Back door matching tool, robot arm and production equipment
By designing the back door matching tooling and robotic arms, the problem that existing spraying work lines cannot achieve collinear production is solved, and the automatic opening and closing of the back door with different opening methods is realized, which improves the efficiency of spraying work.
Patent Information
- Application Number
- CN202420866883.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-24
- Publication Date
- 2025-02-07
- Estimated Expiration
- 2034-04-24
AI Technical Summary
The existing spraying work lines cannot achieve collinear production, resulting in low spraying efficiency, especially when facing different types of back door opening methods.
A back door matching tooling is designed, including a buckle ring, support rod, reset torsion spring and locking structure. In combination with the robot arm, the rear door with different opening methods is automatically identified and adapted to the hook structure to achieve automatic opening and closing.
Through the cooperation of supporting tooling and robot arms, collinear production of back doors with different opening methods is achieved, and the efficiency of spraying operations is improved.
Smart Images
Figure CN222430760U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of painting auxiliary equipment, and more specifically, to a rear door supporting tooling, a robot arm and production equipment. Background Art
[0002] At present, most automobiles are sprayed with automated spray equipment. The spraying process of the inner surface of the tailgate requires a robot to open the tailgate, and then the spraying equipment sprays the inner surface of the tailgate. Due to different models or design requirements, the existing tailgate opening methods are also different, generally up and down and side opening. The existing spraying operation line can only open and spray tailgates of the same opening method. It is impossible to produce tailgates of different opening methods on the same line, which affects the efficiency of the spraying operation. Summary of the invention
[0003] In view of this, the purpose of the embodiments of the present application is to provide a tailgate supporting tooling, a robot arm and a production equipment, thereby solving the technical problem that the existing spraying operation line cannot achieve co-line production and results in low spraying efficiency.
[0004] The technical solution of a back door matching tooling in this application is:
[0005] A rear door matching tooling, wherein the rear door is of the vertical opening and closing type or the side opening and closing type, the matching tooling comprises a buckle fixedly connected to the outer surface of the rear door, and the buckle can be operably moved along the opening and closing direction of the rear door to open and close the rear door.
[0006] The above-mentioned back door matching tooling, wherein the matching tooling also includes:
[0007] A support rod, both ends of which are fixedly connected to the back door, and one end of the buckle is also connected to the support rod;
[0008] A reset torsion spring, wherein the reset torsion spring is connected to the support rod and the buckle respectively, and the reset torsion spring is used to deform when the buckle drives the support rod to move up and down or sideways to open, thereby driving the tailgate to open, and after the tailgate is fully opened, the reset torsion spring drives the buckle to reset.
[0009] The above-mentioned tailgate matching tooling, wherein the support rod includes a first cylinder and a second cylinder with the same extension direction and the ends sleeved together, and the sleeved ends of the first cylinder and the second cylinder can slide along their extension direction, thereby adjusting the length of the support rod along its extension direction.
[0010] The above-mentioned tailgate matching tooling, among other things, also includes a locking structure, which includes a wedge-shaped rod with one end being a conical surface or a truncated table surface, the first cylinder and the second cylinder are respectively arranged up and down, and the bottom end of the first cylinder is sleeved on the top end of the second cylinder, the end of the wedge-shaped rod extends into the interior of the bottom end of the first cylinder and is tightly attached to the top end of the second cylinder, and the outer circumferential wall of the wedge-shaped rod is also threadedly connected to the inner wall of the bottom end of the first cylinder.
[0011] The above-mentioned tailgate matching tooling, wherein the end surfaces of the top end of the first cylinder and the bottom end of the second cylinder are both provided with fixing installation grooves, and the outer side wall of the top end of the first cylinder is also provided with fixing pins, and the fixing pins are used to be inserted into the installation holes on the tailgate.
[0012] The technical solution of a robot arm in this application is:
[0013] A robot arm, which is used to drive the above-mentioned buckle along the opening and closing direction of a tailgate. The robot arm includes a connecting arm, and the connecting arm is sequentially provided with at least two hook structures along its extension direction. Each of the hook structures includes a hook, and based on the extension direction of the connecting arm, the at least two hooks are arranged at an angle, and at least one of the hooks extends into the opening of the buckle installed on the upper and lower opening and closing tailgate, and is then connected to the buckle, and at least one of the hooks extends into the opening of the buckle installed on the side opening and closing tailgate, and is then connected to the buckle.
[0014] The above-mentioned robot arm, wherein each hook structure also includes a fixed plate and a swing arm, the fixed plate is fixedly mounted on the connecting arm, the extension direction of the swing arm is arranged at an angle to the corresponding hook, and the two ends of the swing arm are respectively hinged on the fixed plate and the swing arm.
[0015] The above-mentioned robot arm, wherein the plate surfaces of the two fixed plates are perpendicular to each other, the plate surface of the fixed plate is parallel to the plate surfaces of the corresponding swing arm and hook, or the plate surfaces of the two fixed plates are parallel to each other, and the plate surface of one of the hooks is perpendicular to the plate surface of the corresponding fixed plate and swing arm.
[0016] In the above-mentioned robot arm, each of the hooks is also provided with a pressure sensor, and a signal cable is arranged on the connecting arm.
[0017] The technical solution of a production equipment of the present application is:
[0018] A robot, comprising the above-mentioned robot arm.
[0019] Beneficial effects:
[0020] The present application uses a matching tooling and a robot in combination. The matching tooling is fixedly installed on the outer surface of the back door. A specially arranged buckle provides conditions for bearing the driving force of the robot. Two hooks with different driving directions are installed on the robot arm. The driving directions of the two hooks are respectively consistent with the two opening directions of the back door. When encountering back doors with different types of opening directions, the robot automatically selects different hooks to open back doors with different opening methods, thereby realizing the co-linear production of back doors with different opening forms, and improving the efficiency of the spraying operation.
[0021] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0023] Figure 1 This is an overall schematic diagram of a matching tooling for this application.
[0024] Figure 2 for Figure 1 main view.
[0025] Figure 3 This is a front view of a robot arm for this application.
[0026] Figure 4 This is a left view of a robot arm for this application.
[0027] Figure 5 This is the main view of the matching tooling and robot arm when used together on the tailgate.
[0028] Figure 6 for Figure 5 The corresponding top view;
[0029] Figure 7 for Figure 2 Sectional view along the AA direction;
[0030] Figure 8 for Figure 1 Enlarged view of point B in the middle.
[0031] Reference numerals
[0032] 1. Back door;
[0033] 2. Matching tooling; 21. Buckle; 22. Support rod; 221. First cylinder; 222. Second cylinder; 23. Reset torsion spring; 231. Torsion spring body; 232. Torsion spring end; 233. Torsion spring middle; 24. Locking structure; 241. Wedge-shaped rod; 242. Rocker; 25. Fixed installation groove; 26. Fixed pin; 27. Connecting part;
[0034] 3. Robot arm; 31. Connecting arm; 32. Hook structure; 321. Hook; 322. Fixed plate; 323. Swing arm; 33. Signal cable. DETAILED DESCRIPTION
[0035] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.
[0036] Considering that the tailgate 1 of existing vehicles generally opens up and down or sideways, when spraying the tailgate 1, a robot is needed to open the tailgate 1. However, the existing spraying operation line can only open and then spray the tailgate 1 of the same type of opening method. When encountering tailgates 1 of different types of opening methods, it is impossible to produce them on the same line, which affects the efficiency of the spraying operation.
[0037] The robot arm 3 of the present application is equipped with two hooks 321 with different driving directions, and the driving directions of the two hooks 321 are respectively consistent with the two opening directions of the back door 1. When encountering a back door 1 with different types of opening directions, the robot automatically selects different hooks 321, so as to open the back door 1 with different opening and closing methods, thereby realizing the co-linear production of back doors 1 with different opening forms, and improving the efficiency of the spraying operation.
[0038] The matching tooling 2 in the present application is used in conjunction with the robot. The matching tooling 2 is used to be detachably fixedly installed on the outer surface of the back door 1, playing a role of an intermediate force to prevent the driving device (robot arm 3) from directly contacting the back door 1 and causing damage to the outer surface of the back door 1. The robot serves as a driving device, which is hooked on the matching tooling 2 through the robot arm 3. The robot arm 3 swings up and down or sideways, thereby driving the back door 1 to open up and down or sideways through the matching tooling 2. When the back door 1 is fully opened, the spraying operation on the inner surface of the back door 1 begins.
[0039] Specifically, Figure 1 and Figure 2 As shown, a matching tooling of the present application includes a buckle 21, a support rod 22, a return torsion spring 23, a locking structure 24 and a fixing pin 26.
[0040] Among them, the buckle 21 is ring-shaped as a whole, and it can be a square ring, a circular ring, an elliptical ring, a triangular ring, etc. The support rod 22 can be a hollow square rod, a circular rod, a triangular rod, an elliptical rod, etc. The buckle 21 is fixedly connected to the support rod 22, and the rotational damping between the buckle 21 and the support rod 22 is large, which is conducive to driving the support rod 22 to move when the buckle 21 is driven.
[0041] The support rod 22 includes a first cylinder 221 and a second cylinder 222, which are arranged vertically opposite to each other, and the top end of the second cylinder 222 extends into the bottom end of the first cylinder 221 and can slide relative to the first cylinder 221, thereby adjusting the overall length of the support rod 22. In addition, the buckle 21 is welded to the side wall of the first cylinder 221 through a rod-shaped connecting portion 27, thereby achieving a fixed connection between the two. The top end of the first cylinder 221 and the bottom end of the second cylinder 222 are both provided with a fixed installation groove 25. When the support rod 22 is installed, the fixed installation grooves 25 on the first cylinder 221 and the second cylinder 222 can be plugged into and matched with the inherent protruding structure (not shown in the figure) on the outer surface of the back door 1. Furthermore, by adjusting the length of the support rod 22 , the fixing grooves 25 on the top end of the first cylinder 221 and the bottom end of the second cylinder 222 are pressed against the raised structure on the tailgate 1 , thereby the support rod 22 is detachably fixedly mounted on the tailgate 1 .
[0042] In addition, a fixing pin 26 is provided on the outer side wall of the top end of the first cylinder 221 . The fixing pin 26 can be inserted into the inherent mounting hole on the back door 1 , thereby realizing secondary fixing of the support rod 22 .
[0043] And, if Figure 1 , Figure 2 and Figure 7As shown, when installing the support rod 22, the top end of the second cylinder 222 is often made to extend slightly further into the first cylinder 221 to perform preliminary positioning and installation of the support rod 22. The locking structure 24 includes a wedge-shaped rod 241 and a rocker 242. The wedge-shaped rod 241 is integrally connected with the rocker 242. The left end of the wedge-shaped rod 241 is a conical surface or a frustum surface and an external thread is processed on the outer circumferential arm. A threaded hole is correspondingly provided on the outer wall of the first cylinder 221.
[0044] The left end of the wedge-shaped rod 241 extends into the interior of the first cylinder 221 and is threadedly connected to the threaded hole. The left end of the wedge-shaped rod 241 is also located directly above the top of the second cylinder 222, and the conical surface or frustum surface of the wedge-shaped rod 241 is in close contact with the top of the second cylinder 222. When the wedge-shaped rod 241 is screwed into the interior of the first cylinder 221 by shaking the rocker 242, the conical surface or frustum surface pushes the second cylinder 222 downward, thereby increasing the length of the support rod 22, so that the two ends of the support rod 22 are pressed against the tailgate 1.
[0045] The buckle ring 21 is connected to the outer side wall of the top end of the first cylinder 221 . When the buckle ring 21 is driven, it will rotate relative to the support rod 22 . At this time, the return torsion spring 23 is compressed and accumulates elastic potential energy.
[0046] like Figure 1 and Figure 8 As shown, the reset torsion spring 23 may include two sections of torsion spring bodies 231, two torsion spring ends 232 and a torsion spring middle portion 233. The two torsion spring bodies 231 are symmetrically sleeved on the sides of the rear end of the buckle 21, and the torsion spring middle portion 233 is in the shape of "]" as a whole. The torsion spring middle portion 233 is located between the two torsion spring bodies 231 and the two ends are respectively connected to the two torsion spring bodies 231 as a whole. The sides of the torsion spring middle portion 233 are pressed against the upper surface of the connecting portion 27. The rear ends of the two sections of the torsion spring ends 232 are respectively symmetrically arranged on both sides of the two torsion spring bodies 231 and are integrally connected to the corresponding torsion spring bodies 231. The front ends of the two torsion spring ends 232 are respectively pressed against and overlapped on the left and right sides of the buckle 21.
[0047] When the buckle 21 is driven, it will drive the support rod 22 to move, and then drive the tailgate 1 to open. At the same time, the two ends 232 of the torsion springs are forced to lift upward. Since the middle part 233 of the torsion spring is always pressed against the top surface of the connecting body 27, the two torsion spring bodies 231 are deformed due to circumferential compression. After the tailgate 1 is fully opened, the power driving the buckle 21 is removed. At this time, the two torsion spring bodies 231 want to return to their original state, thereby driving the buckle 21 to flip downward to the original position of the support rod 22. After waiting for the painting operation to be completed, the robot applies power to the buckle 21 in the direction of closing the tailgate 1.
[0048] Specifically, Figure 3 and Figure 4As shown, Figure 3 This is a front view of a robot arm for this application. Figure 4 This is a left view of a robot arm of the present application. The robot arm 3 of the present application includes a connecting arm 31 and two hook structures 32.
[0049] Among them, Figure 3 and Figure 4 As shown, the connecting arm 31 is arranged vertically up and down, and two hook structures 32 are arranged on the outer side wall of the connecting arm 31 at intervals up and down, respectively. The two hook structures 32 each include a hook 321, a fixed plate 322 and a swing arm 323. The two fixed plates 322 are installed on the connecting arm 31 by screws, and the two ends of the swing arm 323 are respectively hinged to the corresponding fixed plates 322 and hooks 321, and the end of each hook 321 is used to hook on the corresponding buckle 21. In addition, the plate surfaces of the fixed plates 322, the swing arm 323 and the hooks 321 in the two hook structures 32 are all arranged in parallel, and the plate surfaces of the two fixed plates 322 are perpendicular to each other, so that the plate surface between the two hooks 321 is arranged vertically, which satisfies the up-and-down opening or side-opening of the back door 1.
[0050] like Figure 5 and Figure 6 As shown, the plate surfaces of the two fixed plates 322 can also be arranged parallel to each other. For example, in an upper group of hook structures 32, the plate surfaces of the swing arm 323 and the hook 321 are arranged in parallel, and the plate surfaces of the fixed plate 322 and the swing arm 323 are arranged vertically. In a lower group of hook structures 32, the plate surfaces of the fixed plate 322, the swing arm 323 and the hook 321 are all arranged in parallel.
[0051] Furthermore, pressure sensors (not shown in the figure) are installed on the two hooks 321, and a signal cable 33 is arranged on the connecting arm 31. The two pressure sensors transmit the force conditions of the corresponding hooks 321 to the controller (not shown in the figure) in real time, so that the robot arm 3 can simultaneously meet the two rear door opening methods without interfering with each other, thereby improving the vehicle model compatibility of the production line.
[0052] The present application also provides a production device, wherein the robot includes the robot arm 3 described above.
[0053] The overall operation process is as follows:
[0054] When the vehicle type that needs to be painted is a tailgate 1 that opens up and down, the buckle 21 in the matching tooling 2 is installed on the outer surface of the tailgate 1 and the opening of the buckle 21 is oriented in the up and down direction. At this time, the hook 321 located above the robot arm 3 hooks the buckle 21, and the hook 321 is driven to swing by the swing of the swing arm 323, thereby realizing the opening of the tailgate 1. After the tailgate 1 is fully opened, the painting operation begins. After the painting is completed, the swing arm 323 swings in the opposite direction, thereby closing the tailgate 1.
[0055] When the vehicle type that needs to be painted is a sideways (such as left or right) opening tailgate 1, the buckle 21 in the matching tooling 2 is installed on the outer surface of the tailgate 1 and the opening direction of the buckle 21 is left or right. At this time, the hook 321 located at the bottom of the robot arm 3 hooks the buckle 21, and the hook 321 is driven to swing by the swing of the swing arm 323, thereby realizing the opening of the tailgate 1. After the tailgate 1 is fully opened, the painting operation begins. After the painting is completed, the swing arm 323 swings in the opposite direction to close the tailgate.
[0056] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.
Claims
1. A tooling for a back door, characterized in that: The back door is of the up-and-down opening and closing type or the side opening and closing type. The matching tooling includes a buckle fixedly connected to the outer surface of the back door, and the buckle can be operably moved along the opening and closing direction of the back door to open and close the back door.
2. The back door matching tooling according to claim 1, characterized in that: The supporting tooling also includes: A support rod, both ends of which are fixedly connected to the back door, and one end of the buckle is also connected to the support rod; A reset torsion spring, wherein the reset torsion spring is connected to the support rod and the buckle respectively, and the reset torsion spring is used to deform when the buckle drives the support rod to move up and down or sideways to open, thereby driving the tailgate to open, and after the tailgate is fully opened, the reset torsion spring drives the buckle to reset.
3. The back door matching tooling according to claim 2, characterized in that: The support rod comprises a first cylinder and a second cylinder which extend in the same direction and are sleeved together at their ends. The sleeved ends of the first cylinder and the second cylinder can slide along their extending direction, thereby adjusting the length of the support rod along its extending direction.
4. The back door matching tooling according to claim 3, characterized in that: It also includes a locking structure, which includes a wedge-shaped rod with one end being a conical surface or a truncated table surface, the first cylinder and the second cylinder are arranged up and down respectively, and the bottom end of the first cylinder is sleeved on the top end of the second cylinder, the end of the wedge-shaped rod extends into the interior of the bottom end of the first cylinder and is tightly attached to the top end of the second cylinder, and the outer peripheral wall of the wedge-shaped rod is also threadedly connected to the inner wall of the bottom end of the first cylinder.
5. The back door matching tooling according to claim 3, characterized in that: The top end of the first cylinder and the bottom end of the second cylinder are both provided with fixing grooves on their end surfaces, and the outer side wall of the top end of the first cylinder is also provided with fixing pins for inserting into the mounting holes on the back door.
6. A robot arm, characterized in that: Used to drive the buckle as claimed in claim 1 along the opening and closing direction of the tailgate, the robot arm includes a connecting arm, and the connecting arm is sequentially provided with at least two hook structures along its extension direction, each of the hook structures includes a hook, the at least two hooks are arranged at an angle, and at least one of the hooks extends into the opening of the buckle installed on the upper and lower opening and closing tailgate, and is then connected to the buckle, and at least one of the hooks extends into the opening of the buckle installed on the side opening and closing tailgate, and is then connected to the buckle.
7. The robot arm according to claim 6, characterized in that: Each hook structure also includes a fixed plate and a swing arm, wherein the fixed plate is fixedly mounted on the connecting arm, the extension direction of the swing arm is arranged at an angle with the corresponding hook, and the two ends of the swing arm are respectively hinged on the fixed plate and the swing arm.
8. The robot arm according to claim 7, characterized in that: The plate surfaces of the two fixed plates are perpendicular to each other, the plate surfaces of the fixed plates are parallel to the plate surfaces of the corresponding swing arms and hooks, or the plate surfaces of the two fixed plates are parallel to each other, and the plate surface of one of the hooks is perpendicular to the plate surfaces of the corresponding fixed plates and swing arms.
9. The robot arm according to claim 6, characterized in that: A pressure sensor is also provided on each of the hooks, and a signal cable is arranged on the connecting arm.
10. A production equipment, characterized in that: Comprising a robot arm as described in any one of claims 6 to 9.