Axle automatic off-line robot

Abstract

The utility model discloses an automatic axle offline robot. The automatic axle offline robot comprises a mechanical arm, the clamp is connected with the mechanical arm, and the clamp is driven by the mechanical arm to move; the clamp comprises a limiting part, and the limiting part is used for limiting a first specified position for receiving a product; the clamping part is arranged corresponding to the limiting part, and the first designated position of the product is fixed to the limiting part through the clamping part; and a second specified position of the product is fixed through the second clamping part. According to the utility model, the full-automatic hoisting of products can be realized, the labor intensity is reduced, the safety accident risk can be reduced, and the production safety is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to product hoisting technical field especially relates to a car axle automatic offline robot. BACKGROUND

[0002] In the traditional production line, the product offline process often relies on manual operation of the lifting appliance for hoisting. When the line body flows to the offline station, the staff needs to manually operate the lifting appliance to grab the product, and then hoist and place the product on a specific appliance. In order to effectively utilize the appliance space, the staff also needs to manually turn over the layers of the appliance for placement. Especially in the field of automobile chassis parts and assembly manufacturing, as a key component, the offline link of the car axle rear axle assembly is crucial to the overall production process. The car axle rear axle weighs more than 40KG, and the existing offline method usually relies on the staff to manually operate the electric hoist lifting appliance to take the product off the production line and place it on the transportation appliance. The existing carbon steel clamp is heavy (weighing up to 127KG), making it difficult for the staff to move the clamp, increasing the labor intensity of the staff, and also posing a certain safety risk, reducing production efficiency, and possibly causing bumps during the offline process of the parts, affecting the quality of the parts. SUMMARY

[0003] Therefore, in order to solve the above problems, the utility model provides a car axle automatic offline robot, comprising:

[0004] A mechanical arm;

[0005] A clamp connected to the mechanical arm and moved by the mechanical arm;

[0006] The clamp comprises:

[0007] A limiting part defining a first designated position for receiving the product;

[0008] A clamping part corresponding to the limiting part and cooperating with the limiting part to form a first clamping part, which fixes the first designated position and the limiting part;

[0009] A second clamping part for fixing a second designated position of the product.

[0010] The utility model clamps the product by the clamp, and the mechanical arm places the car axle at the designated position according to the preset path, thereby realizing the automatic offline of the product, improving the production efficiency, reducing the labor intensity, reducing the safety risk caused by manual operation of the product offline, and reducing the bumps of the product.

[0011] Further, the first clamping part is provided with two groups, the two groups of first clamping parts are symmetrically arranged, the second clamping part is arranged between the two groups of first clamping parts, and the two groups of first clamping parts and the second clamping part are arranged in a triangular shape.

[0012] By arranging the first clamping part and the second clamping part in a triangular shape, the overall stability of the clamp structure is enhanced, and the connection and movement process are more reliable.

[0013] Further, the limiting part comprises a limiting rod, and a limiting block embedded with the first specified position of the product or partially embedded with the first specified position of the product is arranged at the end of the limiting rod.

[0014] Further, the clamping part comprises:

[0015] A first power device;

[0016] A connecting rod connected with the first power device, and the connecting rod is driven to rotate around the connecting end with the first power device by the first power device;

[0017] A first clamping block sleeved on the end of the connecting rod away from the first power device.

[0018] Further, the clamping part further comprises a first limiting sensor corresponding to the preset maximum stroke position of the connecting rod.

[0019] Further, the second clamping part comprises:

[0020] A second power device;

[0021] A clamping part having two groups, the two groups of clamping parts are oppositely arranged, and the clamping part is driven to linearly move by the second power device to make the clamping parts close to or away from each other;

[0022] A second clamping block mounted on the inner side of the clamping part, and the second clamping block has a weight bearing part protruding inwardly on the inner side.

[0023] Further, the second clamping part further comprises a second limiting sensor corresponding to the maximum stroke position of the clamping part.

[0024] When clamping the product, the mechanical arm drives the clamp to move to the product line body position, so that the first specified position of the product is in the limiting block, and the second specified position is between the two groups of second clamping blocks, then the first power device and the second power device act simultaneously, the first power device drives the first clamping block to rotate, so that the first clamping block rotates to below the first specified position, and the first specified position is fixed in cooperation with the limiting part, the second power device drives the second clamping blocks to approach each other, so that the second specified position is fixed, at this time, the bearing part contacts below the second specified position, so that the clamping position of the axle is formed in a ring and is clamped, and then it is ensured that the axle does not shake or fall off in the grabbing process.

[0025] Further, the clamp further comprises a gripper, and the gripper is used for overturning the layers of the placing rack.

[0026] The mechanical arm controls the horizontal movement of the gripper, drives the layers to rotate, and the layers fall down by inertia at the appropriate position.

[0027] Further, the clamp further comprises a vision module, and the vision module is used for positioning the target position.

[0028] The vision module is used for photographing the axle product and the placing device, three-dimensional coordinate information of the axle and the placing device is calculated according to the deformation of the pattern, so that the position and posture of the axle product and the spatial position of the placing device are accurately obtained.

[0029] Further, the clamp further comprises a mounting part, and the mounting part is formed by connecting a plurality of octagonal profiles, and the limiting part, the clamping part, the second clamping part, the gripper and the vision module are all mounted on the mounting part.

[0030] The octagonal profile is used to replace the traditional carbon steel material non-standard customized design, so that the design of the clamp for robot carrying and grabbing the product is more convenient and efficient, and the weight of the clamp is greatly reduced.

[0031] The clamp has the following advantages:

[0032] The clamp is used for clamping the product, the mechanical arm places the axle to the specified position according to the preset path, so that the automatic offline of the product is realized, the production efficiency is improved, the labor intensity is reduced, the safety risk caused by manual operation of the product offline is reduced, and the product bumping is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a structural schematic diagram of the robot;

[0034] Figure 2 is Figure 1First structural schematic view of the clamp in the robot shown in the figure;

[0035] Figure 3 is Figure 1 Second structural schematic view of the clamp in the robot shown in the figure;

[0036] Figure 4 is Figure 2 Structural schematic view of the clamping part in the clamp shown in the figure;

[0037] Figure 5 is Figure 2 Structural schematic view of the limiting part in the clamp shown in the figure;

[0038] Figure 6 is Figure 2 Structural schematic view of the second clamping part in the clamp shown in the figure;

[0039] Figure 7 is Figure 2 Structural schematic view of the gripper in the clamp shown in the figure;

[0040] Figure 8 is and Figure 1 Structural schematic view of the placing rack used with the robot shown in the figure;

[0041] In the figure:

[0042] 100, mechanical arm;

[0043] 200, clamp; 210, mounting part; 211, fixed block; 220, connecting part; 230, limiting part; 231, limiting rod; 232, limiting block; 240, gripper; 241, connecting rod; 242, grabbing part; 250, clamping part; 251, first fixed part; 252, first power device; 253, first clamping block; 254, connecting rod; 255, first limiting sensor; 260, second clamping part; 261, second fixed part; 262, second limiting sensor; 263, clamping part; 264, second clamping block; 264A, bearing part.

[0044] 300, placing rack. DETAILED DESCRIPTION

[0045] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0046] In this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0047] As described in the background, the employees manually operate the electric hoist to take the product off the production line and place it on the transport device. The existing carbon steel clamp is heavy, making it difficult for employees to move the clamp, increasing the labor intensity of employees, and also posing a certain safety risk, reducing production efficiency, and possibly causing bumps during the process of taking parts off the line, affecting the quality of the parts.

[0048] Embodiment 1

[0049] Therefore, in order to solve the above technical problems existing in the prior art, the present embodiment provides an axle automatic offline robot, as shown in the accompanying drawings, Figure 1 As shown in the accompanying drawings, the robot comprises:

[0050] a mechanical arm 100;

[0051] a clamp 200 connected with the mechanical arm, driven by the mechanical arm to move the clamp;

[0052] As shown in the accompanying drawings, Figure 2 , 3 the clamp comprises:

[0053] a limiting portion 230 defining a first designated position for receiving the product;

[0054] a clamping portion 250 corresponding to the limiting portion, cooperating with the limiting portion to form a first clamping portion, and keeping the first designated position fixed with the limiting portion through the clamping portion;

[0055] a second clamping portion 260 for fixing a second designated position of the product.

[0056] In the embodiment, the clamp can further include a mounting portion 210, the limiting portion, the clamping portion and the second clamping portion are mounted on the mounting portion, the first clamping portion is provided in two groups, the two groups of first clamping portions are symmetrically arranged, the second clamping portion is arranged between the two groups of first clamping portions, and the two groups of first clamping portions and the second clamping portion are arranged in a triangular shape to enhance the stability of the clamp structure and make the connection and movement process more reliable. A connecting portion 220 that can be connected with a mechanical arm is also fixed on the mounting portion. In addition, the mounting portion can be a frame formed by connecting a plurality of octagonal profiles with each other, so as to replace the traditional carbon steel material non-standard customized design, thereby making the design of the clamp for carrying and grabbing products by the robot more convenient and efficient, and achieving the lightweight of the clamp. The weight of the clamp is reduced from 127 kg of the traditional carbon steel clamp to 36 kg, and the weight is reduced by 71%.

[0057] As shown in Figure 5 the limiting portion can include a limiting rod 231, and a limiting block 232 that is embedded in or partially embedded in the first specified position of the product is arranged at the end of the limiting rod.

[0058] The end of the limiting rod away from the limiting block is fixedly connected with the mounting portion, and the connection mode includes but is not limited to welding, fusion, riveting, bolt connection and the like. In the embodiment, the embedding mode of the limiting block with the limiting rod can refer to Figure 5 A clamping groove can be arranged at one end of the limiting rod, protrusions are arranged on the two side walls of the clamping groove, recesses are arranged at positions corresponding to the protrusions on the two sides of the limiting block, and the limiting block can be pushed into the clamping groove from one side of the clamping groove so that the protrusions are matched into the clamping groove. In addition, a connecting hole can be arranged on the side wall of the clamping groove provided with the protrusion and the side wall connected with the limiting rod, and the relative fixation of the limiting block and the clamping groove can be realized by inserting a screw, a bolt or other connecting rod into the connecting hole from the outside of the clamping groove and abutting against the surface of the limiting block.

[0059] As shown in Figure 4 the clamping portion includes:

[0060] a first power device 252;

[0061] a connecting rod 254 connected with the first power device and driven to rotate around the connecting end of the first power device by the first power device;

[0062] a first clamping block 253 sleeved on the end of the connecting rod away from the first power device.

[0063] In the embodiment, the clamping part further comprises a first fixing part 251 fixed with the mounting part, and the first power device is fixedly installed on the first fixing part. The first power device can be a clamping cylinder, which drives the connecting rod to swing. Of course, other devices capable of achieving the swing of the connecting rod can also be selected, such as a rotary cylinder, a cylinder cooperating with a connecting rod mechanism, etc.

[0064] In the embodiment, the clamping part further comprises a first limiting sensor 255 corresponding to a preset maximum stroke position of the connecting rod. The first limiting sensor is fixedly installed on the first fixing part. The preset maximum stroke position of the connecting rod includes a maximum forward rotation stroke (i.e., a maximum stroke of the clamping action) and a maximum reverse rotation stroke (i.e., a maximum stroke of the loosening action).

[0065] The movement stroke of the clamping part is limited by the first limiting sensor, so that the overstroke movement of the clamping part is avoided, and the working safety of the clamp is improved.

[0066] As shown in Figure 6 The second clamping part comprises:

[0067] a second power device 252;

[0068] a clamping part 263, which has two groups of clamping parts oppositely arranged. The two groups of clamping parts are driven by the second power device to move linearly so as to approach or move away from each other.

[0069] a second clamping block 264 installed on the inner side of the clamping part, and having a bearing part 264A protruding inwardly on the inner side of the second clamping block.

[0070] In the embodiment, the second clamping part further comprises a second fixing part 261 fixed with the mounting part, and the second power device is fixedly installed on the second fixing part. The second power device can be a bidirectional cylinder, which drives the two groups of second clamping blocks to move linearly in opposite directions. Of course, other devices capable of achieving the linear movement of the two groups of second clamping blocks in opposite directions can also be selected, such as a movement module. The cooperation mode of the second clamping block and the clamping part can refer to the cooperation mode of the limiting block and the limiting rod.

[0071] In the embodiment, the second clamping part further comprises a second limiting sensor 262 corresponding to a maximum stroke position of the clamping part. The second limiting sensor is fixedly installed on the second fixing part. The preset maximum stroke position of the connecting rod includes a maximum forward movement stroke (i.e., a maximum stroke of the clamping action) and a maximum reverse movement stroke (i.e., a maximum stroke of the loosening action).

[0072] The movement stroke of the second clamping part is limited by the second limiting sensor, so that the second clamping part is prevented from overstroke movement, and the working safety of the clamp is improved.

[0073] In the embodiment, the mechanical arm with the clamp and the gripper is used to replace manual operation to automatically take and place the product. The mechanical arm can move and rotate in multiple directions, accurately grips and fixes the product through the clamp, and moves the product to the required placement rack position. Specifically, the mechanical arm drives the clamp to the product position, so that the first specified position of the product is in the limiting block, and the second specified position is between the two groups of second clamping blocks. Then, the first power device and the second power device act simultaneously. The first power device drives the first clamping block to rotate, so that the first clamping block rotates to below the first specified position and is fixed in cooperation with the limiting part. The second power device drives the second clamping blocks to approach each other, so that the second specified position is fixed. At this time, the load-bearing part is in contact with below the second specified position, so that the clamping position of the axle is formed in a ring shape, thereby ensuring that the axle does not shake or fall off during the grabbing process. The mechanical arm drives the clamp to move to the placement rack position again to place the product on the placement rack. The clamping part and the second clamping part are relaxed, the product is placed on the placement rack, and the full-automatic hoisting of the product is realized. The labor intensity is reduced, the risk of safety accidents is reduced, and the production safety is improved.

[0074] The rotation range of the mechanical arm in the embodiment is 360 degrees. The clamping part can limit the displacement freedom and rotation freedom of the first specified position of the product in the x-axis, y-axis and z-axis directions. The second clamping part can limit the movement freedom and rotation freedom of the second specified position of the product in the x-axis direction, so that the position of the product is fixed firmly, and the product can be prevented from falling off during movement and being safely grabbed to the point on the required device.

[0075] In the embodiment, the limiting block, the first clamping block and the second clamping block can be made of flexible material, such as rubber, to avoid damage to the product during grabbing.

[0076] In addition, the clamp can further include a gripper 240 for overturning the layers of the placement rack 300.

[0077] In the embodiment, as shown in Figure 7 The gripper can include a connecting rod 241 and a grabbing part 242. The grabbing part is fixedly installed at the end of the connecting rod. A fixed block 211 can be provided at the side of the mounting part. The connecting part is inserted into the fixed block, and a bolt is inserted from the outside through the fixed block to abut the tail of the connecting rod, so that the gripper is fixed to the mounting part.

[0078] For example, the gripper can have a Figure 7 shape as shown in .

[0079] In this embodiment, the gripper is arranged perpendicular to or parallel to the plane where the mounting part is located.

[0080] like Figure 8 As shown, by gripping the partition at a point, the robotic arm controls the gripper to move horizontally, causing the partition to rotate. At the same time, the partition falls due to inertia. At a suitable position, the horizontal side of the gripper supports the partition and slowly falls, preventing the pallet from being damaged due to excessive falling speed, thereby flipping the placed partition from state A to state B.

[0081] In addition, the fixture may also include a vision module 270, through which the target position is located.

[0082] During the process of gripping products and rotating pallets, the target position is located by a vision module to improve the robot's gripping accuracy.

[0083] In the process of gripping products and rotating pallets, the role of the 3D vision positioning and guidance system is to acquire 3D data and plan the motion path to guide the robot arm to complete the prescribed operations and tasks.

[0084] In this embodiment, the vision module can be a 3D vision module, such as a 3D vision camera, which uses 3D imaging technologies such as structured light, binocular vision, or TOF (Time-of-Flight) to photograph the axle product and its placement fixture. For example, a structured light 3D camera projects a known grating pattern onto the axle and placement fixture. The camera photographs the deformed grating pattern from a specific angle, and using the principle of triangulation, calculates the three-dimensional coordinate information of the axle and placement fixture based on the pattern deformation, thereby accurately obtaining the position and orientation of the axle product and the spatial position of the placement fixture. The 3D vision system transmits the acquired three-dimensional information of the axle and placement fixture to the robot control system. Based on this information, the robot control system plans the robot's motion path through a preset algorithm and coordinate transformation. For example, using a robot kinematics model, the coordinates in the world coordinate system provided by the 3D vision system are converted into motion commands in the robot's joint coordinate system, enabling the robot to accurately move to the visual imaging position.

[0085] Compared to traditional 2D vision or manual positioning methods, 3D vision can provide more comprehensive and accurate three-dimensional spatial information, with positioning accuracy reaching millimeter or even sub-millimeter level. This greatly improves the accuracy of vehicle axle assembly line production and reduces product damage or placement errors caused by positioning deviations.

[0086] Meanwhile, by adjusting the parameters of the 3D vision system and the program of the robot, the D4 and the designed fixture for different vehicle models can be designed, thereby adapting to the automatic offline demand of different models and specifications of automobile chassis front axle, rear axle, steering knuckle and other assembly total assemblies, and having strong flexibility and adaptability.

[0087] In the embodiment, the valve island as the control center of guiding the action of the clamp is also fixed on the octagonal section.

[0088] The above description of disclosed embodiments enables those skilled in the art to carry out or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An axle automatic offline robot, characterized in that, The utility model relates to a product placing frame, including: A mechanical arm; A clamp connected with the mechanical arm and driven by the mechanical arm to move; The clamp includes: A limiting part defining a first designated position for receiving a product; A clamping part corresponding to the limiting part and cooperating with the limiting part to form a first clamping part, which keeps the first designated position fixed with the limiting part; A second clamping part for fixing a second designated position of the product.

2. The automatic off-line robot for vehicle axle according to claim 1, characterized in that: The first clamping part is provided in two groups, and the two groups of first clamping parts are symmetrically arranged, with the second clamping part arranged between the two groups of first clamping parts, and the two groups of first clamping parts and the second clamping part arranged in a triangular layout.

3. The automatic off-line robot for vehicle axle according to claim 1, characterized in that: The limiting part includes a limiting rod, and a limiting block is embedded at the end of the limiting rod and embedded or partially embedded with the first designated position of the product.

4. The automatic off-line robot for vehicle axle according to claim 1, characterized in that: The clamping part includes: A first power device; A connecting rod connected with the first power device and driven by the first power device to rotate around the connecting end of the connecting rod with the first power device; A first clamping block sleeved at the end of the connecting rod away from the first power device, and the clamping block.

5. The automatic off-line robot for vehicle axle according to claim 4, characterized in that: The clamping part further includes a first limiting sensor arranged corresponding to the preset maximum stroke position of the connecting rod.

6. The automatic off-line robot for vehicle axle according to claim 1, characterized in that: The second clamping part includes: A second power device; A clamping part provided in two groups, and the two groups of clamping parts are arranged oppositely and driven by the second power device to move linearly so as to approach or move away from each other; A second clamping block installed on the inner side of the clamping part and having a load-bearing part protruding inward on the inner side of the second clamping block.

7. The automatic off-line robot for vehicle axle according to claim 6, characterized in that: The second clamping part further includes a second limiting sensor arranged corresponding to the maximum stroke position of the clamping part.

8. The automatic off-line robot for vehicle axle according to claim 1, characterized in that: The clamp further includes a gripper for turning the layers of the placing frame.

9. The automatic off-line robot for vehicle axle according to claim 8, characterized in that: The clamp further includes a vision module for positioning the target position.

10. The automatic off-line robot for vehicle axle according to claim 9, characterized in that: The clamp further includes a mounting part formed by connecting a plurality of octagonal profiles with each other, and the limiting part, the clamping part, the second clamping part, the gripper and the vision module are all installed on the mounting part.

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