clamping block 15 slides along the clamping block slot 16 to move the connecting bracket 17. Then the toothed clamping plate 18 is released, and the toothed clamping plate 18 clamps the cross-shaped clamping block 15 to fix the position of the connecting bracket 17. When adjusting the self-feedback clamping device 26, the self-feedback clamping device 26 is directly slid on the block on the feedback rack 26. After the self-feedback clamping device 26 moves to a suitable position on the feedback rack 26, the self-feedback clamping device 26 is released. Due to the friction resistance between the self-feedback clamping device 26 and the block on the feedback rack 26, the position of the self-feedback clamping device 26 relative to the work box 2 is fixed; Afterwards, the relevant data in the central controller 33 is rewritten to adjust the number of rotations of the ball screw 10 and the extension length of the cylinder 8 to ensure that the car door 37 is effectively fixed.

[0031] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0032] The present invention and its embodiments are described above. This description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs structures and embodiments similar to this technical solution without inventiveness, they shall fall within the scope of protection of the present invention.

Claims

1. An automobile parts gripping robot, comprising a track (34), a six-axis robot arm (35), and a parts support platform (36), wherein the six-axis robot arm (35) slides on the track (34), the parts support platform (36) is provided with an automobile door (37), and the parts support platform (36) is provided with a slide rail (38), characterized in that: A door gripping and lifting device (1) that engages and slides is provided on the slide rail (38), a working box (2) is provided on the six-axis robot arm (35), an edge-adjustable clamping device (3) for fixing the car door (37) is provided in the working box (2), the edge-adjustable clamping device (3) includes a limiting clamping structure (4), a pressing self-feedback structure (5) and a self-feedback clamping device (6), the limiting clamping structure (4) engages and slides in the working box (2), the pressing self-feedback structure (5) is engaged and installed in the working box (2), and the self-feedback clamping device (6) is engaged and connected with the pressing self-feedback structure (5); the pressing self-feedback structure (5) includes a pressing slot (19), a pressing card plate (20), a sliding rack ( 21), a rotating gear (22), a bevel gear 1 (23), a bevel gear 2 (24), a feedback gear (25) and a feedback rack (26), a pressing slot (19) is fixedly arranged in the working box (2), a pressing card plate (20) slides in the pressing slot (19), a sliding rack (21) is fixedly mounted on the pressing card plate (20), the rotating gear (22) and the sliding rack (21) are meshed with each other, the bevel gear 1 (23) and the rotating gear (22) are fixedly connected through a bracket, the bevel gear 2 (24) and the bevel gear 1 (23) are meshed with each other, the feedback gear (25) and the bevel gear 2 (24) are fixedly connected through a bracket, and the feedback rack (26) and the feedback gear (25) are meshed with each other.

2. The automobile parts gripping robot according to claim 1, characterized in that: Two groups of feedback racks (26) are provided, wherein one group of feedback racks (26) is configured as an arc-shaped structure, and the other group of feedback racks (26) is configured as a straight line shape.

3. The automobile parts gripping robot according to claim 2, characterized in that: The limiting clamping structure (4) includes a connecting bracket (7), a cylinder (8), a screw sleeve (9), a ball screw (10), a nut (11), a fixed splint (12), a deflection splint (13) and a splint cylinder (14). The connecting bracket (7) is engaged and slid in the working box (2). The cylinder (8) is fixedly installed on the connecting bracket (7). The screw sleeve (9) is hinged to the connecting bracket (7). The cylinder (8) is hinged to the screw sleeve (9). The ball screw (10) is hinged to the ball screw (10). The ball screw (10) is arranged in a screw sleeve (9) for engagement and rotation, the nut (11) is connected to the ball screw (10) by thread, and the nut (11) is engaged and slid along the screw sleeve (9), the fixed splint (12) is fixedly mounted on the nut (11), the deflection splint (13) is connected to the fixed splint (12) for engagement and rotation, the splint cylinder (14) is fixedly mounted on the fixed splint (12), and the deflection splint (13) and the splint cylinder (14) are hinged.

4. The automobile parts gripping robot according to claim 3, characterized in that: The connecting bracket 1 (7) is composed of a straight bracket 1 (701), a flat bracket 1 (702), a straight bracket 2 (703), a flat bracket 2 (704), and an oblique bracket 3 (705).

5. The automobile parts gripping robot according to claim 4, characterized in that: A cross-shaped clamping block (15) is provided on the straight bracket (701), a clamping block slide (16) is provided on the working box (2), a limit adjustment groove (17) is provided on the working box (2), a toothed clamping plate (18) for limiting the movable direction of the cross-shaped clamping block (15) is provided in the limit adjustment groove (17), and the toothed clamping plate (18) and the limit adjustment groove (17) are connected by a spring.

6. The automobile parts gripping robot according to claim 5, characterized in that: The self-feedback clamping device 2 (6) has the same structure as the position-limiting clamping structure 1 (4).

7. The automobile parts gripping robot according to claim 6, characterized in that: The vehicle door gripping and lifting device (1) comprises an I-shaped bracket (27), a vehicle door splint (28), a splint adjusting slide groove (29), and a splint telescopic cylinder (30). The I-shaped bracket (27) is engaged and slides on a slide rail (38), the splint adjusting slide groove (29) is arranged in the I-shaped bracket (27), the vehicle door splint (28) slides along the splint adjusting slide groove (29), the splint telescopic cylinder (30) is fixedly mounted on the I-shaped bracket (27), and the splint telescopic cylinder (30) is fixedly connected to the vehicle door splint (28).

8. The automobile parts gripping robot according to claim 7, characterized in that: A laser transmitter (31) is provided on the component support (36), a laser receiver (32) is provided on the connecting bracket (7), and a central controller (33) is provided on the work box (2). The laser receiver (32) and the central controller (33) are connected via a data line, and the central controller (33) is data-connected to the cylinder (8) and the splint cylinder (14).

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