Mechanical arm for automobile part machining

Abstract

The invention discloses a mechanical arm for machining automobile parts, comprising: a fixed base, the upper end face of which is rotatably connected with a rotary support; the main arm is rotationally assembled on the rotating support, a large arm servo motor is installed on the rotating support, and the output end of the large arm servo motor is in connection transmission with the main arm through a speed reducer; one end of the small arm is rotationally connected with the upper end of the main arm, and the main arm is provided with a front-end servo motor used for driving the small arm; the wrist joint arm is rotationally assembled at the other end of the small arm; the rack is fixedly assembled on the wrist joint arm; the loading, turning and pressing unit is mounted on the rack; the loading and turning-pressing unit is assembled on the wrist joint arm of the mechanical arm through the rack, automobile parts can be clamped and positioned, extending and flanging can be conducted on the automobile parts, tools do not need to be replaced or stations do not need to be transferred, the action process is greatly simplified, and the operation efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically a robotic arm for processing automotive parts. Background Technology

[0002] In the automotive manufacturing industry, especially in the body welding and final assembly stages, edge processing of parts (such as flanging, hemming, and roll forming) is a key process to ensure the structural strength, appearance quality, and assembly accuracy of the vehicle body. In traditional automated production lines, robotic arms usually only play the role of "material handling," with a single function. After the robotic arm transfers the automotive parts to the roll forming station, the edges of the parts need to be rolled multiple times by the roll forming robotic arm, or the edges need to be hemmed by a dedicated roll forming equipment. This results in process separation, large equipment investment, and for new materials such as aluminum alloys and high-strength steel, traditional one-time large-angle roll forming is very easy to cause material cracking (tensile side) or wrinkling, and the springback after forming is difficult to control, resulting in a low product qualification rate. Summary of the Invention

[0003] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm for processing automotive parts, comprising:

[0004] A fixed base, with a rotating support rotatably connected to its upper end face;

[0005] The main boom is rotatably mounted on a rotating support, on which a boom servo motor is installed. The output end of the boom servo motor is connected to the main boom for transmission through a reducer.

[0006] The forearm has one end rotatably connected to the upper end of the main arm, and the main arm is equipped with a front-end servo motor for driving the forearm.

[0007] The wrist joint arm is rotatably assembled at the other end of the forearm;

[0008] The frame is fixedly mounted on the wrist joint arm;

[0009] The loading and turning unit is installed on the frame.

[0010] Furthermore, as a preferred embodiment, a reference plate is fixed to one end face of the frame, and a plurality of first slide rails are fixed in parallel on the reference plate, with a connecting plate slidably connected to each of the first slide rails;

[0011] A fixing plate is arranged parallel to the side of the reference plate away from the frame. A second slide rail is symmetrically and vertically arranged on the fixing plate. A slider corresponding to the second slide rail is fixed on each of the connecting plates. The slider is slidably connected to the second slide rail.

[0012] Furthermore, preferably, there are multiple loading and turning units arranged in an array, and a bracket is fixed on the fixing plate, with each loading and turning unit rotatably connected to the bracket.

[0013] Each loading and turning unit is rotatably connected to a telescopic cylinder on one side of the fixed plate, and the other end of the telescopic cylinder is hinged to the loading and turning unit.

[0014] Furthermore, as a preferred embodiment, the loading and overloading unit includes:

[0015] The steel frame plate has vertical mounting holes at both its top and bottom ends;

[0016] There are two clamping shafts, one above the other, and each clamping shaft is slidably connected in the mounting hole.

[0017] A sleeve shaft is coaxially fixed to the opposite ends of two clamping shafts, and a protrusion is fixed to the other end of each clamping shaft;

[0018] There are two pressure bars, one above the other, with one end of each pressure bar rotatably connected to the steel frame plate.

[0019] Two hydraulic telescopic cylinders are symmetrically fixed to the steel frame plate. Each hydraulic telescopic cylinder has a connecting plate fixed to its other end. A guide frame is rotatably connected to the connecting plate, and the other end of the guide frame is rotatably connected to the pressure rod.

[0020] Furthermore, as a preferred embodiment, each clamping shaft is fitted with a support spring, and one end of the support spring is connected to the steel frame plate.

[0021] Furthermore, as a preferred embodiment, the two hydraulic telescopic cylinders are independently driven and controlled.

[0022] Furthermore, as a preferred embodiment, the clamping shaft is configured as a two-section structure, one section being an extended shaft and the other section being a steel shaft, with one end of the steel shaft slidably connected inside the extended shaft;

[0023] The extended shaft has multiple elastic support shafts distributed around its inner circumference, and the other end of each elastic support shaft is connected to the steel shaft.

[0024] The extended shaft is fixed with an excitation shaft.

[0025] Furthermore, as a preferred embodiment, the end of the steel shaft is provided with a vibration terminal corresponding to the excitation shaft below the extension shaft. When the steel shaft slides into the extension shaft to a set position, the vibration terminal contacts the excitation shaft, and the excitation shaft provides vibration.

[0026] Furthermore, as a preferred embodiment, a steel sleeve is slidably connected inside the extended shaft, and the steel sleeve has multiple fixing holes corresponding to the spring support shafts, with each spring support shaft slidably connected to a fixing hole.

[0027] Furthermore, as a preferred embodiment, a guide rod is slidably connected inside the extended shaft above the spring support shaft, the lower end of the guide rod is connected to the steel sleeve, and a screw is rotatably connected inside the extended shaft, the lower end of the screw being threadedly slidably connected to the guide rod.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] In this invention, the wrist joint of the robotic arm is equipped with loading and flipping units via a frame. Multiple loading and flipping units can clamp and position automotive parts using symmetrically distributed clamping shafts. The clamping position of the clamping shafts can be flexibly adjusted according to the shape and size of the parts to achieve the assembly of automotive parts. On the other hand, the loading and flipping units can also extend and flip the automotive parts before or after assembly so that the extended and flipped automotive parts reach the initial shape before the rolling operation, thereby ensuring that the automotive parts will not have forming defects such as wrinkling, cracking or excessive springback during subsequent rolling. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 This is a schematic diagram of the assembly structure of the fixing plate in this invention;

[0032] Figure 3 This is a schematic diagram of the telescopic cylinder in this invention;

[0033] Figure 4 This is a schematic diagram of the structure of the loading and unloading unit in this invention;

[0034] Figure 5 This is a cross-sectional view of the internal structure of the clamping shaft in this invention;

[0035] In the diagram: 1. Fixed base; 11. Rotary support; 12. Main arm; 13. Forearm; 14. Front servo motor; 2. Frame; 21. Base plate; 22. Connecting plate; 23. Fixing plate; 24. Second slide rail; 25. Bracket; 26. Telescopic cylinder; 3. Loading and flipping unit; 31. Steel frame plate; 32. Sleeve shaft; 33. Protrusion; 34. Pressure rod; 35. Hydraulic telescopic cylinder; 36. Connecting plate; 37. Guide frame; 38. Support spring; 4. Clamping shaft; 41. Extended shaft; 42. Steel shaft; 43. Spring support shaft; 44. Vibration shaft; 45. Vibration terminal; 46. Steel sleeve; 47. Guide rod; 48. Screw. Detailed Implementation

[0036] Please see Figures 1-5 In this embodiment of the invention, a robotic arm for processing automotive parts includes:

[0037] A fixed base 1 has a rotating support 11 rotatably connected to its upper end face;

[0038] The main boom 12 is rotatably mounted on the rotating support 11. The rotating support 11 is equipped with a boom servo motor. The output end of the boom servo motor is connected to the main boom 12 for transmission through a reducer. The reducer is a precision planetary reducer.

[0039] Forearm 13, one end of which is rotatably connected to the upper end of main arm 12, and a front-end servo motor 14 for driving the forearm is installed on the main arm 12.

[0040] The wrist joint arm is rotatably assembled at the other end of the forearm 13, wherein the interior of the forearm 13 is hollow and a wrist servo motor and a precision reducer are installed inside.

[0041] The frame 2 is fixedly assembled on the wrist joint arm. The frame 2 is integrally cast from high-strength aluminum alloy or carbon fiber composite material. Its connection surface with the wrist joint arm is provided with positioning pin holes and end face keyways.

[0042] The loading and pressing unit 3 is installed on the frame 2. The loading and pressing unit 3 can both clamp and transfer automotive parts, and also extend and flip the edges of the automotive parts, pre-bending the material to an intermediate state (relieving some stress and activating material flowability). This allows the automotive parts to achieve a pre-forming effect before the subsequent rolling process, and then undergo final rolling. This step-by-step loading method effectively suppresses cracking and wrinkling, reduces springback, and significantly improves the forming quality and process stability of new materials.

[0043] In this embodiment, a reference plate 21 is fixed on one side end face of the frame 2, and a plurality of first slide rails are fixed in parallel on the reference plate 21, and a connecting plate 22 is slidably connected to each of the first slide rails.

[0044] A fixed plate 23 is arranged parallel to the side of the reference plate 21 away from the frame 2. A second slide rail 24 is symmetrically and vertically arranged on the fixed plate 23. A slider corresponding to the second slide rail 24 is fixed on each of the connecting plates 22. The slider is slidably connected to the second slide rail 24. A vertical propulsion cylinder and a horizontal propulsion cylinder are arranged between the reference plate 21 and the fixed plate 23. The two cylinders can respectively realize the spatial positioning fine adjustment of the fixed plate 23 under the extension and retraction drive, thereby effectively adjusting the installation position of the loading and flipping unit 3 on the fixed plate 23 relative to the wrist joint arm.

[0045] In a preferred embodiment, there are multiple loading and flipping units 3 arranged in an array, and a bracket 25 is fixed on the fixing plate 23. Each loading and flipping unit 3 is rotatably connected to the bracket 25.

[0046] Each loading and turning unit 3 is rotatably connected to a telescopic cylinder 26 on one side of the fixed plate 23. The other end of the telescopic cylinder 26 is hinged to the loading and turning unit 3. This allows for simultaneous turning operations in the same direction by the wrist joint arm controlling multiple loading and turning units 3 during the extension and turning process. Simultaneously, each loading and turning unit 3 can also perform its own independent turning operation using the telescopic adjustment of the telescopic cylinder 26. This enables turning of irregular shapes, breaking down the originally concentrated large deformation into two or more smaller deformations. First, the turning unit performs the extension and turning (e.g., turning from 0° to 45° or 60°), and then subsequent... The rolling unit performs finishing (from 60° to 90° or wrapping); automotive parts (such as fenders, wheel arches, and door corners) often have complex spatial curved surfaces. Traditional single-flanging tools are difficult to maintain constant pressure and angle under continuously changing curvature. Each of the rolling units 3 loaded in this robotic arm can move and adjust independently to apply differentiated pressure, achieving high-quality flanging on irregularly shaped parts. This solves the forming defects such as wrinkling, cracking, or excessive springback caused by single rolling operations in the traditional rolling process of automotive parts. The springback will be greatly reduced, and the forming accuracy will be higher. It is especially suitable for materials such as high-strength steel (high springback) and aluminum alloy (poor ductility and easy to crack).

[0047] In this embodiment, the loading and turning unit 3 includes:

[0048] The steel frame plate 31 has vertical mounting holes at both its top and bottom ends;

[0049] There are two clamping shafts 4, one above the other, and each clamping shaft 4 is slidably connected in the mounting hole;

[0050] A sleeve 32 is coaxially fixed to the opposite ends of two clamping shafts 4, and a protrusion 33 is fixed to the other end of each clamping shaft 4;

[0051] There are two pressure rods 34, one at the top and one at the bottom. One end of each pressure rod 34 is rotatably connected to the steel frame plate 31. The outer wall of the pressure rod 34 can abut against the protrusion 33.

[0052] Two hydraulic telescopic cylinders 35 are symmetrically fixed to the steel frame plate 31. Each hydraulic telescopic cylinder 35 has a connecting plate 36 fixed to its other end. A guide frame 37 is rotatably connected to the connecting plate 36. The other end of the guide frame 37 is rotatably connected to the pressure rod 34. Specifically, the two hydraulic telescopic cylinders 35 can pull the pressure rod 34 to deflect under telescopic adjustment. When the pressure rod 34 contacts the protrusion 33, it pushes the clamping shaft 4 to the other side, thereby realizing the opposing sliding of the two clamping shafts 4. The distance between the clamping shafts 4 is reduced and the sleeve shaft 32 contacts the automotive parts to form a clamping effect.

[0053] In this embodiment, each clamping shaft 4 is fitted with a support spring 38. One end of the support spring 38 is connected to the steel frame plate 31. The support spring 38 can use its elastic force to press each clamping shaft 4 in opposite directions so that the two clamping shafts 4 can maintain the maximum distance without external force.

[0054] In this embodiment, the two hydraulic telescopic cylinders 35 are driven and controlled independently. That is to say, the two clamping shafts 4 do not slide with the same displacement during operation. Thus, their clamping points with the automotive parts are either in the middle or relatively above (below). In this way, the multiple loading and flipping units 3 can be adjusted according to the specific external shape of the automotive parts, ensuring flexible contact and clamping with the automotive parts.

[0055] In a preferred embodiment, the clamping shaft 4 is configured as a two-section structure, one section being an extended shaft 41 and the other section being a steel shaft 42. One end of the steel shaft 42 is slidably connected inside the extended shaft 41. One end of the support spring 38 is connected to the extended shaft 41. When the pressure rod 34 deflects, it can push the extended shaft 41 to slide through the protrusion 3, at which time the support spring 38 is gradually compressed.

[0056] The extended shaft 41 has multiple elastic support shafts 43 distributed around its inner circumference, and the other end of each elastic support shaft 43 is connected to the steel shaft 42; wherein, the elastic support shaft 43 is made of metal spring steel, which has a certain yield strength and elastic limit, and can return to its original shape after repeated bending or torsional deformation without plastic deformation;

[0057] The extended shaft 41 is fixed with an excitation shaft 44.

[0058] In this embodiment, the end of the steel shaft 42 is provided with a vibration terminal 45 corresponding to the excitation shaft 44 below the extension shaft 41. When the steel shaft 42 slides into the extension shaft 41 to a set position, the vibration terminal 45 contacts the excitation shaft 44, and the excitation shaft 44 provides vibration. Specifically, in the clamping and transfer of automotive parts, the two clamping shafts 4 can make constant pressure contact with the outer wall of the automotive parts. The contact pressure is small, the spring support shaft 43 does not undergo elastic deformation, and the excitation shaft 44 does not contact the vibration terminal 45.

[0059] During the flanging process, the two hydraulic telescopic cylinders 35 further apply hydraulic pressure. At this time, the steel shaft 42 maintains contact with the surface of the automotive parts, while the spring support shaft 43 undergoes an arc-shaped bending elastic deformation. The distance between the extension shaft 41 and the steel shaft 42 is shortened until the excitation shaft 44 contacts the vibration terminal 45. When they contact, the vibration terminal 45 vibrates, and the vibration is then transmitted to the automotive parts by the steel shaft 42. This high-frequency vibration (especially in the ultrasonic band) makes it easier for the metal material to deform under the action of vibration energy, achieving stress uniformity and less springback. It can also effectively suppress the initiation of microcracks and improve the forming limit of the material.

[0060] It should be noted that the excitation shaft 44 in the two extended shafts 41 are complementary and will not cause conflict (destructive interference) during operation.

[0061] In this embodiment, a steel sleeve 46 is slidably connected inside the extended shaft 41. The steel sleeve 46 has multiple fixing holes corresponding to the spring support shaft 43, and each spring support shaft 43 is slidably connected to the fixing hole.

[0062] In this embodiment, a guide rod 47 is slidably connected inside the extended shaft 41 above the spring support shaft 43. The lower end of the guide rod 47 is connected to the steel sleeve 46, and a screw 48 is rotatably connected inside the extended shaft 41. The lower end of the screw 48 is threadedly slidably connected to the guide rod 47. When the steel sleeve 46 is in the middle position of the spring support shaft 43, the fixing hole on the steel sleeve 46 can form a deformation limiting effect on the spring support shaft 43, effectively preventing the spring support shaft 43 from undergoing arc bending deformation. Therefore, during clamping and transfer, the screw 48 is used to rotate and drive the steel sleeve 46 to move to the middle of the spring support shaft 43, thereby locking the spring support shaft 43. At this time, the extended shaft 41 and the steel shaft 42 can be regarded as a rigid whole. During the flanging operation, the steel sleeve 46 is adjusted to the upper end of the spring support shaft 43 so that the spring support shaft 43 can be freely bent and deformed under high pressure.

[0063] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robotic arm for processing automotive parts, characterized in that, It includes: A fixed base (1) has a rotating support (11) rotatably connected to its upper end face; The main arm (12) is rotatably mounted on a rotating support (11), and a servo motor for the main arm is installed on the rotating support (11). The output end of the servo motor for the main arm is connected to the main arm (12) for transmission through a reducer. The forearm (13) has one end rotatably connected to the upper end of the main arm (12), and the main arm (12) is equipped with a front-end servo motor (14) for driving the forearm. The wrist joint arm is rotatably assembled at the other end of the forearm (13); The frame (2) is fixedly mounted on the wrist joint arm; Load the flipping unit (3) and install it on the frame (2).

2. The robotic arm for processing automotive parts according to claim 1, characterized in that: A reference plate (21) is fixed on one side end face of the frame (2), and a plurality of first slide rails are fixed in parallel on the reference plate (21), and a connecting plate (22) is slidably connected to each of the first slide rails. A fixing plate (23) is arranged parallel to the side of the reference plate (21) away from the frame (2). A second slide rail (24) is symmetrically and vertically arranged on the fixing plate (23). A slider corresponding to the second slide rail (24) is fixed on each of the connecting plates (22). The slider is slidably connected to the second slide rail (24).

3. The robotic arm for processing automotive parts according to claim 2, characterized in that: The loading and turning units (3) are arranged in multiple ways. A bracket (25) is fixed on the fixing plate (23). Each loading and turning unit (3) is rotatably connected to the bracket (25). On the fixed plate (23), a telescopic cylinder (26) is rotatably connected to one side of each loading and turning unit (3), and the other end of the telescopic cylinder (26) is hinged to the loading and turning unit (3).

4. The robotic arm for processing automotive parts according to claim 1, characterized in that, The loading and turning unit (3) includes: The steel frame plate (31) has vertical mounting holes at both its top and bottom ends; There are two clamping shafts (4) arranged vertically, and each clamping shaft (4) is slidably connected in the mounting hole; A sleeve shaft (32) is coaxially fixed to the opposite ends of two clamping shafts (4), and a protrusion (33) is fixed to the other end of each clamping shaft (4). There are two pressure rods (34) arranged vertically, and one end of each pressure rod (34) is rotatably connected to the steel frame plate (31); Two hydraulic telescopic cylinders (35) are set up and fixed symmetrically on the steel frame plate (31). The other end of each hydraulic telescopic cylinder (35) is fixed with a connecting plate (36). A guide frame (37) is rotatably connected to the connecting plate (36). The other end of the guide frame (37) is rotatably connected to the pressure rod (34).

5. The robotic arm for processing automotive parts according to claim 4, characterized in that: Each clamping shaft (4) is fitted with a support spring (38), and one end of the support spring (38) is connected to the steel frame plate (31).

6. The robotic arm for processing automotive parts according to claim 4, characterized in that: The two hydraulic telescopic cylinders (35) are independently driven and controlled.

7. The robotic arm for processing automotive parts according to claim 4, characterized in that: The clamping shaft (4) is configured as a two-section structure, one section being an extended shaft (41) and the other section being a steel shaft (42), with one end of the steel shaft (42) slidably connected inside the extended shaft (41); The extended shaft (41) has multiple elastic support shafts (43) distributed around its inner circumference, and the other end of each elastic support shaft (43) is connected to the steel shaft (42). The extended shaft (41) is fixed with an excitation shaft (44).

8. The robotic arm for processing automotive parts according to claim 7, characterized in that: The end of the steel shaft (42) is provided with a vibration terminal (45) corresponding to the excitation shaft (44) below the extension shaft (41). When the steel shaft (42) slides into the extension shaft (41) to a set position, the vibration terminal (45) contacts the excitation shaft (44) and the excitation shaft (44) provides vibration.

9. A robotic arm for processing automotive parts according to claim 7, characterized in that: A steel sleeve (46) is slidably connected inside the extended shaft (41). The steel sleeve (46) has multiple fixing holes corresponding to the spring support shaft (43). Each spring support shaft (43) is slidably connected to the fixing hole.

10. A robotic arm for processing automotive parts according to claim 9, characterized in that: Inside the extended shaft (41), above the spring support shaft (43), a guide rod (47) is slidably connected. The lower end of the guide rod (47) is connected to the steel sleeve (46). Inside the extended shaft (41), a screw (48) is rotatably connected. The lower end of the screw (48) is threadedly slidably connected to the guide rod (47).

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