A robotic arm for gripping automotive parts

Abstract

This invention discloses a robotic arm for gripping automotive parts, belonging to the technical field of automotive production gripping equipment. It includes a track, a six-axis robotic arm, a parts support platform, a car door, and a slide rail. The slide rail is equipped with a door gripping and lifting device that engages and slides. The six-axis robotic arm has a work box containing an edge-adjustable gripping device for fixing the car door. The edge-adjustable gripping device includes a first-stage limiting gripping structure, a second-stage pressing self-feedback structure, and a third-stage self-feedback gripping device. This invention addresses the problem of current car door fixing equipment relying entirely on automated drives, which are technically difficult to control and have high operating costs. It provides a robotic arm for gripping automotive parts that uses a purely mechanical structure to achieve automatic feedback adjustment of the gripping device. The device has a simple structure and is easy and quick to adjust, reducing the time, labor, and economic costs associated with adjusting the equipment.

Description

Technical Field

[0001] This invention belongs to the field of automotive parts clamping robot technology, specifically referring to an automotive parts clamping robot. Background Technology

[0002] In the automotive manufacturing industry, car doors, as a key component of the vehicle body, directly impact overall vehicle quality and production efficiency through their assembly precision and efficiency. Traditional door clamping processes primarily rely on manual operation or semi-automated equipment, resulting in high labor intensity, low positioning accuracy, and difficulties in cycle time matching. As the automotive industry moves towards flexibility and intelligence, production lines need to adapt to mixed-model production, placing higher demands on the automation level, flexibility, and intelligent control of door clamping equipment.

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

[0004] To address the aforementioned issues and the challenges of current car door fixing devices relying entirely on automated drives, which involve high technical difficulty and operating costs, this invention provides a robotic arm for clamping automotive parts. This arm employs a purely mechanical structure to achieve automatic feedback adjustment of the clamping device. The device is simple to operate and allows for convenient and quick adjustments, reducing the time, labor, and economic costs associated with adjusting the equipment.

[0005] The technical solution adopted by this invention is as follows: This invention provides a robotic arm for holding automotive parts, comprising a track, a six-axis robotic arm, and a parts support platform. The six-axis robotic arm slides on the track. A car door awaiting assembly is provided on the parts support platform. A slide rail is provided on the slide rail, and a door gripping and lifting device that engages and slides on the slide rail. A work box is provided on the six-axis robotic arm. An edge-adjustable gripping device for fixing the car door is provided inside the work box. The edge-adjustable gripping device includes a limiting gripping structure one, a pressing self-feedback structure, and a self-feedback gripping device two. The limiting gripping structure one engages and slides inside the work box. The pressing self-feedback structure is engaged and installed in the work box. The self-feedback gripping device two is engaged and connected to the pressing self-feedback structure.

[0006] Furthermore, the limiting clamping structure includes a connecting bracket, a cylinder, a lead screw sleeve, a ball screw, a nut, a fixed clamping plate, a deflection clamping plate, and a clamping plate cylinder. The connecting bracket engages and slides within the work box. The cylinder is fixedly mounted on the connecting bracket. The lead screw sleeve is hinged to the connecting bracket. The cylinder is hinged to the lead screw sleeve. As the cylinder extends, the lead screw sleeve tilts. The ball screw is engaged and rotatably disposed within the lead screw sleeve. The nut is threadedly connected to the ball screw and slides along the lead screw sleeve. The fixed clamping plate is fixedly mounted on the nut. The deflection clamping plate is engaged and rotatably connected to the fixed clamping plate. The clamping plate cylinder is fixedly mounted on the fixed clamping plate. The deflection clamping plate and the clamping plate cylinder are hinged.

[0007] Furthermore, the connecting bracket 1 is composed of straight bracket 1, flat bracket 1, straight bracket 2, flat bracket 3, and inclined bracket 3, and the connection area between straight bracket 1, flat bracket 1, straight bracket 2, flat bracket 2 and inclined bracket 3 is rounded.

[0008] Furthermore, the straight bracket is provided with a cross-shaped locking block, the working box is provided with a locking block sliding groove, and the working box is also provided with a limit adjustment groove. The limit adjustment groove is provided with a toothed locking plate that restricts the movement direction of the cross-shaped locking block. The toothed locking plate is connected to the limit adjustment groove by a spring. The toothed locking plate is provided with a protrusion. Pressing the protrusion on the toothed locking plate with a finger changes the position of the toothed locking plate in the limit adjustment groove, pushes the cross-shaped locking block, and changes the position of the connecting bracket in the working box, which facilitates the clamping operation near the edge of doors of different lengths.

[0009] Furthermore, the self-feedback pressing structure includes a pressing slot, a pressing plate, a sliding rack, a rotating gear, a first bevel gear, a second bevel gear, a feedback gear, and a feedback rack. The pressing slot is fixedly installed in the working box, the pressing plate slides in the pressing slot, the sliding rack is fixedly installed on the pressing plate, the rotating gear meshes with the sliding rack, the first bevel gear is fixedly connected to the rotating gear through a bracket, the second bevel gear meshes with the first bevel gear, the feedback gear is fixedly connected to the second bevel gear through a bracket, and the feedback rack meshes with the feedback gear.

[0010] Furthermore, in order to adapt to the shape of the car door, the upper wall of the car door is curved and the lower wall of the car door is straight. Therefore, there are two sets of feedback racks, one set of feedback racks is curved and the other set of feedback racks is straight.

[0011] Furthermore, the self-feedback clamping device two is completely identical in structure to the limiting clamping structure one. The feedback rack is engaged and slidably connected with the self-feedback clamping device two. The work box is provided with a sliding groove to facilitate the self-feedback clamping device two to slide along the feedback rack. The work box is also provided with a slot for adjusting the height of the self-feedback clamping device two along the feedback rack. That is, as the self-feedback clamping device two slides on the feedback rack, it can slide and adjust within the work box.

[0012] Furthermore, the door gripping and lifting device includes an I-beam bracket, a door clamp, a clamp adjustment groove, and a clamp telescopic cylinder. The I-beam bracket engages and slides on a slide rail. The clamp adjustment groove is disposed in the I-beam bracket. The door clamp slides along the clamp adjustment groove. The clamp telescopic cylinder is fixedly installed on the I-beam bracket and is fixedly connected to the door clamp.

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

[0014] Furthermore, a laser emitter is provided on the component support platform, a laser receiver is provided on the connecting bracket, and a central controller is provided on the work box. The laser receiver and the central controller are connected via a data cable. The central controller is connected to cylinder one and clamping plate cylinder one via data connection. When the connecting bracket one moves above the laser emitter, the laser receiver receives the laser signal emitted by the laser emitter, converts the light signal into an electrical signal and sends it to the central controller. The central controller controls ball screw one to rotate, and clamping plate cylinder one and deflecting clamping plate one move to the edge of the car door. Clamping plate cylinder one and cylinder one extend to clamp the car door, and at the same time, clamping plate extension cylinder extends to release the car door from the I-beam bracket. Limiting clamping structure one and self-feedback clamping device two remove the car door from the component support platform and move it to the car body to be assembled for installation and fixation.

[0015] This solution provides a robotic arm for gripping automotive parts, which offers the following advantages:

[0016] (1) By using the pressing force between the pressing plate and the car door, the spatial position of the self-feedback clamping device 2 in the work box is changed, so that the design goal of the clamping device automatically adjusting the structure of the equipment is achieved during the clamping preparation process, and the car door is fixed at the position near the four corners of the car door, making the car door clamping more stable.

[0017] (2) The sliding telescopic limit clamping structure one and the self-feedback clamping device two reduce the size of the clamping equipment when it is not performing clamping work, thus avoiding damage to the equipment due to collisions with the external environment.

[0018] (3) The clamping device structure slides and extends within the work box. The height of the limiting clamping structure in the work box can be selectively adjusted according to the different heights of the car doors, which is beneficial to the stability of the car door clamping process after clamping the car door.

[0019] (4) When clamping, a laser sensor is used to automatically clamp and fix the car door during the clamping and fixing process, achieving a stable gripping effect. Attached Figure Description

[0020] Figure 1 A perspective view of a robotic arm for gripping automotive parts provided by the present invention;

[0021] Figure 2 A 3D view of the edge-adjustable gripper on a six-axis robotic arm;

[0022] Figure 3 Exploded view of the edge-adjustable gripper and the six-axis robotic arm;

[0023] Figure 4 This is a three-dimensional view of the limiting clamping structure one;

[0024] Figure 5 A 3D view of the self-feedback pressing structure;

[0025] Figure 6 A 3D view of the door gripping and lifting device;

[0026] Figure 7 This is a front view of the self-feedback pressing structure;

[0027] Figure 8 This is a schematic diagram of the self-feedback pressing structure inside the working box;

[0028] Figure 9 for Figure 4 A magnified view of part A in the middle;

[0029] Figure 10 for Figure 3 A magnified view of part B in the middle section.

[0030] The components include: 1. Door gripping and lifting device; 2. Work box; 3. Edge-adjustable clamping device; 4. Limiting clamping structure one; 5. Press self-feedback structure; 6. Self-feedback clamping device two; 7. Connecting bracket one; 8. Cylinder one; 9. Screw sleeve one; 10. Ball screw one; 11. Nut one; 12. Fixed clamping plate one; 13. Deflection clamping plate one; 14. Clamping plate cylinder one; 701. Straight bracket one; 702. Flat bracket one; 703. Straight bracket two; 704. Flat bracket two; 705. Inclined bracket three; 15. Cross-shaped locking block; 16. Locking... 17. Block slide groove, 18. Limit adjustment groove, 19. Toothed clamping plate, 20. Pressing clamping groove, 21. Pressing clamping plate, 22. Sliding rack, 23. Rotary gear, 24. Bevel gear one, 25. Bevel gear two, 26. Feedback gear, 27. Feedback rack, 28. I-beam bracket, 29. Door clamping plate, 30. Clamping plate adjustment slide groove, 31. Clamping plate telescopic cylinder, 32. Laser emitter, 33. Laser receiver, 34. Central controller, 35. Track, 36. Six-axis robotic arm, 37. Parts support platform, 38. Car door, 39. Slide rail.

[0031] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. Detailed Implementation

[0032] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0033] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying 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 limitations on this invention.

[0034] like Figures 1-10As shown, the present invention provides a robotic arm for holding automotive parts, comprising a track 34, a six-axis robotic arm 35, and a parts support platform 36. The six-axis robotic arm 35 slides on the track 34. A car door 37 awaiting assembly is provided on the parts support platform 36. A slide rail 38 is provided on the parts support platform 36, and a door gripping and lifting device 1 that engages and slides on the slide rail 38. A work box 2 is provided on the six-axis robotic arm 35. An edge-adjustable gripping device 3 for fixing the car door 37 is provided in the work box 2. The edge-adjustable gripping device 3 includes a limiting gripping structure 4, a pressing self-feedback structure 5, and a self-feedback gripping device 6. The limiting gripping structure 4 engages and slides in the work box 2. The pressing self-feedback structure 5 is engaged and installed in the work box 2. The self-feedback gripping device 6 is engaged and connected to the pressing self-feedback structure 5.

[0035] The limiting clamping structure 4 includes a connecting bracket 7, a cylinder 8, a lead screw sleeve 9, a ball screw 10, a nut 11, a fixed clamping plate 12, a deflection clamping plate 13, and a clamping plate cylinder 14. The connecting bracket 7 engages and slides within the working box 2. The cylinder 8 is fixedly installed on the connecting bracket 7. The lead screw sleeve 9 is hinged to the connecting bracket 7. The cylinder 8 is hinged to the lead screw sleeve 9. The ball screw 10 is engaged and rotatably disposed within the lead screw sleeve 9. The nut 11 is threadedly connected to the ball screw 10. At the same time, the nut 11 engages and slides along the lead screw sleeve 9. The fixed clamping plate 12 is fixedly installed on the nut 11. The deflection clamping plate 13 is engaged and rotatably connected to the fixed clamping plate 12. The clamping plate cylinder 14 is fixedly installed on the fixed clamping plate 12. The deflection clamping plate 13 and the clamping plate cylinder 14 are hinged.

[0036] The connecting bracket 7 consists of a straight bracket 701, a flat bracket 702, a straight bracket 703, a flat bracket 704, and an inclined bracket 705.

[0037] The straight bracket 701 is provided with a cross-shaped locking block 15, the working box 2 is provided with a locking block sliding groove 16, and the working box 2 is also provided with a limit adjustment groove 17. The limit adjustment groove 17 is provided with a toothed locking plate 18 that restricts the movement direction of the cross-shaped locking block 15. The toothed locking plate 18 and the limit adjustment groove 17 are connected by a spring.

[0038] The self-feedback pressing structure 5 includes a pressing slot 19, a pressing plate 20, a sliding rack 21, a rotating gear 22, a first bevel gear 23, a second bevel gear 24, a feedback gear 25, and a feedback rack 26. The pressing slot 19 is fixedly installed in the working box 2. The pressing plate 20 slides in the pressing slot 19. The sliding rack 21 is fixedly installed on the pressing plate 20. The rotating gear 22 meshes with the sliding rack 21. The first bevel gear 23 is fixedly connected to the rotating gear 22 through a bracket. The second bevel gear 24 meshes with the first bevel gear 23. The feedback gear 25 is fixedly connected to the second bevel gear 24 through a bracket. The feedback rack 26 meshes with the feedback gear 25.

[0039] The feedback rack 26 is provided in two sets, one set of which is an arc-shaped structure and the other set of which is a straight line shape.

[0040] The self-feedback clamping device 26 is completely identical in structure to the limiting clamping structure 14.

[0041] The door gripping and lifting device 1 includes an I-beam bracket 27, a door clamping plate 28, a clamping plate adjusting slide groove 29, and a clamping plate telescopic cylinder 30. The I-beam bracket 27 engages and slides on the slide rail 38. The clamping plate adjusting slide groove 29 is set in the I-beam bracket 27. The door clamping plate 28 slides along the clamping plate adjusting slide groove 29. The clamping plate telescopic cylinder 30 is fixedly installed on the I-beam bracket 27 and is fixedly connected to the door clamping plate 28.

[0042] A laser emitter 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 by a data cable, and the central controller 33 is connected to the cylinder 8 and the clamping cylinder 14.

[0043] In practical use, the car door 37 is placed on the parts support platform 36, the I-beam bracket 27 lifts the car door 37, the clamp extension cylinder 30 retracts, and the door clamp 28 clamps and fixes the car door 37.

[0044] The I-beam bracket 27 slides on the slide rail 38 and moves to the working area of ​​the six-axis robotic arm 35. The six-axis robotic arm 35 extends and adjusts, and the connecting bracket 1 7 and the component support 36 are parallel to each other. The six-axis robotic arm 35 controls the work box 2 to approach and press against 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. The feedback gear 25 rotates together with the bevel gear 24. The feedback rack 26 slides in the work box 2. The position of the self-feedback clamping device 26 moves with the movement of the feedback rack 26.

[0045] When both the limiting clamping structure 4 and the self-feedback clamping device 6 have moved into place and are functioning as signal receivers for the laser emitter 31, subsequent operations can be carried out.

[0046] The laser 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 cylinder 8 to extend and the lead screw sleeve 9 to tilt, so that the tilt angle of the lead screw sleeve 9 is parallel to the curved structure of the car door 37. Then, it controls the ball screw 10 to rotate and the fixed clamping plate 12 to slide along the lead screw sleeve 9, restricting the car door 37 between the fixed clamping plate 12 and the deflection clamping plate 13. Finally, it controls the clamping plate cylinder 14 to extend and the deflection clamping plate 13 to rotate. The fixed clamping plate 12 and the deflection clamping plate 13 cooperate with each other to achieve the clamping and fixing of the car door 37.

[0047] The clamping cylinder 30 extends, and the door clamping plate 28 releases the car door 37, making it easier for the six-axis robotic arm 35 to move the car door 37 onto the car to be assembled.

[0048] When dealing with different car models, the height of the car door is also different. At this time, it is necessary to adjust the position of the connecting bracket 7 on the work box 2.

[0049] When adjusting the connecting bracket 7, press the toothed clamping plate 18 with your thumb to move it. The cross-shaped clamping block 15 slides along the clamping block groove 16 to move the connecting bracket 7. Then the toothed clamping plate 18 is released and clamps the cross-shaped clamping block 15 to fix the position of the connecting bracket 7.

[0050] When adjusting the self-feedback clamping device 26, directly slide the self-feedback clamping device 26 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, release the self-feedback clamping device 26. Due to the frictional 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.

[0051] Then, the relevant data in the central controller 33 was rewritten, and the number of rotations of the ball screw 10 and the extension length of the cylinder 8 were adjusted to ensure that the car door 37 was effectively fixed.

[0052] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0053] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A robotic arm for holding automotive parts, comprising a track (34), a six-axis robotic arm (35), and a parts support platform (36), wherein the six-axis robotic arm (35) slides on the track (34), a car door (37) is provided on the parts support platform (36), and a slide rail (38) is provided on the parts support platform (36), characterized in that: A door gripping and lifting device (1) with a locking and sliding mechanism is provided on the slide rail (38). A work box (2) is provided on the six-axis robotic arm (35). An edge-adjustable clamping device (3) for fixing the car door (37) is provided inside the work box (2). The edge-adjustable clamping device (3) includes a limiting clamping structure one (4), a pressing self-feedback structure (5), and a self-feedback clamping device two (6). The limiting clamping structure one (4) locks and slides inside the work box (2). The pressing self-feedback structure (5) is locked and installed in the work box (2). The self-feedback clamping device two (6) is locked and connected to the pressing self-feedback structure (5). The self-feedback structure (5) includes a pressing slot (19), a pressing plate (20), a sliding rack (21), a rotating gear (22), a first bevel gear (23), a second bevel gear (24), a feedback gear (25), and a feedback rack (26). The pressing slot (19) is fixedly installed in the work box (2). The pressing plate (20) slides in the pressing slot (19). The sliding rack (21) is fixedly installed on the pressing plate (20). The rotating gear (22) meshes with the sliding rack (21). The first bevel gear (23) is fixedly connected to the rotating gear (22) through a bracket. The second bevel gear... (24) meshes with bevel gear one (23), feedback gear (25) is fixedly connected to bevel gear two (24) through a bracket, feedback rack (26) meshes with feedback gear (25); limit clamping structure one (4) includes connecting bracket one (7), cylinder one (8), lead screw sleeve one (9), ball screw one (10), nut one (11), fixed clamping plate one (12), deflection clamping plate one (13) and clamping plate cylinder one (14), connecting bracket one (7) is engaged and slids in the working box (2), cylinder one (8) is fixedly installed on connecting bracket one (7), lead screw sleeve one (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 rotated inside the screw sleeve (9), the nut (11) is threadedly connected to the ball screw (10), and at the same time the nut (11) slides along the screw sleeve (9), the fixed clamp (12) is fixedly installed on the nut (11), the deflection clamp (13) is engaged and rotated with the fixed clamp (12), the clamp cylinder (14) is fixedly installed on the fixed clamp (12), and the deflection clamp (13) and the clamp cylinder (14) are hinged.

2. The automotive parts gripping robot according to claim 1, characterized in that: The feedback rack (26) is provided in two sets, one set of feedback rack (26) is set in an arc shape, and the other set of feedback rack (26) is set in a straight line shape.

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

4. The automotive parts gripping robot according to claim 3, characterized in that: A cross-shaped locking block (15) is provided on the straight support (701), a locking block slide groove (16) is provided on the work box (2), a limit adjustment groove (17) is provided on the work box (2), a toothed locking plate (18) is provided in the limit adjustment groove (17) to limit the movement direction of the cross-shaped locking block (15), and the toothed locking plate (18) and the limit adjustment groove (17) are connected by a spring.

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

6. The automotive parts gripping robot according to claim 5, characterized in that: The door gripping and lifting device (1) includes an I-beam bracket (27), a door clamp (28), a clamp adjustment groove (29), and a clamp telescopic cylinder (30). The I-beam bracket (27) engages and slides on the slide rail (38). The clamp adjustment groove (29) is set in the I-beam bracket (27). The door clamp (28) slides along the clamp adjustment groove (29). The clamp telescopic cylinder (30) is fixedly installed on the I-beam bracket (27) and is fixedly connected to the door clamp (28).

7. The automotive parts gripping robot according to claim 6, characterized in that: A laser emitter (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 by a data cable, and the central controller (33) is connected to the cylinder (8) and the clamp cylinder (14) via data connection.

Images