A component-grabbing vehicle assembly robot

Abstract

This invention discloses a component-grabbing vehicle assembly robot, relating to the field of industrial robot technology. It includes a base, with a main arm and a secondary arm sequentially connected to the top of the base. A rotary motor is mounted at the front end of the secondary arm, and a mounting base is connected to the bottom end of the rotary motor. When transferring door components, this component-grabbing vehicle assembly robot uses a vacuum suction cup to apply negative pressure to the door, and a lifting mechanism to prevent the bottom wall of the door at the transfer location from falling. Then, a clamping mechanism with limiting rods and stops fastens the bottom wall of the door window. Simultaneously, during door component assembly, the lifting mechanism drives the support to remove its support from the bottom of the door, and the clamping mechanism adjusts to provide bidirectional clamping and restraint on the door window, ensuring that the door has anti-fall protection during transfer and assembly. This guarantees that the assembly robot can safely grasp, transfer, and assemble door components.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, specifically to a component-grabbing vehicle assembly robot. Background Technology

[0002] Industrial robots in automobile assembly manufacturing are core equipment for the intelligent transformation of automobile production. During the vehicle assembly process, robots are often used to move door components from designated placement workpieces to the conveyor belt equipment used for assembling the car, and robots are also used to move the doors to the side of the vehicle for auxiliary docking and assembly operations.

[0003] In existing technologies, robots typically use vacuum suction cups to flexibly grip car doors. However, due to the design and smoothness of the car door's outer surface, a stable suction strength cannot be generated, which makes the car door prone to falling during the transfer and assembly process. Summary of the Invention

[0004] The purpose of this invention is to provide a component-grabbing vehicle assembly robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a component gripping vehicle assembly robot, comprising a base, a main arm and a secondary arm connected sequentially above the base, a rotary motor mounted at the front end of the secondary arm, and a mounting base connected to the bottom end of the rotary motor;

[0006] A bracket is installed on one side of the mounting base, and a fixing frame is installed vertically on both sides of the bracket. Vacuum suction cups for negative pressure adsorption of the surface of the car door components are installed at the top, middle and bottom of one side of the fixing frame.

[0007] A lifting mechanism is provided on one side of the bottom of the bracket to prevent the bottom wall of the door component at the transfer position from falling.

[0008] A support frame is installed on the side of the bracket away from the mounting base. A vertical plate is fixed to the upper end of the support frame and sleeved on the bracket. A clamping mechanism for preventing the door window from falling is provided above the vertical plate.

[0009] Preferably, the lifting mechanism includes a support frame on one side of the bracket that can be horizontally adjusted in installation position, guide plates are installed on both sides of the support frame, an L-shaped guide cavity is opened on the surface of the guide plate, and a rack is fixed to the top of the inner wall of the guide cavity.

[0010] A bracket for engaging the bottom wall of the door is provided between the two guide plates. The bracket has a fixed shaft at both ends that is inserted into the L-shaped guide cavity. A locking tooth is fixed on one side of the outer edge of the fixed shaft.

[0011] Preferably, top rollers are symmetrically inserted into the other side of the outer edge of the fixed shaft, and the fixed shaft is telescopically connected to the top rollers through an internal spring.

[0012] Preferably, the support is further fixed with locking hooks at both ends near the fixed shaft;

[0013] A dial is fitted to the outer side of the guide plate. The dial is connected to the extension end of the fixed shaft through a U-shaped opening on its edge. A barb is integrally formed on the edge of the dial near the U-shaped opening.

[0014] Preferably, a drive shaft for controlling the rotation of the dial is passed through the middle of the two guide plates, a U-shaped rod is movably connected between the two fixed frames, a folding rod for driving the drive shaft to rotate is connected between the drive shaft and the U-shaped rod, and a hydraulic rod for pushing and pulling the U-shaped rod to deflect is movably connected to one side of the fixed frame.

[0015] Preferably, the clamping mechanism for preventing the door window from falling includes:

[0016] A limiting seat is rotatably connected to the top of the upright plate, and a hydraulic rod is connected between the upright plate and the limiting seat to adjust the placement angle of the limiting seat;

[0017] Vertical and horizontal cavities are formed on the upper side of the middle part and the bottom sides of the limiting seat, and sliding sleeves are slidably connected in both vertical and horizontal cavities. Pull plates that are movably connected to the sliding sleeves are provided on both sides of the limiting seat in a staggered manner.

[0018] The device includes a pad that is slidably disposed on one side of the vertical cavity and installed with the sliding sleeve; a hydraulic rod for lifting and lowering the pad is installed on one side of the limiting seat; and a limiting rod is inserted into the middle of the sliding sleeve for limiting.

[0019] Preferably, a double-groove pulley is rotatably connected to the end of the sliding sleeve located in the vertical cavity, and a single-groove pulley is rotatably connected to the end of the sliding sleeve located in the horizontal cavity, and a belt is sleeved between the double-groove pulley and the single-groove pulley;

[0020] A drive motor is mounted on the pad, and a gear plate is connected to the output end of the drive motor. A gear ring that meshes with the gear plate is fixed on one side of the double groove pulley.

[0021] The inner walls of the double-groove pulley and the single-groove pulley are provided with spiral grooves;

[0022] A push-pull rod slides on one side of the limiting rod, and one end of the push-pull rod is fixed with a protrusion that mates with the spiral groove.

[0023] Preferably, the end of the limiting rod extending out of the sliding sleeve is provided with a groove, and the groove is provided with a sliding groove and an adjusting groove. The adjusting groove is composed of a straight groove section parallel to the sliding groove and an arc-shaped groove section with one end of the sliding groove as the center.

[0024] Preferably, a stop block that is slidably connected to the slide groove is also provided in the groove, and a protrusion that mates with the adjustment groove is fixed on the side of the stop block; an inner cavity is opened inside the stop block, and the end of the push-pull rod away from the protrusion is slidably connected with the inner cavity of the stop block.

[0025] Preferably, a visual positioning component is installed on the side of the mounting base near the bracket.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows: When transferring door components, the component-grabbing vehicle assembly robot uses a vacuum suction cup to apply negative pressure to the door, and a lifting mechanism to lift the bottom wall of the door at the transfer position to prevent it from falling. Then, the limiting rod and stop of the clamping mechanism are used to fasten the bottom wall of the door window. At the same time, when assembling the door components, the lifting mechanism drives the support to remove the bottom support of the door, and the clamping mechanism is adjusted to perform bidirectional fastening and restriction on the door window, ensuring that the door has the effect of preventing falling during transfer and docking assembly. This ensures that the assembly robot can safely grasp, transfer and assemble door components. Attached Figure Description

[0027] Figure 1 This is a first three-dimensional structural schematic diagram of the vehicle assembly robot of the present invention;

[0028] Figure 2 This is a schematic diagram of the second three-dimensional structure of the vehicle assembly robot of the present invention;

[0029] Figure 3 This is a three-dimensional structural diagram of the linkage between the support, lifting mechanism and clamping mechanism of the present invention;

[0030] Figure 4 This is a schematic diagram of the first three-dimensional structure of the lifting mechanism of the present invention;

[0031] Figure 5 This is a schematic diagram of the second three-dimensional structure of the lifting mechanism of the present invention;

[0032] Figure 6 This is a three-dimensional exploded view of the lifting mechanism of the present invention;

[0033] Figure 7 This is a three-dimensional cross-sectional view of the guide plate of the present invention;

[0034] Figure 8 This is a three-dimensional structural diagram of the clamping mechanism of the present invention;

[0035] Figure 9 This is a schematic diagram of the structure of the three sets of limiting rods linked together according to the present invention;

[0036] Figure 10 This is a three-dimensional cross-sectional view of the connection between the sliding sleeve, the double-groove pulley, and the limiting rod of the present invention;

[0037] Figure 11 This is a three-dimensional structural diagram of the limiting rod of the present invention;

[0038] Figure 12 This is a three-dimensional structural diagram of the connection between the double-groove pulley and the push-pull rod of the present invention.

[0039] In the diagram: 1. Base; 2. Main arm; 3. Auxiliary arm; 301. Rotary motor; 4. Mounting base; 401. Bracket; 5. Fixing frame; 501. Vacuum suction cup; 6. Lifting mechanism; 601. Support frame; 602. Guide plate; 6021. Rack; 603. Support; 6031. Fixed shaft; 6032. Clamping tooth; 6033. Top roller; 6034. Spring; 6035. Locking hook; 604. Dial; 6041. Bar; 605. Drive shaft; 606. Folding rod; 607. U-shaped rod; 608. Hydraulic rod one; 7. 701. Support frame; 8. Vertical plate; 9. Vision positioning component; 10. Clamping mechanism; 901. Limit seat; 902. Hydraulic rod two; 903. Sliding sleeve; 904. Pull plate; 905. Pad plate; 9051. Drive motor; 9052. Gear plate; 906. Hydraulic rod three; 907. Double groove pulley; 9071. Gear ring; 9072. Spiral groove; 908. Single groove pulley; 909. Belt; 910. Limiting rod; 9101. Push-pull rod; 9102. Protrusion; 9103. Stop block; 9104. Slide groove; 9105. Adjustment groove. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and 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.

[0041] Please see Figure 1 and Figure 2 This invention provides a technical solution: a component gripping vehicle assembly robot, including a base 1, with a main arm 2 and a secondary arm 3 connected sequentially above the base 1. A rotary motor 301 is installed at the front end of the secondary arm 3, and a mounting seat 4 is connected to the bottom end of the rotary motor 301. The robot controls the height and angle adjustment of the main arm 2 and the secondary arm 3 on the base 1 through a CNC program, and controls the rotary motor 301 at the front end of the secondary arm 3 to change the angle of the mounting seat 4, so that the robot can adjust the position of the mounting seat 4.

[0042] Please see Figures 1-3A bracket 401 is installed on one side of the mounting base 4, and a fixing frame 5 is installed vertically on both sides of the bracket 401. Vacuum suction cups 501 for negative pressure adsorption of the surface of the car door components are installed on the upper, middle and lower sides of one side of the fixing frame 5.

[0043] In this embodiment, all vacuum suction cups 501 are connected in series using air pipes and matching connectors. When the main arm 2, the auxiliary arm 3, and the rotary motor 301 drive the mounting base 4 to change position, the vacuum suction cups 501 on the fixing frame 5 can be driven to adhere to and adsorb the car door components, which facilitates flexible gripping and non-destructive transfer of the vehicle door components.

[0044] Please see Figures 1-7 A lifting mechanism 6 is provided on one side of the bottom of the bracket 401. The lifting mechanism 6 is used to prevent the bottom wall of the door component from falling when it is moved. The lifting mechanism 6 includes a support frame 601 on one side of the bracket 401 that can be adjusted laterally. Guide plates 602 are installed on both sides of the support frame 601. The surface of the guide plate 602 is provided with an L-shaped guide cavity, and a rack 6021 is fixed to the top of the inner wall of the guide cavity. A support 603 for fastening the bottom wall of the door is provided between the two guide plates 602. The two ends of the support 603 are provided with a fixing shaft 6031 that is inserted into the L-shaped guide cavity. A locking tooth 6032 is fixed on one side of the outer edge of the fixing shaft 6031.

[0045] In this embodiment, when the vacuum suction cup 501 adsorbs the door component, the fixed shafts 6031 at both ends of the support 603 can move back and forth along the L-shaped guide cavity on the surface of the guide plate 602. When the fixed shaft 6031 moves from the bottom end to the top end of the L-shaped guide cavity, and the teeth 6032 on the outer edge of the fixed shaft 6031 mesh with the rack 6021 on the top of the inner wall of the L-shaped guide cavity, the fixed shaft 6031 will rotate at a small angle, thereby driving the support 603 to flip upward and abut against the bottom wall of the door.

[0046] Please see Figure 7 On the other side of the outer edge of the fixed shaft 6031, the top roller 6033 is symmetrically inserted, and the fixed shaft 6031 is telescopically connected to the top roller 6033 through the internal spring 6034.

[0047] In this embodiment, during the reciprocating movement of the fixed shaft 6031 along the L-shaped guide cavity, the top rollers 6033, which are symmetrically distributed on the fixed shaft 6031, are in contact with the outer wall of the L-shaped guide cavity. Thus, when the support 603 moves along the L-shaped guide cavity through the fixed shafts 6031 at both ends, the spring 6034 pushes the top rollers 6033 against the outer wall of the L-shaped guide cavity, which can prevent the support 603 from loosening and overturning when it moves along the trajectory of the L-shaped guide cavity.

[0048] When the support 603 moves upward and causes the locking teeth 6032 on the fixed shaft 6031 to mesh with the rack 6021 on the L-shaped guide cavity, the angular deflection of the fixed shaft 6031 will drive the top roller 6033 to press against the outer wall of the L-shaped guide cavity, thereby causing the top roller 6033 to compress the spring 6034 into the interior of the fixed shaft 6031.

[0049] It should be noted that when the top roller 6033 is squeezed into the limit position inside the fixed shaft 6031, the distance from the outer edge of the top roller 6033 to the center of the fixed shaft 6031 is greater than half the width of the L-shaped guide cavity. Therefore, the fixed shaft 6031 will not cause both top rollers 6033 to deviate from the outer wall of the L-shaped guide cavity during rotation.

[0050] Please see Figures 4-7 The support 603 is also fixed with locking hooks 6035 at both ends near the fixed shaft 6031. The guide plate 602 is fitted with a dial 604. The dial 604 is connected to the extension end of the fixed shaft 6031 through the U-shaped dial on the edge. The dial 604 has a barb 6041 integrally formed on the edge near the U-shaped dial.

[0051] In this embodiment, the forward rotation of the dial 604 drives the U-shaped dial to rotate and press the extension end of the fixed shaft 6031, thereby enabling the fixed shaft 6031 to move along the L-shaped guide cavity. When the fixed shaft 6031 drives the support 603 to flip upward and abut against the bottom wall of the car door, the locking hooks 6035 at both ends of the support 603 will hook the barbs 6041 on the edge of the dial 604. At this time, the support 603 that is fastened to the bottom wall of the car door will be locked and restricted, ensuring that the support 603 has sufficient support capacity to continuously support the bottom wall of the car door, and preventing the support 603 from flipping and falling off due to vibration of the car door.

[0052] It should be emphasized that when the dial 604 rotates in the opposite direction to drive the U-shaped dial to rotate and squeeze the fixed shaft 6031 to move in the opposite direction along the L-shaped guide cavity, the locking teeth 6032 on the fixed shaft 6031 will engage in the opposite direction with the rack 6021 of the L-shaped guide cavity, thereby driving the support 603 and the locking hook 6035 to deflect in the opposite direction, causing the locking hook 6035 to separate from the barb 6041. Therefore, it is only necessary to drive the dial 604 to rotate in the forward or reverse direction to drive the locking hook 6035 to lock or separate from the barb 6041.

[0053] Please see Figures 3-5 A drive shaft 605 for controlling the rotation of the dial 604 passes through the middle of the two guide plates 602. A U-shaped rod 607 is movably connected between the two fixed frames 5. A folding rod 606 for driving the drive shaft 605 to rotate is connected between the drive shaft 605 and the U-shaped rod 607. A hydraulic rod 608 for pushing and pulling the U-shaped rod 607 to deflect is movably connected to one side of the fixed frame 5.

[0054] In this embodiment, refer to Figure 4 It can be seen that the U-shaped rod 607 is deflected downward by the hydraulic rod 608, which in turn drives the drive shaft 605 to deflect downward through the folding rod 606. As a result, the drive shaft 605 drives the dials 604 at both ends to rotate in the forward direction, which eventually causes the support 603 to flip upward.

[0055] See Figure 5 It can be seen that when the hydraulic rod 608 pulls the U-shaped rod 607 to deflect upward, the U-shaped rod 607 will drive the drive shaft 605 to deflect upward through the folding rod 606. As a result, the drive shaft 605 will drive the dials 604 at both ends to rotate in the opposite direction, which will eventually cause the support 603 to flip downward.

[0056] Please see Figure 3 A visual positioning component 8 is installed on the side of the mounting base 4 near the bracket 401. The visual positioning component 8 includes a light source, an RGB camera, an infrared transmitter, an infrared receiver, and a controller. The light source is used to illuminate the door component, the RGB camera is used to capture a planar image of the door component, and the infrared transmitter emits infrared light to scan the door component. After the infrared receiver receives the infrared light reflected by the door component, it calculates the distance of each surface of the door from the visual positioning component 8 based on the transmission and reception time. The planar image and the obtained distance signal are imported into the controller, and the accurate three-dimensional information of the door can be calculated through a three-dimensional vision algorithm.

[0057] In this embodiment, when the robot adjusts the position of the mounting base 4 to grasp the car door component, it first adjusts the mounting base 4 to the front position of the car door, and then uses the visual positioning component 8 to supplement the light and take a planar picture of the front position of the car door to be grasped, so that the robot can accurately position the car door to grasp it through the visual positioning component 8. For reference, Chinese Patent No. CN208998785U discloses a robot visual positioning device, which discloses the technical content of robot accurate object positioning. This is prior art and will not be elaborated on here.

[0058] Please see Figures 1-3 , Figure 8 and Figure 9 A support frame 7 is installed on the side of bracket 401 away from mounting base 4. A vertical plate 701 sleeved on bracket 401 is fixed to the upper end of support frame 7. A clamping mechanism 9 for preventing the door window from falling is provided above vertical plate 701. The clamping mechanism 9 for preventing the door window from falling includes:

[0059] A limiting seat 901 is rotatably connected to the top of the upright plate 701, and a hydraulic rod 902 is connected between the upright plate 701 and the limiting seat 901 to adjust the placement angle of the limiting seat 901.

[0060] Vertical and horizontal cavities are formed on the upper side of the middle part and the bottom sides of the limiting seat 901, and sliding sleeves 903 are slidably connected in both vertical and horizontal cavities. Pull plates 904 that are movably connected to sliding sleeves 903 are provided on both sides of the limiting seat 901 in a staggered manner.

[0061] And a pad 905 that is slidably disposed on one side of the vertical cavity and installed with the sliding sleeve 903, and a hydraulic rod 906 that is installed on one side of the limiting seat 901 for lifting and lowering the push-pull pad 905.

[0062] In this embodiment, by activating the hydraulic rod 902, the limiting seat 901 is pushed upward, causing the limiting seat 901 to deflect at a small angle on the upright plate 701, thereby causing the limiting seat 901 to tilt closer to the car door window.

[0063] The hydraulic rod 906 is activated to lift and pull the pad 905. When the pad 905 moves up and down along the vertical cavity, the pad 905 will drive the sliding sleeve 903 in the vertical cavity to move up and down. Then, the connection of the three sliding sleeves 903 is restricted by two staggered pull plates 904, so that when the pad 905 drives the sliding sleeve 903 in the vertical cavity to move up, the traction of the pull plates 904 will cause the sliding sleeves 903 in the two transverse cavities to move towards each other laterally.

[0064] Conversely, when the pad 905 moves the sliding sleeve 903 in the vertical cavity downward, the pull plate 904 will cause the sliding sleeves 903 in the two transverse cavities to move away from each other.

[0065] Please see Figure 2 , Figure 3 , Figures 8-10 A limiting rod 910 is inserted into the middle of the sliding sleeve 903.

[0066] In practice, when the hydraulic rod 902 pushes the limiting seat 901 to deflect at a small angle, the limiting seat 901 will drive the three sliding sleeves 903 to deflect together. At this time, the limiting rod 910 in the middle of the sliding sleeve 903 will pass through the window of the door component.

[0067] See Figure 2 It can be seen that when the sliding sleeve 903 in the vertical cavity moves down and the sliding sleeves 903 in the two horizontal cavities move away from each other, the two horizontally moving limiting rods 910 will abut against the two corners on the lower side of the car door window. At this time, when grabbing and transferring the car door, the limiting rods 910 can block the two corners on the lower side of the car door window to prevent the car door from swaying and shifting laterally during the transfer. In addition, the limiting rods 910 can also block the bottom wall of the car door window to prevent the car door from bouncing upward due to vibration during the transfer.

[0068] When the sliding sleeve 903 in the vertical cavity moves upward and the sliding sleeves 903 in the two horizontal cavities approach each other, it will cause the two horizontally approaching limiting rods 910 to abut against the bottom wall of the door window, preventing the door from bouncing upward due to vibration during the assembly process with the vehicle. At this time, the vacuum suction cup 501 is used to adhere to the door to prevent the door from shifting laterally during the assembly process with the vehicle.

[0069] Please see Figures 8-11 A double-groove pulley 907 is rotatably connected to the end of the sliding sleeve 903 located in the vertical cavity, and a single-groove pulley 908 is rotatably connected to the end of the sliding sleeve 903 located in the horizontal cavity. A belt 909 is sleeved between the double-groove pulley 907 and the single-groove pulley 908. A drive motor 9051 is installed on the pad 905, and a gear disk 9052 is connected to the output end of the drive motor 9051. A gear ring 9071 that meshes with the gear disk 9052 is fixed on one side of the double-groove pulley 907.

[0070] In this embodiment, the drive motor 9051 on the starting pad 905 drives the gear disk 9052 to rotate. The meshing transmission between the gear disk 9052 and the gear ring 9071 can drive the double groove pulley 907 to rotate in the opposite direction to the gear disk 9052. When the double groove pulley 907 rotates, it will transmit power to the single groove pulley 908 through the belt 909, so that the single groove pulley 908 will also rotate synchronously.

[0071] Please see Figure 10 and Figure 11 The inner walls of the double-groove pulley 907 and the single-groove pulley 908 are provided with spiral grooves 9072; a push-pull rod 9101 slides on one side of the limiting rod 910, and a protrusion 9102 that mates with the spiral groove 9072 is fixed at one end of the push-pull rod 9101.

[0072] In this embodiment, when the gear disc 9052 drives the gear ring 9071 on one side of the double groove pulley 907 to mesh, the gear ring 9071 will drive the double groove pulley 907 to rotate. As a result, the double groove pulley 907 will drive the single groove pulley 908 to rotate synchronously through the belt 909. The rotating double groove pulley 907 and the single groove pulley 908 push and pull the protrusion 9102 through the spiral groove 9072 on the inner wall. Then, the moving protrusion 9102 drives the push-pull rod 9101 to slide linearly on one side of the limiting rod 910.

[0073] Please see Figures 9-12The limiting rod 910 has a groove at one end extending from the sliding sleeve 903, and a sliding groove 9104 and an adjusting groove 9105 are formed in the groove. The adjusting groove 9105 is composed of a straight groove section parallel to the sliding groove 9104 and an arc-shaped groove section with one end of the sliding groove 9104 as the center. A stop block 9103 that is slidably connected to the sliding groove 9104 is also provided in the groove. A protrusion that mates with the adjusting groove 9105 is fixed on the side of the stop block 9103. An inner cavity is formed inside the stop block 9103. The end of the push-pull rod 9101 away from the protrusion 9102 is slidably connected with the inner cavity of the stop block 9103. The limiting rod 910 sleeved in the double groove pulley 907 and the limiting rod 910 sleeved in the single groove pulley 908 are arranged in opposite directions.

[0074] In this embodiment, when the double-groove pulley 907 and the single-groove pulley 908 rotate synchronously, the double-groove pulley 907 and the single-groove pulley 908 will push the protrusion 9102 through the spiral groove 9072 on the inner wall, thereby driving the push-pull rod 9101 to push the inner cavity of the stop block 9103, so that the stop block 9103 slides along the straight groove section of the slide groove 9104 and the adjustment groove 9105. When the stop block 9103 slides to the limit position at one end of the slide groove 9104, the push-pull rod 9101, which continues to move, will push the protrusion on the side of the stop block 9103 to slide along the arc-shaped groove section of the adjustment groove 9105, thereby driving the stop block 9103 to tilt and flip. By using the spiral groove 9072 to limit the push-pull rod 9101, the stop block 9103 that is flipped out from the groove can have a self-locking effect.

[0075] When the limiting rods 910 in the two transverse cavities abut against the two corners of the bottom wall of the door window, the stop block 9103 can be flipped out to lock the inner edge of the bottom wall of the door window. Thus, even if the vacuum suction cup 501 loosens its adhesion to the outer wall of the door, the locking and limiting of the bottom wall of the door window by the stop block 9103 and the locking and limiting of the bottom wall of the door by the support 603 can achieve a stable clamping effect on the transfer of the door, ensuring that the transfer of the door has sufficient safety and anti-fall protection.

[0076] When the door component is moved to the assembly position on the side of the vehicle, the lifting mechanism 6 drives the drive shaft 605 and the dial 604 to reverse, thereby causing the support 603 to deflect downwards and away from the bottom wall of the door, thus creating space for the bottom wall of the door to connect with the lower edge of the vehicle and preventing interference. At the same time, the clamping mechanism 9 drives the pad 905 to move upwards, causing the sliding sleeve 903 in the vertical cavity to move the limiting rod 910 upwards and abut against the top wall of the door window. The two sliding sleeves 903 in the horizontal cavity will cause the two limiting rods 910 to move closer together and abut against the bottom wall of the door window. The stop block 9103, which is flipped out from the three limiting rods 910, provides bidirectional locking and restriction for the door window. The adjusted clamping mechanism 9 can replace the support 603 for the door. With the suction support of the vacuum suction cup 501, the door can be easily connected and assembled with the vehicle, and the door can be prevented from falling during assembly.

Claims

1. A component grabbing type vehicle assembly robot, comprising a base (1), a main machine arm (2) and a secondary machine arm (3) connected in sequence above the base (1), a rotary motor (301) mounted at the front end of the secondary machine arm (3), and a mounting seat (4) connected to the bottom end of the rotary motor (301); characterized in that: a support (401) is mounted on one side of the mounting seat (4), vertical fixing frames (5) are mounted on both sides of the support (401), and vacuum suction cups (501) for negative pressure adsorption of the surface of a vehicle door component are mounted on the upper, middle and lower parts of one side of the fixing frame (5); a lifting mechanism (6) is arranged on one side of the bottom of the support (401) to prevent the falling of the bottom wall of the vehicle door component at the transfer position; a support frame (7) is mounted on the side of the support (401) away from the mounting seat (4), an upright plate (701) is fixed to the support frame (7), a clamping mechanism (9) for preventing the falling of the window of the vehicle door is arranged above the upright plate (701); the lifting mechanism (6) comprises a support frame (601) which can be transversely adjusted in the installation position on one side of the support (401), guide plates (602) are mounted on both sides of the support frame (601), L-shaped guide cavities are formed in the surfaces of the guide plates (602), and a rack (6021) is fixed to the top of the inner wall of the guide cavities; a support seat (603) for buckling the bottom wall of the vehicle door is arranged between the two guide plates (602), fixed shafts (6031) are inserted into the L-shaped guide cavities at both ends of the support seat (603), and clamping teeth (6032) are fixed to one side of the outer edges of the fixed shafts (6031); the clamping mechanism (9) for preventing the falling of the window of the vehicle door comprises: a limiting seat (901) rotatably connected to the top of the upright plate (701), a hydraulic rod two (902) for adjusting the angle of the limiting seat (901) is connected between the upright plate (701) and the limiting seat (901); vertical cavities and horizontal cavities are formed in the upper middle part and both sides of the bottom of the limiting seat (901), and sliding sleeves (903) are slidably connected in the vertical cavities and the horizontal cavities, pull plates (904) movably connected to the sliding sleeves (903) are arranged at both sides of the limiting seat (901); a spacer plate (905) is slidably arranged on one side of the vertical cavities and connected with the sliding sleeves (903), a hydraulic rod three (906) for lifting and lowering the spacer plate (905) is mounted on one side of the limiting seat (901), and a limiting rod (910) is inserted into the middle part of the sliding sleeve (903); a double-groove pulley (907) is rotatably connected to the end of the sliding sleeve (903) on the vertical cavity, a single-groove pulley (908) is rotatably connected to the end of the sliding sleeve (903) on the horizontal cavity, and a belt (909) is sleeved between the double-groove pulley (907) and the single-groove pulley (908). ​ The driving motor (9051) is installed on the base plate (905), the output end of the driving motor (9051) is connected with a gear disc (9052), and the side of the double-groove pulley (907) is fixed with a gear ring (9071) engaged with the gear disc (9052). The inner walls of the double-groove pulley (907) and the single-groove pulley (908) are provided with spiral grooves (9072). The limiting rod (910) is slidably provided with a push-pull rod (9101) on one side, and the push-pull rod (9101) is fixed with a protrusion (9102) that is in butt joint with the spiral groove (9072) on one end.

2. A component pick-and-place vehicle assembly robot according to claim 1, wherein: The other side of the outer edge of the fixed shaft (6031) is symmetrically inserted with a top roller (6033) inside, and the fixed shaft (6031) is connected with the top roller (6033) through the spring (6034) inside.

3. A component pick-and-place robotic machine for vehicle assembly according to claim 1, wherein: The two ends of the fixed shaft (6031) are also fixed with the lock hooks (6035) near the support seat (603). The outer side of the guide plate (602) is provided with a dial (604), the dial (604) is in butt joint with the extension end of the fixed shaft (6031) through the U-shaped dial opening in the edge, and the dial (604) is integrally formed with the barb (6041) near the edge of the U-shaped dial opening.

4. A component pick-and-place vehicle assembly robot according to claim 3, wherein: The middle part of the two guide plates (602) is penetrated by a drive shaft (605) for controlling the rotation of the dial (604), the U-shaped rod (607) is movably connected between the two fixed frames (5), the folding rod (606) that drives the drive shaft (605) to rotate is in butt joint between the drive shaft (605) and the U-shaped rod (607), and the hydraulic rod one (608) that pushes and pulls the U-shaped rod (607) to deflect is movably connected on one side of the fixed frame (5).

5. The component pick-and-place robotic machine of claim 1, wherein: The end of the limiting rod (910) that extends out of the sliding sleeve (903) is provided with a groove, and the groove is provided with a sliding groove (9104) and an adjusting groove (9105) inside, the adjusting groove (9105) is composed of a straight groove section parallel to the sliding groove (9104) and an arc-shaped groove section with the sliding groove (9104) as the center.

6. A component pick-and-place vehicle assembly robot according to claim 5, wherein: The groove is also provided with a stop block (9103) that is in sliding connection with the sliding groove (9104), the side surface of the stop block (9103) is fixed with a protrusion that is in butt joint with the adjusting groove (9105), and the inner cavity of the stop block (9103) is provided with an inner cavity.

7. A component pick-and-place robotic machine for vehicle assembly according to claim 1, wherein: The visual positioning assembly (8) is installed on one side of the mounting seat (4) close to the support (401).

Images