Accurate positioning manipulator for automobile rear longitudinal beam frame

Abstract

The utility model relates to the technical field of automobile manufacturing equipment, and discloses an automobile rear longitudinal beam frame precise positioning manipulator which comprises a fixed base, a rotating seat, a large arm, a small arm, a mounting plate and a clamping mechanism mounted on the outer wall of the mounting plate. The large arm is rotatably connected to the upper portion of the rotating base through a first connecting piece, and the small arm is rotatably connected to the top end of the large arm through a second connecting piece. According to the multi-degree-of-freedom mechanical arm, due to the unique design of the multi-degree-of-freedom mechanical arm, the mechanical arm can flexibly shuttle in a complex space environment through cooperative movement of a plurality of joints; and diversified requirements of the rear longitudinal beam frames of different vehicle types on positions, angles and shapes can be easily met. And compared with a traditional manipulator, the operable range is enlarged by nearly two times, and more rear longitudinal beam frame positioning tasks of different designs can be covered.

Description

Technical Field

[0001] This application relates to the field of automotive manufacturing equipment technology, and in particular to a precise positioning robot for automotive rear longitudinal beam frames. Background Technology

[0002] In the automotive manufacturing industry, the rear longitudinal beam frame is a key structural component of the vehicle body, and the accuracy of its installation and positioning directly affects the overall safety and stability of the vehicle. Currently, many problems are frequently encountered in the positioning operation of the rear longitudinal beam frame.

[0003] On the one hand, existing positioning robots have poor flexibility. Most robots have relatively fixed structural designs and limited joint range of motion, making it difficult to adapt to changes in the position and angle of the rear longitudinal beam frame caused by design differences in different car models. For example, some new cars, in pursuit of lightweighting and space optimization, have more complex shapes for the rear longitudinal beam frame and more challenging installation locations, making it difficult for traditional robots to flexibly reach and complete positioning operations.

[0004] On the other hand, positioning efficiency is low. Traditional positioning robots lack fast and accurate positioning strategies and efficient actuators during the positioning process. After identifying the position of the rear longitudinal beam frame, the robot's adjustment of its own position and posture is slow, and the extension and clamping actions of the positioning pins are time-consuming, resulting in a long positioning time for a single rear longitudinal beam frame, which cannot meet the high-speed and high-efficiency production rhythm requirements of modern automobile production lines. This situation of poor flexibility and low positioning efficiency not only restricts the improvement of automobile production efficiency, but may also increase the defect rate and increase production costs due to inaccurate positioning. Therefore, a precise positioning robot for automobile rear longitudinal beam frames is proposed to solve the above problems. Utility Model Content

[0005] The present invention aims to provide a robot for precise positioning of the rear longitudinal beam frame of an automobile, so as to significantly improve the flexibility and positioning efficiency of the robot in the positioning operation of the rear longitudinal beam frame of an automobile, overcome the defects of the existing technology, and meet the high quality and high efficiency requirements of modern automobile production.

[0006] The technical solution for a precise positioning robot for a car rear longitudinal beam frame provided in this application is as follows:

[0007] A precision positioning robot for a car rear longitudinal beam frame includes a fixed base, a rotating base, a large arm, a small arm, a mounting plate, and a clamping mechanism mounted on the outer wall of the mounting plate.

[0008] The rotating base is rotatably connected to the top outer wall of the fixed base via a bearing; the upper arm is rotatably connected to the top of the rotating base via a connector one; and the lower arm is rotatably connected to the top of the upper arm via a connector two.

[0009] The clamping mechanism comprises two incomplete gear parts rotatably connected to the top outer wall of the mounting plate, the two incomplete gear parts are engaged, the upper and lower outer walls of the mounting plate are symmetrically movably connected with two clamping jaws through two connecting rods, one end of the two clamping jaws towards the incomplete gear parts is rotatably connected with the protruding end of the two incomplete gear parts, the bottom outer wall of the mounting plate is fixedly installed with a servo motor through a mounting bracket, and the output shaft of the servo motor penetrates through the mounting plate and is fixedly connected with one of the incomplete gear parts.

[0010] Preferably, the inner wall of one side of the top end of the small arm is rotatably connected with a connecting piece three, the outer wall of the top of the connecting piece three is fixedly connected with a wrist joint part, the outer wall of the wrist joint part is fixedly installed with a first stepping motor, and the mounting plate is fixedly connected with the output shaft of the first stepping motor through a connecting flange.

[0011] Preferably, the outer wall of the connecting piece three is fixedly installed with a second stepping motor, and the output shaft of the second stepping motor is fixedly connected with the inner wall of the other side of the top end of the small arm.

[0012] Preferably, the connecting piece one is fixedly connected to the top outer wall of the rotating seat, the connecting piece one is rotatably connected to the inner wall of one side of the bottom end of the large arm, the inner wall of the connecting piece one is fixedly installed with a fourth stepping motor, and the output shaft of the fourth stepping motor is fixedly connected with the inner wall of the other side of the bottom end of the large arm.

[0013] Preferably, the connecting piece two is rotatably connected to the inner wall of one side of the top end of the large arm, the inner wall of the connecting piece two is fixedly installed with a third stepping motor, and the output shaft of the third stepping motor is fixedly connected with the inner wall of the other side of the top end of the large arm.

[0014] Preferably, the outer wall of the fixed base is embeddedly installed with a rotating motor, and the output shaft of the rotating motor is fixedly connected with the bottom middle outer wall of the rotating seat.

[0015] Preferably, the outer wall of the fixed base is provided with a plurality of screw rods, and the plurality of screw rods are uniformly distributed in an equidistant circumferential array.

[0016] In summary, the present application has the following beneficial technical effects:

[0017] 1. The unique design of the multi-degree-of-freedom mechanical arm enables the mechanical arm to flexibly shuttle in a complex space environment through the coordinated movement of multiple joints, easily adapting to the diversified needs of different vehicle rear longitudinal beam frames in position, angle and shape. Compared with traditional mechanical hands, its operable range is expanded by nearly twice, which can cover more positioning tasks of rear longitudinal beam frames with different designs;

[0018] 2. The clamping mechanism is driven by a high-precision servo motor, which can quickly respond to control signals and realize the rapid clamping action of the two clamping jaws. It can complete the clamping and loosening action of the clamping jaws in a short time, further improves the overall positioning efficiency compared with the traditional mechanical hand, and meets the rhythm requirements of high-speed production of automobile production line. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is the overall schematic diagram of the application embodiment;

[0020] Figure 2 is the bottom perspective view of the application embodiment;

[0021] Figure 3 is the top perspective view of the application embodiment;

[0022] Figure 4 is the first part structure schematic diagram of the application embodiment;

[0023] Figure 5 is the second part structure schematic diagram of the application embodiment.

[0024] Reference signs: 1, fixed base; 2, rotating seat; 3, connecting piece one; 4, large arm; 5, connecting piece two; 6, small arm; 7, connecting piece three; 8, wrist joint; 9, first stepping motor; 10, mounting plate; 11, incomplete gear; 12, clamping jaw; 13, connecting rod; 14, mounting frame; 15, servo motor; 16, second stepping motor; 17, third stepping motor; 18, fourth stepping motor; 19, rotating motor; 20, screw rod. DETAILED DESCRIPTION

[0025] The following will be combined with the Figures 1-5 The application is further described in detail.

[0026] The application embodiment discloses a precise positioning mechanical hand for automobile rear longitudinal beam frame. Referring to Figures 1-5 A precise positioning mechanical hand for automobile rear longitudinal beam frame, comprising a fixed base 1, a rotating seat 2, a large arm 4, a small arm 6, a mounting plate 10 and a clamping mechanism mounted on the outer wall of the mounting plate 10;

[0027] The rotating seat 2 is rotatably connected to the top outer wall of the fixed base 1 through a bearing, the large arm 4 is rotatably connected to the upper part of the rotating seat 2 through the connecting piece one 3, and the small arm 6 is rotatably connected to the top end of the large arm 4 through the connecting piece two 5;

[0028] The clamping mechanism comprises two incomplete gear members 11 rotatably connected to the top outer wall of the mounting plate 10, the two incomplete gear members 11 are engaged, the upper and lower outer walls of the mounting plate 10 are symmetrically movably connected with two clamping jaws 12 through two connecting rods 13, one end of the two clamping jaws 12 towards the incomplete gear members 11 is rotatably connected with the protruding end of the two incomplete gear members 11, the bottom outer wall of the mounting plate 10 is fixedly provided with a servo motor 15 through a mounting bracket 14, and the output shaft of the servo motor 15 penetrates through the mounting plate 10 and is fixedly connected with one of the two incomplete gear members 11.

[0029] The inner wall of one side of the top end of the small arm 6 is rotatably connected with a connecting piece three 7, the outer wall of the top of the connecting piece three 7 is fixedly connected with a wrist joint member 8, the outer wall of the wrist joint member 8 is fixedly provided with a first stepping motor 9, and the mounting plate 10 is fixedly connected with the output shaft of the first stepping motor 9 through a connecting flange.

[0030] The outer wall of the connecting piece three 7 is fixedly provided with a second stepping motor 16, and the output shaft of the second stepping motor 16 is fixedly connected with the inner wall of the other side of the top end of the small arm 6.

[0031] The connecting piece one 3 is fixedly connected to the top outer wall of the rotating seat 2, the connecting piece one 3 is rotatably connected to the inner wall of one side of the bottom end of the large arm 4, the inner wall of the connecting piece one 3 is fixedly provided with a fourth stepping motor 18, and the output shaft of the fourth stepping motor 18 is fixedly connected with the inner wall of the other side of the bottom end of the large arm 4.

[0032] The connecting piece two 5 is rotatably connected to the inner wall of one side of the top end of the large arm 4, the inner wall of the connecting piece two 5 is fixedly provided with a third stepping motor 17, and the output shaft of the third stepping motor 17 is fixedly connected with the inner wall of the other side of the top end of the large arm 4.

[0033] The outer wall of the fixed base 1 is embeddedly provided with a rotating motor 19, and the output shaft of the rotating motor 19 is fixedly connected with the middle outer wall of the bottom of the rotating seat 2.

[0034] The outer wall of the fixed base 1 is provided with a plurality of screw rods 20, and the plurality of screw rods 20 are evenly distributed in a circumferential array.

[0035] The implementation principle of the embodiment of the application is as follows: when in use, the fixed base 1 can be fixed at a specified installation position through the plurality of screw rods 20, and external power supply and a control system (not shown in the figure) of each driving component in the mechanical hand are connected.

[0036] When the automobile rear longitudinal beam frame to be positioned is conveyed to the positioning area, the external control system calculates the initial action parameters of the mechanical arm and the clamping mechanism according to the positioning data of the automobile rear longitudinal beam frame of the type stored in the storage unit.

[0037] The control system sends control instructions to each step motor of the mechanical arm joint assembly, drives the movement of the arm 4, the arm 6 and the wrist joint 8, so that the clamping mechanism quickly moves to a position above the automobile rear longitudinal beam frame, specifically, when the fourth step motor 18 is started, the output shaft drives the arm 4 to rotate around the connecting piece one 3; when the third step motor 17 is started, the output shaft drives the connecting piece two 5 to rotate around the top end of the arm 4, the connecting piece two 5 drives the arm 6 to rotate; when the second step motor 16 is started, the output shaft drives the connecting piece three 7 to rotate around the top end of the arm 6, when the first step motor 9 is started, the output shaft drives the incomplete gear piece 11 and the clamping mechanism on the outer wall to rotate horizontally, and when the rotating motor 19 is started, the output shaft drives the rotating seat 2 to rotate around the fixed base 1, thereby driving the arm 4, the arm 6 and the wrist joint 8 to rotate horizontally, and expanding the adjustment range.

[0038] When the clamping mechanism approaches the automobile rear longitudinal beam frame, the control system controls the servo motor 15 in the clamping mechanism to be started, the output shaft of the servo motor 15 rapidly drives an incomplete gear piece 11 to rotate, since the two incomplete gear pieces 11 are engaged, the relative synchronous rotation is realized, when the two incomplete gear pieces 11 rotate in opposite directions, the convex ends on the surfaces drive the two clamping jaws 12 to make opposite expansion movements towards one end of the incomplete gear piece 11, at this time, the middle sections of the two clamping jaws 12 rotate at the end of the connecting rod 13, so that the two clamping jaws 12 relatively approach the one end of the incomplete gear piece 11 and make clamping actions, so that the automobile rear longitudinal beam frame is positioned.

[0039] After the positioning operation is completed, the automobile rear longitudinal beam frame can be subjected to subsequent production processes, such as welding, assembly and the like, when the subsequent processes are completed, the central processing unit of the control system controls the servo motor 15 to rotate reversely, so that the two clamping jaws 12 make loosening actions, and then the mechanical arm is restored to the initial position, and is prepared for positioning operation on the next automobile rear longitudinal beam frame.

[0040] Finally, it should be pointed out that: first, in the description of the present application, it should be pointed out that, unless otherwise specified and limited, the terms "mounting", "connection" and "connection" should be understood broadly, which can be mechanical connection or electrical connection, or the communication between two elements, or direct connection, "up", "down", "left", "right" and the like are only used to represent the relative positional relationship, when the absolute position of the described object changes, the relative positional relationship may change;

[0041] Secondly: the utility model discloses the embodiment in the drawing, only relates to the structure involved in the embodiment of the present disclosure, other structures can refer to the usual design, in the case of no conflict, the same embodiment and different embodiments of the utility model can be combined with each other.

[0042] Finally: the above only for the preferred embodiments of the present application have, and not for limiting the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application, should be included in the scope of protection of the present application.

[0043] The above are the preferred embodiments of the present application, and are not limited by the scope of protection of the present application, therefore: any equivalent changes made in accordance with the structure, shape, principle of the present application, should be covered within the scope of protection of the present application.

Claims

1. A robotic arm for precise positioning of a car rear longitudinal beam frame, characterized in that: It include fixed base (1), rotating seat (2), big arm (4), small arm (6), mounting plate (10) and clamping mechanism installed on the outer wall of mounting plate (10); The clamping mechanism includes two incomplete gear parts (11) rotatably connected to the top outer wall of the mounting plate (10), the two incomplete gear parts (11) are engaged, the upper and lower outer walls of the mounting plate (10) are symmetrically movably connected with two clamping jaws (12) through two connecting rods (13), one end of the two clamping jaws (12) towards the incomplete gear parts (11) is rotatably connected with the protruding end of the two incomplete gear parts (11), the bottom outer wall of the mounting plate (10) is fixedly installed with a servo motor (15) through a mounting bracket (14), the output shaft end of the servo motor (15) penetrates the mounting plate (10) and is fixedly connected with one of the incomplete gear parts (11).

2. The precise positioning manipulator for automobile rear longitudinal beam frame according to claim 1, characterized in that: The rotating seat (2) is rotatably connected to the top outer wall of the fixed base (1), the big arm (4) is rotatably connected above the rotating seat (2) through a connecting piece one (3), and the small arm (6) is rotatably connected to the top end of the big arm (4) through a connecting piece two (5).

3. The precise positioning manipulator for automobile rear longitudinal beam frame according to claim 1, characterized in that: The top end of the small arm (6) is rotatably connected with a connecting piece three (7), the top outer wall of the connecting piece three (7) is fixedly connected with a wrist joint part (8), the outer wall of the wrist joint part (8) is fixedly installed with a first stepping motor (9), and the mounting plate (10) is fixedly connected with the output shaft end of the first stepping motor (9) through a connecting flange.

4. The precise positioning manipulator for automobile rear longitudinal beam frame according to claim 3, characterized in that: The outer wall of the connecting piece three (7) is fixedly installed with a second stepping motor (16), and the output shaft end of the second stepping motor (16) is fixedly connected with the other side inner wall of the top end of the small arm (6).

5. The precision positioning manipulator for automobile rear longitudinal beam frame according to claim 2, characterized in that: The connecting piece one (3) is fixedly connected to the top outer wall of the rotating seat (2), and the connecting piece one (3) is rotatably connected to the inner wall of the bottom end of the big arm (4), and the inner wall of the connecting piece one (3) is fixedly installed with a fourth stepping motor (18), and the output shaft end of the fourth stepping motor (18) is fixedly connected with the other side inner wall of the bottom end of the big arm (4).

6. The precise positioning manipulator for automobile rear longitudinal beam frame according to claim 2, characterized in that: The connecting piece two (5) is rotatably connected to the inner wall of the top end of the big arm (4), and the inner wall of the connecting piece two (5) is fixedly installed with a third stepping motor (17), and the output shaft end of the third stepping motor (17) is fixedly connected with the other side inner wall of the top end of the big arm (4).

7. The precise positioning manipulator for automobile rear longitudinal beam frame according to claim 1, characterized in that: The outer wall of the fixed base (1) is embeddedly installed with a rotating motor (19), and the output shaft end of the rotating motor (19) is fixedly connected with the bottom middle outer wall of the rotating seat (2).

8. The precision positioning manipulator for automobile rear longitudinal beam frame according to claim 1, characterized in that: The outer wall of the fixed base (1) is provided with a plurality of screw rods (20), and the plurality of screw rods (20) are evenly distributed in a circumferential array.

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