Automobile rear cover manipulator end executive device

Abstract

An automobile rear cover manipulator end execution device comprises a supporting frame, a floating mechanism, a swing mechanism, a turnover mechanism, a centering mechanism, two profiling positioning assemblies, three pin positioning assemblies, at least four automobile body positioning assemblies, at least six workpiece positioning assemblies, two clamping assemblies and a controller. The problem of heavy manual carrying and assembling is solved, and the maneuverability of automobile rear cover transferring and assembling is improved; the multi-point scattered assembly pattern of the automobile rear cover assembly process is solved; and one-stop assembly upgrading integrating transferring, positioning, mounting and fastening of the automobile rear cover tool is achieved.

Description

Technical Field

[0001] The utility model relates to the field of material transfer, handling and assembly, and in particular to an end-effector of a mechanical arm for a rear cover of an automobile. Background Art

[0002] With the continuous and rapid development of new energy vehicles, China's automobile sales market has become the world's largest automobile market, with annual sales exceeding 30 million vehicles, accounting for a quarter of the global automobile market. The traditional handling and assembly of automobile rear covers can no longer meet the needs of the changing times, so solving the existing automobile rear cover assembly technology has undoubtedly become a development trend of the modern automobile manufacturing industry.

[0003] The existing rear cover tooling uses magnets to hold the car body and insert pieces for positioning. Not only is the operation complicated, alignment difficult, assembly speed slow, and progress efficiency low, but it is also very inconvenient and bulky to use. Each installation requires first installing the handheld tooling for positioning each part on the car body. When the rear cover workpiece is moved and placed on the car body, quality and safety accidents are very likely to occur.

[0004] In addition, the existing back cover tooling has the positioning device, magnetic suction device, etc. dispersedly arranged in 5 small toolings. The tooling design itself does not have the arrangement of tightening devices. Its operation procedure can only be tightened with a special tightening tool after each process node is manually implemented one by one. The assembly operation process is relatively scattered. Summary of the invention

[0005] The purpose of the utility model is to design an end-effector of a car rear cover manipulator to solve the heavy manual handling and assembly, improve the operability of the car rear cover transfer and assembly, and solve the multi-point dispersed assembly pattern of the car rear cover assembly process; to realize a one-stop assembly upgrade that integrates the transfer, positioning, installation, and fastening of the car rear cover tooling, thereby improving quality and efficiency.

[0006] In order to achieve the above object, the technical solution of the utility model is:

[0007] An automobile rear cover manipulator end effector, comprising:

[0008] The support frame comprises an upper support rod and a lower support rod which are arranged in parallel up and down, and two connecting rods which are located in the middle of the upper and lower support rods and are arranged vertically; an upper crossbeam and a lower crossbeam are arranged in parallel up and down in the middle and lower parts of the two connecting rods;

[0009] Floating mechanism, including:

[0010] Two X-direction slide rails and two X-direction sliders thereon, the two X-direction slide rails being respectively arranged on the back sides of the upper crossbeam and the lower crossbeam;

[0011] Two Y-direction slide rails and Y-direction sliders thereon, the two Y-direction slide rails are respectively connected to the X-direction sliders on both sides of the two X-direction slide rails;

[0012] A fixed base plate, the front side of which is connected to the Y-direction sliders on the two Y-direction slide rails;

[0013] A lifting cylinder, whose cylinder body is installed on the middle part of the front side of the fixed base plate through a fixing plate, and whose piston end is vertically downward; correspondingly, a stopper is connected to the back side of the two Y-direction slide rails through a connecting bracket, and the stopper is located below the piston end of the lifting cylinder;

[0014] Swing mechanism, comprising:

[0015] The upper flange and the lower flange are provided with two ear plates protruding from the center of the inner side, and the ear plates are provided with connecting shafts respectively, and the connecting shafts on the upper and lower flanges are arranged in a cross shape; the pin shaft and the upper spring are symmetrically arranged between the upper and lower flanges; the lower flange is connected to the fixed base plate;

[0016] The cross swing block is a hexahedral structure, and shaft holes are arranged in the centers of the four sides thereof; the cross swing block is arranged between the ear plates of the upper and lower flanges, and is pivotally connected to the shaft holes of the cross swing block through a connecting shaft;

[0017] Flipping mechanism, including:

[0018] The ear seat is composed of a bottom plate and two ear plates arranged on the back thereof; the bottom plate is fixed to the outer side of the upper flange; the upper parts of the two ear plates extend obliquely outward from the bottom plate to form a connecting part;

[0019] An arm, the front end of which is pivotally connected to the lower part of the ear seat through a connecting shaft;

[0020] A tilting cylinder, the cylinder body of which is connected to the upper part of the arm through a connecting bracket, and the end of the piston rod of which is pivotally connected to the connecting part of the two ear plates of the ear seat through a connecting piece;

[0021] Centering mechanism, including:

[0022] Two centering components are respectively arranged at two ends of the lower support rod, and the centering components include:

[0023] The fixing frame is L-shaped, one end of which is arranged at one end of the lower support rod, and the other end is located above and in front of the lower support rod, and a fixing plate is arranged at this end;

[0024] A guide rail and an upper slider thereof, wherein the guide rail is arranged on the front end surface of the fixed plate, and the guide rail is parallel to the lower support rod;

[0025] A movable plate is arranged on a slider on the guide rail;

[0026] A centering stopper connected to the movable plate via a connecting plate;

[0027] A centering connecting plate, L-shaped, with its central pivot connected to the front of a fixing block, the back of which is connected to the center of the front of the lower crossbeam of the supporting frame;

[0028] Two centering connecting rods, one end of which is pivotally connected to one side of the movable plate of the two centering assemblies, and the other end of which is pivotally connected to the two ends of the centering connecting plate;

[0029] A centering cylinder, the cylinder body of which is connected to the support frame through a bracket, and the piston end of which is connected to the third end of the centering connecting plate;

[0030] Two profiling positioning components are arranged on both sides of the lower support rod; the profiling positioning components include profiling parts matching the outer shells on both sides of the rear cover of the automobile, and the profiling parts are respectively arranged on one side of the lower support rod through a fixing bracket;

[0031] Three pin positioning assemblies are respectively arranged on both sides and the middle of the lower support rod, wherein the two pin positioning assemblies located on both sides of the lower support rod are located on the inner side of the contour positioning assembly; the pin positioning assembly comprises a cylinder and a positioning pin arranged at the piston end of the cylinder, and the cylinder body is vertically arranged on the front side of the lower support rod;

[0032] At least four vehicle body positioning components are respectively arranged at both ends of the upper support rod and the lower support rod;

[0033] At least six workpiece positioning assemblies, wherein at least four workpiece positioning assemblies are respectively arranged on both sides of the middle of the upper support rod and the lower support rod through brackets; and at least two workpiece positioning assemblies are arranged on the front and lower sides of the workpiece positioning assembly on the lower support rod through brackets;

[0034] Two clamping assemblies are respectively connected to the two connecting rods of the support frame through brackets, and the clamping parts thereof are located in front of the centering connecting rod and inside the contour positioning assembly;

[0035] A controller is provided, wherein the tilting cylinder, the lifting cylinder and the centering cylinder are connected to the controller.

[0036] Preferably, the clamping assembly includes a clamping member and a clamping cylinder; the clamping cylinder is arranged on the outside of the connecting rod through a fixed bracket; the clamping member is connected to the piston end of the clamping cylinder through a connecting member, and can be flipped and located in front of the centering connecting rod.

[0037] Preferably, two limit blocks are provided below the centering connecting plate.

[0038] Preferably, the vehicle body positioning assembly includes a vehicle body positioning suction cup and a connecting bracket.

[0039] Preferably, the workpiece positioning assembly includes a workpiece positioning suction cup and a bracket.

[0040] Preferably, the floating mechanism further comprises a fixed frame which is square in shape, and the upper and lower sides of the fixed frame are fixed to the upper beam and the lower beam of the supporting frame; the two X-direction slide rails are respectively arranged on the upper and lower sides of the fixed frame.

[0041] Furthermore, the floating mechanism is provided with four floating limiters, which correspond to the middle parts of the outer side surfaces of the two X-direction slide rails and the two Y-direction slide rails and are respectively arranged on the supporting frame or the fixed frame.

[0042] Compared with the prior art, the utility model has the following advantages or positive effects:

[0043] The utility model changes the original method of performing multiple dispersed positioning of the vehicle body in sequence during the installation of the automobile rear cover; the utility model solves the positioning deviation and floating displacement in the process of transporting and assembling the automobile rear cover through the cooperation of multiple positioning components, floating mechanisms and swinging mechanisms, finds the correct position, saves time and effort, and has accurate positioning; it also solves the problems of swinging and tilting of the automobile rear cover during the installation of the automobile rear cover, ensuring that the process of transporting and assembling the rear cover saves time and effort; it improves material balance and ensures stability and reliability during the material assembly process.

[0044] In addition, the coordination of the centering mechanism, lifting assembly and frame assembly also solves the problems of precise positioning, hinge installation, and the levelness of the workpiece and the vehicle body during the installation process.

[0045] In short, the utility model improves the current status of automobile rear cover installation technology, reduces manual intervention, improves the flexible docking level of various control nodes such as automobile rear cover loading and assembly, breaks through the multi-position arrangement process layout of rear cover tooling technology, and realizes the upgrade transformation of automobile rear cover tooling transfer, positioning, installation, and fastening. It shortens the time and number of positioning, eliminates the scratches on the car body and quality risks caused by hand-held tooling, improves the product's performance and assembly effect, reduces costs, effectively improves the operability of automobile rear cover transfer and assembly, reduces consumption, and enhances productivity. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 The three-dimensional embodiment of the utility model Figure 1 ;

[0047] Figure 2 The three-dimensional embodiment of the utility model Figure 2 ;

[0048] Figure 3 It is a front view of the support frame in the embodiment of the utility model;

[0049] Figure 4 It is a schematic diagram of a contour positioning assembly, a pin positioning assembly, a vehicle body positioning assembly, and a workpiece positioning assembly in an embodiment of the utility model;

[0050] Figure 5It is a schematic diagram of the clamping mechanism in the embodiment of the utility model.

[0051] Figure 6 It is a three-dimensional diagram of the turning mechanism and the clamping mechanism in the embodiment of the utility model;

[0052] Figure 7 A three-dimensional diagram of the centering mechanism in the embodiment of the utility model;

[0053] Figure 8 It is a three-dimensional exploded view of the cross swing block in the embodiment of the utility model. DETAILED DESCRIPTION

[0054] See also Figures 1 to 8 The automobile rear cover manipulator end effector of the utility model comprises:

[0055] The support frame 1 comprises an upper support rod 101 and a lower support rod 102 which are arranged in parallel and two connecting rods 103 and 103' which are arranged vertically in the middle of the upper and lower support rods; an upper crossbeam 104 and a lower crossbeam 105 are arranged in parallel in the middle and lower parts of the two connecting rods 103;

[0056] The floating mechanism 2 comprises:

[0057] Two X-direction slide rails 21 and two X-direction sliders 211 thereon, the two X-direction slide rails 21 are respectively arranged on the back side of the upper crossbeam 104 and the lower crossbeam 105;

[0058] Two Y-direction slide rails 22 and Y-direction sliders 221 thereon, the two Y-direction slide rails 22 are respectively connected to the X-direction sliders 211 on both sides of the two X-direction slide rails 21;

[0059] A fixed base plate 23, the front side of which is connected to the Y-direction sliders 221 on the two Y-direction slide rails 22;

[0060] The lifting cylinder 24, whose cylinder body is installed on the middle of the front side of the fixed base plate 23 through the fixing plate 241, and its piston end is vertically downward; correspondingly, a stopper 25 is connected to the back side of the two Y-direction slide rails 22 through the connecting bracket 251, and the stopper 25 is located below the piston end of the lifting cylinder 24;

[0061] The swing mechanism 3 comprises:

[0062] The upper flange 31 and the lower flange 32 have two ear plates 311 and 321 protruding from the center of the inner side surfaces thereof, and the ear plates 311 and 321 are respectively provided with connecting shafts 33 and 33', and the connecting shafts 33 and 33' of the upper and lower flanges 31 and 32 are arranged in a cross shape; a pin shaft 34 and an upper spring 35 are symmetrically arranged between the upper and lower flanges 31 and 32; the lower flange 32 is connected to the fixed base plate 23;

[0063] The cross swing block 36 is a hexahedral structure, and shaft holes are arranged in the center of its four sides; the cross swing block 36 is arranged between the ear plates of the upper flange 31 and the lower flange 32, and is pivotally connected to the shaft holes of the cross swing block 36 through the connecting shafts 33 and 33';

[0064] The turning mechanism 4 comprises:

[0065] The ear seat 41 is composed of a bottom plate 411 and two ear plates 412 arranged on the back thereof; the bottom plate 411 is fixed to the outer side of the upper flange 31; the upper parts of the two ear plates 412 extend obliquely outward from the bottom plate 411 to form a connecting part 4121;

[0066] An arm 42, the front end of which is pivotally connected to the lower part of the ear seat 41 through a connecting shaft;

[0067] The tilting cylinder 43 has a cylinder body connected to the upper part of the arm 42 through a connecting bracket 44, and an end of a piston rod thereof is pivotally connected to the connecting part 4121 of the two ear plates 412 of the ear seat 41 through a connecting piece 45;

[0068] Centering mechanism 5, comprising:

[0069] Two centering components 51, 51' are respectively arranged at two ends of the lower support rod 102, and the centering component 51 (taking the centering component 51 as an example, the same below) comprises:

[0070] The fixing frame 511 is L-shaped, one end of which is arranged at one end of the lower support rod 102, and the other end is located above and in front of the lower support rod 102, and a fixing plate 512 is arranged at the end;

[0071] A guide rail 513 and an upper slider thereof, wherein the guide rail 513 is disposed on the front end surface of the fixing plate 512, and the guide rail 513 is parallel to the lower support rod 102;

[0072] The movable plate 514 is arranged on the slider on the guide rail 513;

[0073] A centering stopper 515 connected to the movable plate 514 via a connecting plate;

[0074] The centering connecting plate 516 is L-shaped, and its central pivot is connected to the front of a fixing block 517, and the back of the fixing block 517 is connected to the center of the front of the lower cross beam 102 of the support frame 1;

[0075] Two centering connecting rods 518, 518', one end of which is pivotally connected to one side of the movable plate 514 of the two centering components, and the other end is pivotally connected to the two ends of the centering connecting plate 516;

[0076] A centering cylinder 519, whose cylinder body is connected to the support frame 1 through a bracket, and whose piston end is connected to the third end of the centering connecting plate 516;

[0077] Two profiling positioning components 6, 6' are arranged on both sides of the lower support rod 102; the profiling positioning component 6 (taking the profiling positioning component 6 as an example, the same below) includes a profiling member 61 matching the outer shells on both sides of the rear cover of the automobile, and the profiling member 61 is respectively arranged on one side of the lower support rod 102 through a fixing bracket 62;

[0078] Three pin positioning assemblies 7, 7', 7", are respectively arranged on both sides and the middle of the lower support rod 102, wherein the two pin positioning assemblies 7, 7' located on both sides of the lower support rod 102 are located on the inner side of the contour positioning assemblies 6, 6'; the pin positioning assembly includes a cylinder and a positioning pin arranged at the piston end of the cylinder, and the cylinder body is vertically arranged on the front side of the lower support rod 102;

[0079] At least four vehicle body positioning components 8, 8' are respectively arranged at both ends of the upper support rod 101 and the lower support rod 102;

[0080] At least six workpiece positioning assemblies 9, 9', 9", wherein at least four workpiece positioning assemblies 9, 9' are respectively arranged on both sides of the middle of the upper support rod 101 and the lower support rod 102 through brackets; and at least two workpiece positioning assemblies 9" are arranged on the front and lower sides of the workpiece positioning assembly 9' on the lower support rod 102 through brackets;

[0081] The two clamping assemblies 10, 10' are respectively connected to the two connecting rods 13 of the support frame 1 through brackets, and the clamping members 1001, 1001' are located in front of the centering connecting rods 518, 518' and inside the contour positioning assemblies 6, 6';

[0082] The controller 11 is connected to the tilting cylinder, the lifting cylinder and the centering cylinder.

[0083] Preferably, the clamping assembly 10 includes a clamping member 1001 and a clamping cylinder 1002; the clamping cylinder 1002 is arranged on the outside of the connecting rod 13 through a fixed bracket; the clamping member 1001 is connected to the piston end of the clamping cylinder 1002 through a connecting member and is flippably located in front of the centering connecting rods 518, 518'.

[0084] Preferably, the vehicle body positioning assembly includes a vehicle body positioning suction cup and a connecting bracket.

[0085] Preferably, the workpiece positioning assembly includes a workpiece positioning suction cup and a bracket.

[0086] Preferably, two limit blocks 501 and 502 are provided below the centering connecting plate 516 to limit the rotation angle of the centering connecting plate 516 .

[0087] Preferably, the floating mechanism 2 further includes a fixed frame 26 which is square in shape, and whose upper and lower sides are fixed to the upper beam 104 and the lower beam 105 of the support frame 1 ; the two X-direction slide rails 21 are respectively arranged on the upper and lower sides of the fixed frame 26 .

[0088] Furthermore, the floating mechanism 2 is provided with four floating stoppers 27 , 27 ′, which are respectively arranged on the supporting frame 1 or the fixed frame 26 , corresponding to the middle parts of the outer sides of the two X-direction slide rails 21 and the two Y-direction slide rails 22 .

Claims

1. A car rear cover manipulator end effector, characterized in that: include: The support frame comprises an upper support rod and a lower support rod which are arranged in parallel up and down, and two connecting rods which are located in the middle of the upper and lower support rods and are arranged vertically; an upper crossbeam and a lower crossbeam are arranged in parallel up and down in the middle and lower parts of the two connecting rods; Floating mechanism, including: Two X-direction slide rails and two X-direction sliders thereon, the two X-direction slide rails being respectively arranged on the back sides of the upper crossbeam and the lower crossbeam; Two Y-direction slide rails and Y-direction sliders thereon, the two Y-direction slide rails are respectively connected to the X-direction sliders on both sides of the two X-direction slide rails; A fixed base plate, the front side of which is connected to the Y-direction sliders on the two Y-direction slide rails; The lifting cylinder, whose cylinder body is installed on the middle part of the front side of the fixed base plate through a fixed plate, And, its piston end is vertically downward; correspondingly, a limiter is connected to the back of the two Y-direction slide rails through a connecting bracket, and the limiter is located below the piston end of the lifting cylinder; the swing mechanism includes: The upper flange and the lower flange are provided with two ear plates protruding from the center of the inner side, and the ear plates are provided with connecting shafts respectively, and the connecting shafts on the upper and lower flanges are arranged in a cross shape; the pin shaft and the upper spring are symmetrically arranged between the upper and lower flanges; the lower flange is connected to the fixed base plate; The cross swing block is a hexahedral structure, and shaft holes are arranged in the center of the four sides; the cross swing block is arranged between the ear plates of the upper and lower flanges, and is pivotally connected to the shaft holes of the cross swing block through a connecting shaft; the flip mechanism includes: The ear seat is composed of a bottom plate and two ear plates arranged on the back thereof; the bottom plate is fixed to the outer side of the upper flange; the upper parts of the two ear plates extend obliquely outward from the bottom plate to form a connecting part; An arm, the front end of which is pivotally connected to the lower part of the ear seat through a connecting shaft; A tilting cylinder, whose cylinder body is connected to the upper part of the arm through a connecting bracket, and whose piston rod end is pivotally connected to the connecting part of the two ear plates of the ear seat through a connecting piece; a centering mechanism, comprising: Two centering components are respectively arranged at two ends of the lower support rod, and the centering components include: The fixing frame is L-shaped, one end of which is arranged at one end of the lower support rod, and the other end is located above and in front of the lower support rod, and a fixing plate is arranged at this end; A guide rail and an upper slider thereof, wherein the guide rail is arranged on the front end surface of the fixed plate, and the guide rail is parallel to the lower support rod; A movable plate is arranged on a slider on the guide rail; A centering stopper connected to the movable plate via a connecting plate; A centering connecting plate, L-shaped, with its central pivot connected to the front of a fixing block, the back of which is connected to the center of the front of the lower crossbeam of the supporting frame; Two centering connecting rods, one end of which is pivotally connected to one side of the movable plate of the two centering assemblies, and the other end of which is pivotally connected to the two ends of the centering connecting plate; A centering cylinder, the cylinder body of which is connected to the support frame through a bracket, and the piston end of which is connected to the third end of the centering connecting plate; Two profiling positioning components are arranged on both sides of the lower support rod; the profiling positioning components include profiling parts matching the outer shells on both sides of the rear cover of the automobile, and the profiling parts are respectively arranged on one side of the lower support rod through a fixing bracket; Three pin positioning assemblies are respectively arranged on both sides and the middle of the lower support rod, wherein the two pin positioning assemblies located on both sides of the lower support rod are located on the inner side of the contour positioning assembly; the pin positioning assembly comprises a cylinder and a positioning pin arranged at the piston end of the cylinder, and the cylinder body is vertically arranged on the front side of the lower support rod; At least four vehicle body positioning components are respectively arranged at both ends of the upper support rod and the lower support rod; At least six workpiece positioning assemblies, wherein at least four workpiece positioning assemblies are respectively arranged on both sides of the middle of the upper support rod and the lower support rod through brackets; and at least two workpiece positioning assemblies are arranged on the front and lower sides of the workpiece positioning assembly on the lower support rod through brackets; Two clamping assemblies are respectively connected to the two connecting rods of the support frame through brackets, and the clamping parts thereof are located in front of the centering connecting rod and inside the contour positioning assembly; A controller is provided, wherein the tilting cylinder, the lifting cylinder and the centering cylinder are connected to the controller.

2. The automobile rear cover manipulator end effector as claimed in claim 1, characterized in that: The clamping assembly comprises a clamping member and a clamping cylinder; the clamping cylinder is arranged on the outside of the connecting rod through a fixed bracket; the clamping member is connected to the piston end of the clamping cylinder through a connecting member and can be flipped and located in front of the centering connecting rod.

3. The automobile rear cover manipulator end effector as claimed in claim 1, characterized in that: The vehicle body positioning component comprises a vehicle body positioning suction cup and a connecting bracket.

4. The automobile rear cover manipulator end effector as claimed in claim 1, characterized in that: The workpiece positioning assembly comprises a workpiece positioning suction cup and a bracket.

5. The automobile rear cover manipulator end effector as claimed in claim 1, characterized in that: Two limit blocks are arranged below the centering connecting plate.

6. The automobile rear cover manipulator end effector as claimed in claim 1, characterized in that: The floating mechanism also includes a fixed frame which is square in shape, and the upper and lower sides of the fixed frame are fixed to the upper beam and the lower beam of the supporting frame; the two X-direction slide rails are respectively arranged on the upper and lower sides of the fixed frame.

7. The automobile rear cover manipulator end effector according to claim 1 or 6, characterized in that: The floating mechanism is provided with four floating limiters, which are respectively arranged on the supporting frame or the fixed frame, corresponding to the middle parts of the outer side surfaces of the two X-direction slide rails and the two Y-direction slide rails.

Images