Feeding robot for automatic machining of automobile parts

Abstract

The invention relates to the field of robots, in particular to a feeding robot for automatic machining of automobile parts. The mechanical arm comprises a base, a mechanical arm movement body arranged on the base, a connecting piece arranged at the tail end of the mechanical arm movement body and a feeding mechanism arranged on the connecting piece. The feeding mechanism comprises a mounting frame arranged on the connecting piece, two clamping jaws rotationally arranged on the mounting frame and a suction cup box arranged on the mounting frame in a sliding mode, a plurality of suction cups are arranged on the working face of the bottom of the suction cup box, and when the suction cup box is away from the clamping jaws, the two clamping jaws clamp parts for feeding. And after the suction cup box moves to the position between the two opened clamping jaws, the suction cup box adsorbs the parts for feeding. The four feeding modes can be flexibly switched, the whole feeding mechanism does not need to be switched, the feeding efficiency is higher, the situation that a new feeding mechanism is not installed in place does not exist, the risk that the feeding mechanism falls off does not exist, and the feeding mechanism is safer.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a loading robot for automated processing of automotive parts. Background Technology

[0002] With the development of automation, highly automated and intelligent manufacturing equipment and technologies can now complete a series of production processes such as automated processing, inspection, handling, and assembly of various automotive parts with minimal or no direct human intervention. Automated processing of automotive parts cannot function without loading robots. By deploying loading robots at necessary material transfer points, the automatic and precise transfer of automotive parts can be successfully completed.

[0003] Currently, there are three main material transfer structures for loading robots: grippers, suction cups, and internal support structures. A single loading robot can only adapt to one gripping method at a time. To improve material adaptability, some loading robots are equipped with tool racks, which allow for different transfer methods by switching between different transfer tools, thus adapting to different automotive parts. However, tool transfer takes time, and manual tool switching takes even longer, affecting loading efficiency, especially when automotive parts are frequently switched. Furthermore, tool switching involves the process of locating and removing the original tool and locating and installing the new tool, which can lead to positioning errors that prevent the tool from switching smoothly, or even the risk of the tool falling off during operation due to improper installation. Summary of the Invention

[0004] The purpose of this invention is to address the safety risks and reduced loading efficiency associated with switching loading tools in the prior art, and to propose a loading robot for automated processing of automotive parts.

[0005] The technical solution of the present invention: a loading robot for automatic processing of automotive parts, comprising a base, a robotic arm moving body disposed on the base, a connector disposed at the end of the robotic arm moving body, and a loading mechanism disposed on the connector; the loading mechanism includes a mounting frame disposed on the connector, two grippers rotatably disposed on the mounting frame, and a suction cup box slidably disposed on the mounting frame, wherein multiple suction cups are disposed on the bottom working surface of the suction cup box; when the suction cup box moves away from the grippers, it clamps the parts for loading by the two grippers; when the suction cup box moves between the two open grippers, it adsorbs the parts for loading by the suction cup box.

[0006] Preferably, the suction cup box has an upwardly movable inner support plate a at the top, and inner support plates b are provided on the outer sides of both grippers. The inner support plate a and the two inner support plates b form a three-point support in the inner cavity of the component, thereby lifting the automotive component by means of inner support.

[0007] Preferably, strain gauges are provided on the outer surface of the inner support plate a, and a wiring groove is provided on the inner support plate a for the strain gauge wiring to pass through.

[0008] Preferably, a support rod is rotatably installed inside the suction cup box, and a connecting rod is installed on the support rod. The end of the connecting rod is rotatably connected to the inner support plate a, and a clearance groove is provided on the top of the suction cup box for the connecting rod to pass through.

[0009] Preferably, a power device is installed inside the suction cup box, which drives the support rod to rotate, and a spring is installed between the connecting rod and the inner wall of the suction cup box.

[0010] Preferably, it also includes a telescopic device; the middle part of the gripper is rotatably connected to the front end of the mounting frame via a pin, and the telescopic rod of the telescopic device and the other end are respectively rotatably connected to the rear ends of the two grippers.

[0011] Preferably, a lifting frame is provided on the suction cup box, and a lifting device is provided on the mounting frame, with the telescopic end of the lifting device connected to the lifting frame.

[0012] Preferably, the suction cup box is equipped with multiple vacuum generators, the suction ports of the vacuum generators are connected to the suction cups, and the top of the rear end of the suction cup box is provided with an air pipe clearance groove.

[0013] Compared with the prior art, the present invention has the following beneficial technical effects: it can flexibly switch between four feeding methods, and the switching method is very simple and quick. It does not require switching the entire feeding mechanism, and the feeding efficiency is higher, especially in scenarios where different automotive parts need to be frequently replaced. In addition, since it does not require switching the entire feeding mechanism, there is no situation where the new feeding mechanism is not installed properly, and there is no risk of the feeding mechanism falling off, which is safer. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of one embodiment of the present invention; Figure 2 for Figure 1 A schematic diagram of the structure after removing the robotic arm's main body and base; Figure 3 for Figure 2 A structural diagram from another perspective; Figure 4 for Figure 2 Partial structural diagram; Figure 5 This is a schematic diagram of the internal structure of the suction cup box; Figure 6 A schematic diagram of the components required for the movement of the inner support plate a; Reference numerals: 1. Main body of the robotic arm; 2. Connector; 3. Base; 4. Feeding mechanism; 5. Mounting frame; 6. Gripper; 7. Telescopic device; 8. Pin; 9. Clamping plate; 10. Suction cup box; 11. Lifting frame; 12. Cylinder; 13. Guide rod; 14. Lifting device; 15. Suction cup; 16. Vacuum generator; 17. Air pipe clearance groove; 18. Power unit; 19. Support rod; 20. Connecting rod; 21. Spring; 22. Inner support plate a; 23. Rotating rod; 24. Strain gauge; 25. Cable tray; 26. Inner support plate b. Detailed Implementation

[0015] Example 1; as Figures 1-3As shown, this invention proposes a loading robot for automated processing of automotive parts, comprising a base 3, a robotic arm motion body 1 mounted on the base 3, a connector 2 mounted at the end of the robotic arm motion body 1, and a loading mechanism 4 mounted on the connector 2. The loading mechanism 4 is used to lift automotive parts, and the robotic arm motion body 1 changes position and angle to complete the transfer of automotive parts. The robotic arm motion body 1 is the execution unit that performs the main spatial movements of the robot, directly determining the robot's working range and flexibility. It typically contains multiple independent motion joints, and through the coordinated movement of these joints, precise machining can be achieved. The robot accurately and stably moves the end-effector loading mechanism 4 to the material picking position, intermediate path points, and final target workstation. Its core function is to achieve multi-degree-of-freedom positioning and attitude adjustment of the end-effector within the predetermined workspace to complete complex trajectory movements. The connector 2 is a key mechanical adaptation and force transmission component. Its main function is to realize the physical connection, power transmission, and signal transmission from the robot arm to the loading mechanism 4. It needs to have sufficient strength to support the weight and motion load of the loading mechanism 4 and the workpiece. The base 3 is the basic support and fixing structure of the entire loading robot. It provides a solid and stable support for the robot arm moving body 1 at the top. A fixed mounting platform ensures sufficient rigidity and precision for the entire mechanical system during operation, preventing vibration or deformation from affecting positioning accuracy. The base is typically designed with an interface for secure connection to the workshop floor or a specific equipment platform, serving as the load-bearing core and positional reference for the entire robot system. The loading mechanism 4 includes a mounting frame 5 mounted on the connector 2, two grippers 6 rotatably mounted on the mounting frame 5, and a suction cup box 10 slidably mounted on the mounting frame 5. Multiple suction cups 15 are mounted on the bottom working surface of the suction cup box 10. When the suction cup box 10 moves away from the grippers 6, it uses the two grippers 6 to clamp the parts for loading. When the suction cup box 10 moves to the desired position... After the two grippers 6 are opened, the parts are picked up by the suction cup box 10 for loading, thereby realizing the switching of loading methods. The gripping method is suitable for parts with two or more relatively parallel surfaces that can be gripped, with good structural rigidity, large mass, or parts that cannot provide an effective suction surface, such as connecting rods, crankshafts, camshafts, pulleys, brake discs, steering knuckles, control arms, brackets, supports, etc. The suction method is suitable for parts with a relatively large, flat, smooth, hole-free, and leak-free single surface, with light mass, or parts that are sensitive to clamping force and easily deformed, such as car door inner and outer panels, engine hood, trunk lid, roof, fenders, etc.

[0016] Example 2; as Figures 5-6As shown, this invention proposes a loading robot for automated processing of automotive parts. Compared to Embodiment 1, this embodiment details the structure of the loading method using internal supports. Specifically, the suction cup box 10 has an upwardly movable internal support plate a22 at its top, and internal support plates b26 are provided on the outer sides of both grippers 6. The internal support plate a22 and the two internal support plates b26 form a three-point support within the part's inner cavity, thereby lifting the automotive part through internal support. The internal support is suitable for a hollow cylindrical, conical, or square inner cavity or hole, and the surface of the inner cavity is a continuous surface that can provide support. However, external shapes that are complex or irregular are not suitable for external gripping, such as various... For various housings, such as motor housings, gearbox housings, and clutch housings, it is important to note that during the loading of the inner support, the two grippers 6 need to retract close to each other, and the suction cup box 10 should be inserted between the two grippers 6. The distance between the outer sides of the two grippers 6 should be less than the diameter of the inner cavity of the part to ensure that the front end of the gripper 6 can be inserted into the inner cavity of the part. After insertion, the inner support plate a22 moves outward and abuts against the inner wall of the inner cavity of the part. The inner support plate a22 continues to move until the two inner support plates b26 are also completely abutting against the inner wall of the part. This process requires the robot arm moving body 1 to cooperate in driving the mounting frame 5 to move appropriately to adjust the position of the two grippers 6.

[0017] Furthermore, strain gauges 24 are provided on the outer surface of the inner support plate a22, and wiring grooves 25 are provided on the inner support plate a22 for the supply of the strain gauge 24 wiring. When feeding material using the inner support method, the strain gauge 24 contacts the inner wall of the component. The movement of the inner support plate a22 is controlled by the data transmission connection with the control system until the strain gauge 24 value reaches the set range, at which point the inner support plate a22 stops moving.

[0018] Furthermore, a support rod 19 is rotatably mounted inside the suction cup box 10, and a connecting rod 20 is mounted on the support rod 19. The end of the connecting rod 20 is rotatably connected to the inner support plate a22. A clearance groove is provided on the top of the suction cup box 10 for the connecting rod 20 to pass through. A power device 18 is installed inside the suction cup box 10. The power device 18 drives the support rod 19 to rotate. The power device 18 is a conventional motor and reducer structure, that is, the output end of the motor is connected to the input end of the reducer, and the output end of the reducer is connected to the support rod 19. A spring 21 is provided between the connecting rod 20 and the inner wall of the suction cup box 10 for reset, ensuring that the inner support plate a22 can press against the top of the suction cup box 10 in a natural state. In an optional embodiment, a rotating rod 23 is rotatably mounted at the bottom of the inner support plate a22, and the rotating rod 23 is connected to the top of the connecting rod 20.

[0019] Example 3; as Figures 2-5As shown, this invention proposes a loading robot for automatic processing of automotive parts. Compared with Embodiment 1, this embodiment details the relevant structure of the gripper 6 and the lifting structure of the suction cup box 10. Specifically, the middle part of the gripper 6 is rotatably connected to the front end of the mounting frame 5 via a pin 8. The telescopic rod and the other end of the telescopic device 7 are rotatably connected to the rear ends of the two grippers 6 respectively. The telescopic device 7 is a cylinder or a hydraulic cylinder. When the telescopic device 7 extends, the gripper 6 rotates around the pin 8, and the two grippers 6 clamp the automotive parts. In an optional embodiment, a clamping plate 9 is provided on the inner side of the front end of each of the two grippers 6. The clamping plate 9 is an elastic plate, which can provide a certain degree of protection for the automotive parts.

[0020] A lifting frame 11 is provided on the suction cup box 10, and a lifting device 14 is provided on the mounting frame 5. The telescopic end of the lifting device 14 is connected to the lifting frame 11. The lifting frame 11 can be moved by the telescopic movement of the lifting device 14. The lifting device 14 is a cylinder, hydraulic cylinder or electric push rod. In order to improve the stability of the movement of the suction cup box 10, two cylinders 12 are provided on the mounting frame 5, and two guide rods 13 are provided on the lifting frame 11. The ends of the guide rods 13 are inserted into the cylinders 12.

[0021] Furthermore, multiple vacuum generators 16 are installed inside the suction cup box 10. The suction port of the vacuum generator 16 is connected to the suction cup 15. An air pipe clearance groove 17 is provided at the top rear end of the suction cup box 10. Inside the vacuum generator 16, there is a key Venturi tube structure, which is a cavity that first contracts and then expands. High-pressure compressed air from the factory air source enters from the air supply port of the vacuum generator 16. When the compressed air flows through the narrow throat of the Venturi tube, the airflow speed is rapidly accelerated. According to Bernoulli's law, the faster the flow rate, the lower the static pressure at that point. This high-speed airflow generates a strong pressure drop in the expansion cavity behind the throat, forming a low-pressure area or vacuum state. This low-pressure area continuously draws gas from the outside through a special interface, namely the suction port, thereby quickly establishing a vacuum in the sealed cavity between the suction cup 15 and the workpiece being gripped, completing the adsorption.

[0022] This invention allows for flexible switching between four feeding methods during use. The four feeding methods are as follows: 1. Clamping and feeding: The lifting device 14 extends to move the lifting frame 11, and the lifting frame 11 moves the suction cup box 10 away from the gripper 6. The car parts are clamped and moved by the two grippers 6. 2. Clamping and suction feeding: Based on clamping feeding, the automotive parts are clamped by suction cup 15 to achieve double fixation; 3. Adsorption and loading: The telescopic device 7 retracts, causing the two grippers 6 to open to their maximum angle. Then the lifting device 14 retracts, and the suction cup box 10 is inserted between the two grippers 6. The suction cup 15 is used to adsorb and transfer the car parts. 4. Internal support loading: The suction cup box 10 is inserted between the two grippers 6, and then a part of the front end of the gripper 6 is inserted into the inner cavity of the part. The power unit 18 is started to push the inner support plate a22 to unfold. At the same time, the entire loading mechanism 4 moves downward. The inner support plate a22 and the two inner support plates b26 form a three-point support in the inner cavity of the part, thereby lifting the part for transfer loading.

[0023] In summary, the present invention can flexibly switch between four feeding methods, and the switching method is very simple and quick. It does not require switching the entire feeding mechanism 4, resulting in higher feeding efficiency, especially in scenarios where different automotive parts need to be frequently replaced. In addition, since it does not require switching the entire feeding mechanism 4, there is no possibility of the new feeding mechanism 4 not being installed properly, and there is no risk of the feeding mechanism 4 falling off, making it safer.

[0024] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A loading robot for automated processing of automotive parts, comprising a base (3), a robotic arm moving body (1) mounted on the base (3), a connector (2) mounted at the end of the robotic arm moving body (1), and a loading mechanism (4) mounted on the connector (2); characterized in that, The feeding mechanism (4) includes a mounting bracket (5) set on the connector (2), two grippers (6) rotatably set on the mounting bracket (5), and a suction cup box (10) slidably set on the mounting bracket (5). Multiple suction cups (15) are set on the bottom working surface of the suction cup box (10). When the suction cup box (10) moves away from the grippers (6), it clamps the parts with the two grippers (6) for feeding. After the suction cup box (10) moves between the two open grippers (6), it adsorbs the parts with the suction cup box (10) for feeding.

2. The loading robot for automated processing of automotive parts according to claim 1, characterized in that, The suction cup box (10) is provided with an upwardly movable inner support plate a (22) on the top, and an inner support plate b (26) is provided on the outer side of the two grippers (6). The inner support plate a (22) and the two inner support plates b (26) form a three-point support in the inner cavity of the component, thereby lifting the automotive component by means of inner support.

3. The loading robot for automated processing of automotive parts according to claim 2, characterized in that, Strain gauges (24) are provided on the outer surface of the inner support plate a (22), and a wiring groove (25) is provided on the inner support plate a (22) for the supply of the strain gauge (24) wiring.

4. The loading robot for automated processing of automotive parts according to claim 2, characterized in that, A support rod (19) is rotatably installed inside the suction cup box (10), and a connecting rod (20) is installed on the support rod (19). The end of the connecting rod (20) is rotatably connected to the inner support plate a (22). A clearance groove is provided on the top of the suction cup box (10) for the connecting rod (20) to pass through.

5. The loading robot for automated processing of automotive parts according to claim 4, characterized in that, A power device (18) is installed inside the suction cup box (10). The power device (18) drives the support rod (19) to rotate. A spring (21) is installed between the connecting rod (20) and the inner wall of the suction cup box (10).

6. The loading robot for automated processing of automotive parts according to claim 1, characterized in that, It also includes a telescopic device (7); the middle part of the gripper (6) is rotatably connected to the front end of the mounting frame (5) via a pin (8), and the telescopic rod of the telescopic device (7) and the other end are rotatably connected to the rear ends of the two grippers (6).

7. The loading robot for automated processing of automotive parts according to claim 1, characterized in that, A lifting frame (11) is installed on the suction cup box (10), and a lifting device (14) is installed on the mounting frame (5). The telescopic end of the lifting device (14) is connected to the lifting frame (11).

8. The loading robot for automated processing of automotive parts according to claim 1, characterized in that, Multiple vacuum generators (16) are installed inside the suction cup box (10). The suction port of the vacuum generator (16) is connected to the suction cup (15). An air pipe clearance groove (17) is provided at the top rear end of the suction cup box (10).

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