Automobile electric drive motor quick installation mechanical hand and control method thereof

Abstract

The application discloses a kind of quick installation mechanical hand of automobile electric drive motor and control method thereof, it is related to manipulator installation field.The quick installation mechanical hand of automobile electric drive motor, including base platform, transmission arm, horizontal arm structure, mechanical frame, adjusting unit, several support units, moving unit and two groups of installation units, start transmission arm and horizontal arm structure and carry mechanical frame, adjust the installation angle of electric drive motor by adjusting unit cooperation moving unit and drive connecting frame to move, improve installation position precision, avoid adjusting on installation platform at the same time, improve installation speed, carry out pressure detection by the pressure sensor of four support seat bottom, feedback four-corner pressure difference, according to pressure difference, adjust, complete the positioning of automobile electric drive motor on mechanical frame, laser radar detects installation platform position, effectively avoid collision.

Description

Technical Field

[0001] This invention relates to the field of robotic arm installation technology, specifically to a robotic arm for rapid installation of automotive electric drive motors and its control method. Background Technology

[0002] A robotic arm is a device that performs grasping and moving of objects through a fixed program, and it is widely used in the industrial field.

[0003] When installing automotive electric drive motors, a crane is typically used to lift the motor to the installation location, and bolts are used to secure it, tightening it step by step in a diagonal sequence. However, in current technology, the installation platform is tilted, requiring manual adjustment of the motor's position during lifting. Furthermore, the tilted platform makes precise placement of the motor during lowering, posing a risk of engine collision and damage. Post-installation adjustments to the motor's position further slow down the installation process, and the installation accuracy relies on manual adjustment. Therefore, we propose a rapid installation robot for automotive electric drive motors and its control method. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a rapid installation robot for automotive electric drive motors and its control method. This solves the problems of tilted installation platforms, which necessitate manual adjustment of the motor's position during hoisting, make precise placement of the motor during lowering due to the tilted platform, and pose a risk of engine collision and damage during lowering. Furthermore, the need for further post-installation adjustments to the motor's position results in slow installation speeds and reliance on manual adjustment for installation accuracy.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a rapid installation manipulator for automotive electric drive motors and its control method, comprising a base platform, a multi-degree-of-freedom manipulator assembly mounted on the base platform, the multi-degree-of-freedom manipulator assembly comprising:

[0006] A vertically positioned transmission arm is mounted on a base platform;

[0007] The horizontal arm structure is connected to the top of the drive arm via a harmonic reducer.

[0008] The mechanical frame is installed below the horizontal arm structure. The horizontal arm structure drives the mechanical frame to move and rotate laterally relative to the base platform. The transmission arm cooperates with the horizontal arm structure to drive the mechanical frame to move longitudinally relative to the base platform.

[0009] The adjustment unit includes a hoisting seat, a first pull rod, and a second pull rod. The top end face of the hoisting seat is connected to the output end of the horizontal arm structure. Both sides of the hoisting seat are rotatably connected to the first pull rod and the second pull rod. The ends of the first pull rod and the second pull rod away from the hoisting seat are rotatably connected to a first adjustment seat and a second adjustment seat. The first adjustment seat and the second adjustment seat are slidably connected to the mechanical frame.

[0010] Several support units are mounted on the machine frame;

[0011] A mobile unit includes two profile shafts mounted in a mechanical frame, on which a worktable and a connecting table are drivenly connected;

[0012] Two sets of mounting units are installed between the workbench and the connecting platform, and the mounting units move in conjunction with the moving unit.

[0013] Preferably, two cylinder mechanisms are installed on both sides of the mechanical frame, and the output ends of the cylinder mechanisms are fixedly connected to the corresponding first and second adjusting seats respectively. A high-precision tilt sensor is installed on the top of the mechanical frame, and the high-precision tilt sensor is fixed to the center position of the connection between the mechanical frame and the horizontal arm structure through a flange. LiDAR is installed at each of the four corners of the mechanical frame.

[0014] Preferably, the support unit includes:

[0015] The first mounting bracket is mounted on the machine frame;

[0016] An adjusting rod is slidably connected to the inner wall of the first mounting bracket;

[0017] A support base is rotatably connected to the bottom end of the adjusting rod, and a pressure sensor is provided at the bottom of the support base.

[0018] Preferably, a fixing sleeve is fixedly connected to the bottom end face of the first mounting bracket, the adjusting rod is slidably connected to the inner wall of the fixing sleeve, a bolt is provided in the fixing sleeve, and the adjusting rod is fixed to the fixing sleeve by the bolt.

[0019] Preferably, a guide rail is provided on one side of the profile shaft corresponding to the worktable, a transmission mechanism is provided on one side of the worktable, the transmission mechanism is disposed in the guide rail, a drive mechanism is installed on the outer wall of the worktable, the output end of the drive mechanism is connected and installed with the transmission mechanism, a drag chain is provided above the profile shaft, and the moving end of the drag chain is fixedly installed on the outer wall of the worktable.

[0020] Preferably, the installation unit includes a connecting frame, with its two ends respectively mounted to a corresponding workbench and a connecting platform. A movable component is provided on the connecting frame, and a connecting seat is provided below the movable component. A laser sensor and a position feedback module are provided at each of the four lower corners of the connecting seat. The laser sensor and the position feedback module are electrically connected to the cylinder mechanism to achieve control feedback.

[0021] Preferably, an installation rod is installed between the connecting seats, and an installation groove is provided on the installation rod. Two second installation brackets are installed on the outer wall of the installation rod through the installation groove, and a motor clamping fixture is installed on the second installation bracket.

[0022] Preferably, the movable component is a sliding rod, which is slidably connected to the inner wall of the connecting frame. The bottom end face of the sliding rod is fixedly connected to the connecting seat, and the top end face of the sliding rod is fixedly connected to a contact seat.

[0023] Preferably, it includes the following steps:

[0024] Step 1: Start the transmission arm and horizontal arm structure. The transmission arm and horizontal arm structure work together to drive the mechanical frame to make multi-dimensional adjustments, adjusting the mechanical frame to the position of the electric drive motor.

[0025] Step 2: The high-precision tilt sensor installed on the top of the mechanical frame detects the angle of the mechanical frame in real time. Based on this, the moving unit and the mounting unit below the mechanical frame are driven to be parallel to the electric drive motor of the car. The moving unit works with the clamps on the mounting unit to fix the electric drive motor.

[0026] Step 3: Activate the drive arm and horizontal arm structure to hoist the mechanical frame, lift the electric drive motor fixed on the mechanical frame to the installation platform, lower the mechanical frame, and use the lidar at the four corners of the mechanical frame to detect the position of the installation platform and set up three-level safety distance control. The three-level safety distance control includes:

[0027] Level 1 warning: When the detection distance L > 500mm, an audible and visual alarm is triggered;

[0028] Second-stage reduction: When 300mm < L ≤ 500mm, the reduction ratio is calculated as v = 0.2 / (L - 300);

[0029] Level 3 emergency stop: When L≤300mm, cut off the drive power supply within 50ms;

[0030] Step 4: The transmission arm and horizontal arm structure hoist the mechanical frame, lower the car's electric drive motor, and the laser sensors at the four corners of the connecting base detect the distance between the installation platform and the position feedback module to calculate the angle.

[0031] No adjustment is made when the positional distance difference is within 3%.

[0032] When the positional distance difference is within 3% to 5%, the feedback signal controls the cylinder mechanism to start fine adjustment;

[0033] When the position distance difference is between 5% and 10%, the feedback signal controls the cylinder mechanism to start coarse adjustment.

[0034] When the distance difference exceeds 10%, a feedback signal is sent to issue an alarm and the machine is stopped for inspection.

[0035] The calculation involves starting the cylinder mechanism, adjusting the angle of the mechanical frame, and simultaneously comparing the result with a high-precision tilt sensor.

[0036] Normal operation is possible when the angle difference is within 1°.

[0037] When the angle difference is between 1° and 5°, an early warning is activated and fine-tuning is initiated. It is also determined whether the position distance difference is within 3%. If not, an alarm is triggered.

[0038] When the angle difference exceeds 5° to 10°, an early warning is activated, and coarse adjustment is initiated. It is also determined whether the position distance difference is within 3%. If not, an alarm is triggered.

[0039] When the angle difference exceeds 10°, mechanical shutdown is initiated.

[0040] Step 5: The mechanical frame is hoisted and lowered until the bottom of the support base contacts the installation platform. Pressure is detected by pressure sensors at the bottom of the four support bases, and the pressure difference at the four corners is fed back. Adjustments are made according to the pressure difference to complete the positioning of the car electric drive motor on the mechanical frame. The laser radar at the four corners of the mechanical frame detects the position of the installation platform and places the electric drive motor on the installation platform until the electric drive motor is completely placed.

[0041] This invention discloses a robotic arm for quick installation of automotive electric drive motors and its control method, which has the following beneficial effects:

[0042] This automotive electric drive motor rapid installation robot and its control method detect the distance between the installation platform and the base using laser sensors at the four corners of the connector. Position feedback is provided by a position feedback module, and angle calculations are performed. The operating speed of the cylinder mechanism is controlled to be slowed down for precision adjustment, and then accelerated to adjust the positional distance difference. When the positional distance difference exceeds 10%, an alarm signal is triggered, and the machine stops for inspection. The cylinder mechanism operates, causing the corresponding first and second adjustment seats to move in coordination, adjusting the rotation angle of the first and second pull rods. This adjustment allows the mechanical frame to calculate the tilt angle of the electric drive motor installation platform, ensuring parallel installation of the electric drive motor. This facilitates accurate installation positioning, improves installation position precision, avoids adjustments on the installation platform, and increases installation speed.

[0043] This invention relates to a rapid installation manipulator for automotive electric drive motors and its control method. The system involves activating the transmission arm and horizontal arm structure to hoist a mechanical frame, which then lifts the electric drive motor fixed on it to the installation platform. The frame is then lowered until some of the support seats contact the platform, supporting the ends of the frame. As the frame is fully lowered, the four support seats provide support. Simultaneously, the frame is tilted to align with the installation platform by an adjustment unit. When the four support seats contact the platform, they are positioned correctly to ensure consistent installation each time, avoiding repeated adjustments and accelerating the installation process. Pressure sensors at the bottom of the four support seats detect pressure differences at the four corners, and adjustments are made based on these differences to complete the positioning of the automotive electric drive motor on the frame.

[0044] This automotive electric drive motor rapid installation robot and its control method involve a moving unit and an installation unit working together to adjust the installation position of the electric drive motor. At this point, the moving parts on the installation unit can move the connecting seat and the installation rod to place the electric drive motor on the installation platform until the electric drive motor is fully placed, allowing for rapid installation. The placement position of the electric drive motor is thus defined, resulting in more stable and precise installation. This avoids the need for precision adjustments after manual installation and improves the installation speed.

[0045] This invention relates to a rapid installation manipulator for automotive electric drive motors and its control method. The system involves activating the transmission arm and horizontal arm structure to hoist the mechanical frame, then lifting the electric drive motor fixed on the frame to the installation platform. The frame is then lowered, and laser radars at its four corners detect the position of the installation platform. Three levels of safety distance control are implemented: Level 1 warning: When the detection distance L > 500mm, an audible and visual alarm is triggered; Level 2 deceleration: When 300mm < L ≤ 500mm, the deceleration ratio is calculated using v = 0.2 / (L - 300); Level 3 emergency stop: When L ≤ 300mm, the drive power is cut off within 50ms, effectively preventing collisions between the electric drive motor and the installation platform. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the structure of the present invention;

[0048] Figure 2This is a schematic diagram of the mechanical frame connection of the present invention;

[0049] Figure 3 This is a diagram showing the distribution of the mechanical frame structure of the present invention;

[0050] Figure 4 This is a schematic diagram of the adjustment unit structure of the present invention;

[0051] Figure 5 This is a schematic diagram of the adjustment state of the adjustment unit of the present invention;

[0052] Figure 6 This is a schematic diagram of the support unit structure of the present invention;

[0053] Figure 7 This is a schematic diagram showing the connection between the moving unit and the mounting unit of the present invention;

[0054] Figure 8 This is a schematic diagram of the moving unit structure of the present invention;

[0055] Figure 9 This is a schematic diagram of the installation unit structure of the present invention;

[0056] Figure 10 This is a schematic diagram illustrating the working principle of the system of the present invention;

[0057] Figure 11 This is a flowchart of the safety detection system of the present invention;

[0058] Figure 12 This is a flowchart of the motion control system of the present invention;

[0059] Figure 13 This is a flowchart of the angle difference detection process of the present invention.

[0060] In the diagram: 1. Base platform; 2. Transmission arm; 3. Horizontal arm structure; 4. Mechanical frame; 5. Adjustment unit; 51. Hoisting seat; 52. First tie rod; 53. Second tie rod; 54. First adjusting seat; 55. Second adjusting seat; 56. Cylinder mechanism; 6. Support unit; 61. First mounting frame; 62. Adjusting rod; 63. Support seat; 64. Fixed sleeve; 7. Moving unit; 71. Profile shaft; 72. Guide rail; 73. Workbench; 74. Connecting platform; 75. Drive mechanism; 76. Cable chain; 8. Installation unit; 81. Connecting frame; 82. Sliding rod; 83. Connecting seat; 84. Mounting rod; 85. Second mounting frame. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] This application provides a rapid installation robot for automotive electric drive motors and its control method. It solves the problems of slow installation speed and reliance on manual adjustment of the motor's position during hoisting due to the tilted installation platform. Furthermore, the tilted platform prevents precise placement of the motor during unloading, necessitating subsequent adjustments and increasing installation accuracy. The solution utilizes laser sensors at the four corners of the connector 83 to detect the distance between the installation platform and provides position feedback via a position feedback module. Angle calculations are performed, and the operation of the cylinder mechanism 56 is controlled to adjust the mechanical frame 4 to the calculated tilt of the electric drive motor installation platform. This allows for parallel installation of the electric drive motor, facilitating accurate positioning of the installation location.

[0063] The transmission arm 2 and horizontal arm structure 3 are activated to lift the mechanical frame 4, and the electric drive motor fixed on the mechanical frame 4 is lifted to the installation platform. The mechanical frame 4 is supported by four support seats 63. At the same time, under the action of the adjustment unit 5, the mechanical frame 4 is controlled to tilt and be parallel to the installation platform. The pressure sensors at the bottom of the four support seats 63 detect the pressure difference at the four corners and make adjustments according to the pressure difference to complete the positioning of the car electric drive motor on the mechanical frame 4.

[0064] The moving unit 7 and the mounting unit 8 work together to adjust the mounting position of the electric drive motor until the electric drive motor is fully placed, enabling rapid installation and avoiding the need for precision adjustment after manual installation, thus improving the installation speed.

[0065] The lidar at each of the four corners of the mechanical frame detects the position of the installation platform to avoid collisions.

[0066] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0067] This invention discloses a robotic arm for quick installation of automotive electric drive motors and its control method.

[0068] According to the appendix Figures 1 to 9 As shown, it includes a base platform 1 and a multi-degree-of-freedom robotic arm assembly mounted on the base platform 1. The multi-degree-of-freedom robotic arm assembly includes:

[0069] The vertically arranged transmission arm 2 is mounted on the base platform 1;

[0070] The horizontal arm structure 3 is connected to the top of the transmission arm 2 via a harmonic reducer;

[0071] The mechanical frame 4 is installed below the horizontal arm structure 3. The horizontal arm structure 3 drives the mechanical frame 4 to move and rotate laterally relative to the base platform 1. The transmission arm 2 cooperates with the horizontal arm structure 3 to drive the mechanical frame 4 to move longitudinally relative to the base platform 1.

[0072] The adjustment unit 5 includes a hoisting seat 51, a first pull rod 52 and a second pull rod 53. The top end face of the hoisting seat 51 is connected to the output end of the horizontal arm structure 3. Both sides of the hoisting seat 51 are rotatably connected to the first pull rod 52 and the second pull rod 53. The ends of the first pull rod 52 and the second pull rod 53 away from the hoisting seat 51 are rotatably connected to the first adjustment seat 54 and the second adjustment seat 55. The first adjustment seat 54 and the second adjustment seat 55 are slidably connected to the mechanical frame 4.

[0073] Several support units 6 are mounted on the mechanical frame 4;

[0074] The moving unit 7 includes two profile shafts 71 mounted in the mechanical frame 4, and a worktable 73 and a connecting table 74 are drivenly connected to the profile shafts 71.

[0075] Two sets of mounting units 8 are installed between the workbench 73 and the connecting platform 74. The mounting units 8 move in conjunction with the moving unit 7.

[0076] Two cylinder mechanisms 56 are installed on both sides of the mechanical frame 4. The output end of the cylinder mechanism 56 is fixedly connected to the corresponding first adjustment seat 54 and second adjustment seat 55 respectively. A high-precision tilt sensor is installed on the top of the mechanical frame 4. The high-precision tilt sensor is fixed to the center position of the connection between the mechanical frame 4 and the horizontal arm structure 3 through a flange. LiDAR is installed at each of the four corners of the mechanical frame 4.

[0077] Under the control of the motion control system, the transmission arm 2 starts, driving the horizontal arm structure 3 to move up and down. At the same time, the transmission arm 2 rotates on the base platform 1. The rotation of the transmission arm 2 drives the horizontal arm structure 3 to rotate. With the extension and retraction of the horizontal arm structure 3, the mechanical frame 4 moves left and right, thereby completing the left, right, up and down and rotation movements of the mechanical frame 4, moving the mechanical frame 4 to the designated position, and performing a series of steps such as clamping the motor, hoisting and installing below.

[0078] The drive arm 2 and horizontal arm structure 3 are activated to hoist the mechanical frame 4. The electric drive motor fixed on the mechanical frame 4 is then hoisted to the installation platform. The mechanical frame 4 is then lowered. The lidar at the four corners of the mechanical frame 4 detects the position of the installation platform. The three-level safety distance control includes:

[0079] Level 1 warning: When the detection distance L > 500mm, an audible and visual alarm is triggered;

[0080] Second-stage reduction: When 300mm < L ≤ 500mm, the reduction ratio is calculated as v = 0.2 / (L - 300);

[0081] Level 3 emergency stop: When L≤300mm, the drive power is cut off within 50ms to effectively prevent collision between the electric drive motor and the mounting platform.

[0082] Where: v is the reduction ratio, and the value of v is 0≤v≤1;

[0083] L represents the real-time detection distance of the lidar, in mm;

[0084] 300 is the preset emergency stop threshold distance, in mm.

[0085] When installing the motor, the installation position of the electric drive motor is first determined. The operation program of the transmission arm 2 and the horizontal arm structure 3 is set to make the mechanical frame 4 move. The angle of the mechanical frame 4 is detected by the high-precision tilt sensor installed on the top of the mechanical frame 4, and the moving unit 7 and the installation unit 8 below the mechanical frame 4 are limited to be parallel to the electric drive motor of the car. The moving unit 7 cooperates with the installation unit 8 to lift and install the electric drive motor.

[0086] It is particularly important to emphasize that, according to the tilt adjustment unit 5 of the electric drive motor mounting platform, the distance between the mounting platforms is detected by the laser sensors at the four corners of the connector 83, and the position feedback is provided by the position feedback module to calculate the angle:

[0087] No adjustment is made when the positional distance difference is within 3%.

[0088] When the position distance difference is within 3% to 5%, the feedback signal controls the cylinder mechanism 56 to start fine adjustment, and the running speed of the cylinder mechanism 56 is reduced to adjust the accuracy.

[0089] When the position distance difference is between 5% and 10%, the feedback signal controls the cylinder mechanism 56 to start coarse adjustment. By controlling the operation of the cylinder mechanism 56 quickly, the position distance difference is mainly adjusted.

[0090] When the distance difference exceeds 10%, a feedback signal is sent to issue an alarm and the machine is stopped for inspection. 10% is the maximum distance difference set, which limits the tilt angle of the adjustment unit 5. The threshold can be adjusted according to the usage requirements.

[0091] When the cylinder mechanism 56 operates, it drives the corresponding first adjusting seat 54 and second adjusting seat 55 to move in coordination. Under the movement of the first adjusting seat 54 and second adjusting seat 55, the rotation angle of the first pull rod 52 and the second pull rod 53 is adjusted. When the tilt angles of the first pull rod 52 and the second pull rod 53 are inconsistent, the mechanical frame 4 is pulled under the action of the first pull rod 52 and the second pull rod 53, causing it to tilt relative to the hoisting seat 51.

[0092] The adjustment allows the mechanical frame 4 to calculate the tilt of the electric drive motor mounting platform, enabling the electric drive motor to be installed in parallel. This facilitates the determination of the installation position, improves the accuracy of the installation position, avoids adjustments on the installation platform, and increases the installation speed.

[0093] Support unit 6 includes:

[0094] The first mounting bracket 61 is mounted on the machine frame 4;

[0095] Adjusting rod 62 is slidably connected to the inner wall of the first mounting bracket 61;

[0096] The support base 63 is rotatably connected to the bottom end of the adjusting rod 62, and a pressure sensor is provided at the bottom of the support base 63.

[0097] Specifically disclosed, the adjusting rod 62 moves along the first mounting bracket 61, thereby adjusting the position of the support base 63 relative to the mechanical frame 4. The adjustment height of the support base 63 is adjusted according to the installation height of the platform. When the support base 63 is completely placed on the mounting platform, the mechanical frame 4 is parallel to the mounting platform under the support of the support base 63, the adjusting rod 62, and the first mounting bracket 61. The adjustment process of the mechanical frame 4 requires the adjustment unit 5 to move in coordination.

[0098] Furthermore, when the mechanical frame 4 lifts the electric drive motor to move, the mechanical frame 4 drives the support unit 6 to move. When the mechanical frame 4 is lowered, part of the support seat 63 contacts the installation platform. At this time, the support seat 63 supports the end of the mechanical frame 4. As the mechanical frame 4 is fully lowered, the four support seats 63 support the mechanical frame 4. At the same time, under the action of the adjustment unit 5, the mechanical frame 4 is controlled to tilt and be parallel to the installation platform.

[0099] Pressure is detected by pressure sensors at the bottom of the four support seats 63, and the pressure difference at the four corners is fed back. Adjustments are made according to the pressure difference to complete the positioning of the car electric drive motor on the mechanical frame 4.

[0100] Furthermore, when the four support bases 63 come into contact with the installation platform, the support bases 63 are placed in designated positions to ensure that the position is consistent each time they are installed, avoiding the need for repeated adjustments and speeding up the installation process.

[0101] A fixed sleeve 64 is fixedly connected to the bottom end face of the first mounting bracket 61. An adjusting rod 62 is slidably connected to the inner wall of the fixed sleeve 64. A bolt is provided in the fixed sleeve 64, and the adjusting rod 62 is fixedly connected to the fixed sleeve 64 by the bolt.

[0102] Specifically, when the adjusting rod 62 slides along the fixed sleeve 64 and the first mounting bracket 61 to adjust the position of the support seat 63 so that the support seat 63 is in a specified position relative to the mechanical frame 4, the adjusting rod 62 is fixed to the fixed sleeve 64 by tightening the bolts, thereby fixing the adjusting rod 62 relative to the mechanical frame 4 and the first mounting bracket 61. By adjusting the position of the four support seats 63 relative to the mechanical frame 4, when the four support seats 63 are in contact with the mounting platform, the installation position of the hoisting electric drive motor on the mechanical frame 4 can be quickly positioned.

[0103] A guide rail 72 is provided on one side of the profile shaft 71 corresponding to the worktable 73. A transmission mechanism is provided on one side of the worktable 73 and is located in the guide rail 72. A drive mechanism 75 is installed on the outer wall of the worktable 73. The output end of the drive mechanism 75 is connected to the transmission mechanism. A drag chain 76 is provided above the profile shaft 71. The moving end of the drag chain 76 is fixedly installed on the outer wall of the worktable 73.

[0104] The transmission mechanism can be configured as a ball screw pair or a gear rack pair;

[0105] A ball screw assembly consists of a precision screw and a ball nut.

[0106] The drive mechanism 75 drives the lead screw to rotate, and the balls inside the ball nut circulate and roll in the thread raceway of the lead screw, converting the rotational motion of the lead screw into the linear motion of the nut, which drives the worktable 73 to move.

[0107] A gear and rack pair consists of a pinion and a long rack.

[0108] The drive mechanism 75 drives the pinion to rotate. The pinion meshes with the fixed rack. When the gear rotates, the gear will move in a straight line along the rack because the rack is fixed. Alternatively, the rack is fixed on the worktable 73 and the gear shaft is fixed. When the gear rotates, the worktable 73 moves.

[0109] It is particularly important to emphasize that when motor installation is required, the drive mechanism 75 drives the worktable 73 to slide along the guide rail 72, which in turn moves the corresponding connecting platform 74 of the worktable 73, thereby moving the installation unit 8 installed between the worktable 73 and the connecting platform 74.

[0110] Furthermore, by moving the two mounting units 8 and using the clamps on the mounting units 8 to fix the electric drive motor, the stability of the hoisting is facilitated. At the same time, by moving the drive mechanism 75 and installing different clamps on the mounting units 8, motors of different sizes can be fixed and hoisted.

[0111] Furthermore, the electric drive motor can be fixed by using lifting lug bolts and flange / bracket assistance to ensure its installation stability. For example, when using lifting lug bolts, the lifting lugs are tightened to the preset mounting holes on the motor housing. The bolts are tightened step by step in a diagonal sequence, and the torque must strictly follow the manual standard.

[0112] The mounting unit 8 includes a connecting frame 81. Both ends of the connecting frame 81 are respectively mounted on the corresponding worktable 73 and connecting table 74. A movable part is provided on the connecting frame 81, and a connecting seat 83 is provided below the movable part. A laser sensor and a position feedback module are provided at the four corners below the connecting seat 83. The laser sensor and the position feedback module are electrically connected to the cylinder mechanism 56 to realize control feedback.

[0113] For the method of calculating the tilt angle, please refer to:

[0114] Let the length of the installation platform in the front-to-back direction be 2α, with sensors A and B on the front side and sensors C and D on the rear side.

[0115] Formula for calculating the average height of the front side:

[0116]

[0117] The formula for calculating the average height of the rear side is:

[0118]

[0119] The formula for calculating the height difference before and after is:

[0120]

[0121] The formula for calculating the tilt angle is:

[0122] .

[0123] The average height of the front sensor is shown in mm.

[0124] The average height of the rear sensor is shown in mm.

[0125] This represents the height difference between the average height of the front sensor and the average height of the rear sensor.

[0126] The angle of inclination;

[0127] α represents half the length of the platform, in mm.

[0128] An installation rod 84 is installed between the connecting seats 83. An installation groove is provided on the installation rod 84. Two second mounting brackets 85 are installed on the outer wall of the installation rod 84 through the installation groove. A motor clamping fixture is installed on the second mounting bracket 85.

[0129] When the workbench 73 and the corresponding connecting table 74 move, the connecting frame 81 installed between the workbench 73 and the connecting table 74 moves. The connecting frame 81 drives the connecting seat 83 and the mounting rod 84 to move through the moving parts. At this time, the electric drive motor is fixed by the clamp installed on the second mounting frame 85, and the electric drive motor is hoisted in cooperation with the mechanical frame 4.

[0130] The movable component is a sliding rod 82, which is slidably connected to the inner wall of the connecting frame 81, and the bottom end face of the sliding rod 82 is fixedly connected to the connecting seat 83.

[0131] When the electric drive motor comes into contact with the mounting platform, the electric drive motor installed between the mounting rods 84 drives the connecting seat 83 and the sliding rod 82 to move, so that the sliding rod 82 slides along the connecting frame 81 until the electric drive motor is completely installed on the mounting platform.

[0132] Specifically disclosed, the moving part can be set as a cylinder, which is installed below the connecting frame 81. The output end of the connecting frame 81 is installed with the connecting seat 83. When the mechanical frame 4 completes the hoisting of the electric drive motor, the cylinder is activated to drive the connecting seat 83 and the mounting rod 84 to move, placing the electric drive motor on the mounting platform until the electric drive motor is completely placed, and the installation is carried out quickly.

[0133] According to the appendix Figures 10 to 13 As shown, a control module is provided on a quick-installation robot for an automotive electric drive motor, which includes a safety monitoring system, a motion control system, and a human-machine interaction system.

[0134] The security monitoring system includes: security monitoring, lidar monitoring, emergency stop control, and security interlocks;

[0135] The motion control system includes: robotic arm control, kinematics calculation, trajectory planning, multi-axis synchronization, servo drive, and cable chain control;

[0136] The human-machine interaction system includes: human-machine interface, 3D visualization, alarm management, data logging, process data, and fault archiving.

[0137] The rapid control method for automotive electric drive motors includes the following steps:

[0138] Step 1: Start the transmission arm 2 and the horizontal arm structure 3. The transmission arm 2 and the horizontal arm structure 3 work together to drive the mechanical frame 4 to make multi-dimensional adjustments, adjusting the mechanical frame 4 to the position of the electric drive motor.

[0139] Step 2: The angle of mechanical frame 4 is detected by a high-precision tilt sensor installed on the top of mechanical frame 4. Based on this, the moving unit 7 and the mounting unit 8 below mechanical frame 4 are driven to be parallel to the electric drive motor of the car. The moving unit 7 works with the clamp on the mounting unit 8 to fix the electric drive motor.

[0140] Step 3: Activate the transmission arm 2 and horizontal arm structure 3 to hoist the mechanical frame 4, hoist the electric drive motor fixed on the mechanical frame 4 to the installation platform, lower the mechanical frame 4, and use the lidar at the four corners of the mechanical frame 4 to detect the position of the installation platform. Three-level safety distance control includes:

[0141] Level 1 warning: When the detection distance L > 500mm, an audible and visual alarm is triggered;

[0142] Second-stage reduction: When 300mm < L ≤ 500mm, the reduction ratio is calculated as v = 0.2 / (L - 300);

[0143] Level 3 emergency stop: When L≤300mm, cut off the drive power supply within 50ms;

[0144] Step 4: The transmission arm 2 and the horizontal arm structure 3 hoist the mechanical frame 4, lower the car electric drive motor, and the laser sensors at the four corners of the connecting seat 83 detect the distance between the installation platform and the position feedback module to calculate the angle.

[0145] No adjustment is made when the positional distance difference is within 3%.

[0146] When the positional distance difference is within 3% to 5%, the feedback signal controls the cylinder mechanism 56 to start fine adjustment;

[0147] When the position distance difference is between 5% and 10%, the feedback signal controls the cylinder mechanism 56 to start coarse adjustment.

[0148] When the distance difference exceeds 10%, a feedback signal is sent to issue an alarm and the machine is stopped for inspection.

[0149] The cylinder mechanism 56 is activated, the angle of the mechanical frame 4 is adjusted, and the result is compared with that of a high-precision tilt sensor.

[0150] Normal operation is possible when the angle difference is within 1°.

[0151] When the angle difference is between 1° and 5°, an early warning is activated and fine-tuning is initiated. It is also determined whether the position distance difference is within 3%. If not, an alarm is triggered.

[0152] When the angle difference exceeds 5° to 10°, an early warning is activated, and coarse adjustment is initiated. It is also determined whether the position distance difference is within 3%. If not, an alarm is triggered.

[0153] When the angle difference exceeds 10°, mechanical shutdown is initiated.

[0154] During the angle adjustment process, the high-precision tilt sensor provides real-time feedback on the mechanical frame's attitude, forming a closed-loop control.

[0155] Step 5: The mechanical frame 4 is hoisted and lowered until the bottom of the support base 63 contacts the installation platform. Pressure is detected by the pressure sensors at the bottom of the four support bases 63, and the pressure difference at the four corners is fed back. Adjustments are made according to the pressure difference to complete the positioning of the car electric drive motor on the mechanical frame 4. The laser radar at the four corners of the mechanical frame 4 detects the position of the installation platform and places the electric drive motor on the installation platform until the electric drive motor is completely placed, and the installation is carried out quickly.

[0156] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A robotic arm for quick installation of automotive electric drive motors, characterized in that, Includes a base platform (1), and a multi-degree-of-freedom robotic arm assembly mounted on the base platform (1). The multi-degree-of-freedom robotic arm assembly includes: A vertically arranged transmission arm (2) is mounted on a base platform (1); The horizontal arm structure (3) is connected to the top of the transmission arm (2) via a harmonic reducer; The mechanical frame (4) is installed below the horizontal arm structure (3). The horizontal arm structure (3) drives the mechanical frame (4) to move and rotate laterally relative to the base platform (1). The transmission arm (2) cooperates with the horizontal arm structure (3) to drive the mechanical frame (4) to move longitudinally relative to the base platform (1). The adjustment unit (5) includes a hoisting seat (51), a first pull rod (52) and a second pull rod (53). The top end face of the hoisting seat (51) is connected to the output end of the horizontal arm structure (3). Both sides of the hoisting seat (51) are rotatably connected to the first pull rod (52) and the second pull rod (53). The ends of the first pull rod (52) and the second pull rod (53) away from the hoisting seat (51) are rotatably connected to the first adjustment seat (54) and the second adjustment seat (55). The first adjustment seat (54) and the second adjustment seat (55) are slidably connected to the mechanical frame (4). Several support units (6) are mounted on the mechanical frame (4); The moving unit (7) includes two profile shafts (71) mounted in the mechanical frame (4), on which a worktable (73) and a connecting table (74) are drivenly connected. Two sets of mounting units (8) are installed between the workbench (73) and the connecting table (74), and the mounting units (8) move in conjunction with the moving unit (7); Two cylinder mechanisms (56) are installed on both sides of the mechanical frame (4). The output end of the cylinder mechanism (56) is fixedly connected to the corresponding first adjustment seat (54) and second adjustment seat (55). A high-precision tilt sensor is installed on the top of the mechanical frame (4). The high-precision tilt sensor is fixed at the center position of the connection between the mechanical frame (4) and the horizontal arm structure (3) by a flange. A laser radar is installed at each of the four corners of the mechanical frame (4). The support unit (6) includes: The first mounting bracket (61) is mounted on the machine frame (4); Adjusting rod (62), which is slidably connected to the inner wall of the first mounting bracket (61); A support base (63) is rotatably connected to the bottom end of an adjusting rod (62), and a pressure sensor is provided at the bottom of the support base (63); The installation unit (8) includes a connecting frame (81), with its two ends respectively installed on the corresponding worktable (73) and connecting table (74). A movable part is provided on the connecting frame (81), and a connecting seat (83) is provided below the movable part. A laser sensor and a position feedback module are provided at the four corners below the connecting seat (83). The laser sensor and the position feedback module are electrically connected to the cylinder mechanism (56) to realize control feedback.

2. The automotive electric drive motor quick-installation robot according to claim 1, characterized in that, A fixed sleeve (64) is fixedly connected to the bottom end face of the first mounting bracket (61). The adjusting rod (62) is slidably connected to the inner wall of the fixed sleeve (64). A bolt is provided in the fixed sleeve (64). The adjusting rod (62) is fixedly connected to the fixed sleeve (64) by the bolt.

3. The quick-installation robot for automotive electric drive motors according to claim 1, characterized in that, The profile shaft (71) is provided with a guide rail (72) on one side of the worktable (73). A transmission mechanism is provided on one side of the worktable (73). The transmission mechanism is located in the guide rail (72). A drive mechanism (75) is installed on the outer wall of the worktable (73). The output end of the drive mechanism (75) is connected to the transmission mechanism. A drag chain (76) is provided above the profile shaft (71). The moving end of the drag chain (76) is fixedly installed on the outer wall of the worktable (73).

4. The quick-installation robot for automotive electric drive motors according to claim 1, characterized in that, An installation rod (84) is installed between the connecting seats (83). An installation groove is provided on the installation rod (84). Two second mounting brackets (85) are installed on the outer wall of the installation rod (84) through the installation groove.

5. The quick-installation robot for automotive electric drive motors according to claim 1, characterized in that, The movable component is a sliding rod (82), which is slidably connected to the inner wall of the connecting frame (81), and the bottom end face of the sliding rod (82) is fixedly connected to the connecting seat (83).

6. A control method for a rapid installation robot for an automotive electric drive motor, controlling the rapid installation robot for an automotive electric drive motor as described in any one of claims 1 to 5, characterized in that, Includes the following steps: Step 1: Start the transmission arm (2) and the horizontal arm structure (3). The transmission arm (2) and the horizontal arm structure (3) work together to drive the mechanical frame (4) to make multi-dimensional adjustments, and adjust the mechanical frame (4) to the electric drive motor. Step 2: The angle of the mechanical frame (4) is detected in real time by a high-precision tilt sensor installed on the top of the mechanical frame (4). Based on this, the moving unit (7) and the mounting unit (8) below the mechanical frame (4) are driven to be parallel to the electric drive motor of the car. The moving unit (7) works with the clamp on the mounting unit (8) to fix the electric drive motor. Step 3: Start the transmission arm (2) and horizontal arm structure (3) to hoist the mechanical frame (4), hoist the electric drive motor fixed on the mechanical frame (4) to the installation platform, lower the mechanical frame (4), and the laser radars at the four corners of the mechanical frame (4) detect the position of the installation platform and set up a three-level safety distance control. The three-level safety distance control includes: Level 1 warning: When the detection distance L > 500mm, an audible and visual alarm is triggered; Second-stage reduction: When 300mm < L ≤ 500mm, the reduction ratio is calculated as v = 0.2 / (L - 300); Level 3 emergency stop: When L≤300mm, cut off the drive power supply within 50ms; Step 4: The transmission arm (2) and the horizontal arm structure (3) hoist the mechanical frame (4), lower the car electric drive motor, and the laser sensors at the four corners of the connecting seat (83) detect the distance between the installation platform and perform position feedback and angle calculation through the position feedback module. No adjustment is made when the positional distance difference is within 3%. When the position distance difference is within 3% to 5%, the feedback signal controls the cylinder mechanism (56) to start fine adjustment; When the position distance difference is between 5% and 10%, the feedback signal controls the cylinder mechanism (56) to start coarse adjustment; When the distance difference exceeds 10%, a feedback signal is sent to issue an alarm and the machine is stopped for inspection. The cylinder mechanism (56) is activated, the angle of the mechanical frame (4) is adjusted, and the angle is compared with that of the high-precision tilt sensor. Normal operation is possible when the angle difference is within 1°. When the angle difference is between 1° and 5°, an early warning is activated and fine-tuning is initiated. It is also determined whether the position distance difference is within 3%. If not, an alarm is triggered. When the angle difference exceeds 5° to 10°, an early warning is activated, and coarse adjustment is initiated. It is also determined whether the position distance difference is within 3%. If not, an alarm is triggered. When the angle difference exceeds 10°, mechanical shutdown is initiated. Step 5: The mechanical frame (4) is hoisted and lowered. The bottom of the support base (63) contacts the installation platform. Pressure is detected by the pressure sensors at the bottom of the four support bases (63), and the pressure difference at the four corners is fed back. Adjustment is made according to the pressure difference to complete the positioning of the car electric drive motor on the mechanical frame (4). The laser radar at the four corners of the mechanical frame (4) detects the position of the installation platform and places the electric drive motor on the installation platform until the electric drive motor is completely placed.

Images