Power-assisted manipulator for assembling workpieces in vehicle

Abstract

The utility model discloses a power-assisted manipulator for assembling workpieces in a vehicle, which comprises a positioning part, a cross rod and an execution part, the positioning part is provided with a connecting end, and the positioning part is configured to be capable of driving the connecting end to move along the horizontal direction and the vertical direction; the cross rod is horizontally arranged, one end of the cross rod in the length direction is fixedly connected with the connecting end, and the connecting end is configured to be capable of rotating around the vertical direction so as to drive the cross rod to rotate around the vertical direction; or the cross rod is rotationally connected with the connecting end, and the rotating axial direction is parallel to the vertical direction; the execution part is connected to the other end of the transverse rod in the length direction and suitable for being connected with a to-be-assembled vehicle part. Multi-dimensional movement of the executing part and vehicle parts can be achieved, the assembling efficiency and the assembling quality are improved, and the labor intensity of workers is effectively relieved; meanwhile, under the supporting of the cross rod, the execution part can extend into the vehicle frame from the vehicle door side, and the in-vehicle installation requirements of related workpieces are met.

Description

Technical Field

[0001] This utility model relates to the field of automotive assembly tooling technology, specifically to a power-assisted robotic arm for assembling workpieces inside a vehicle. Background Technology

[0002] In vehicle assembly workshops, in order to complete the assembly and flexible docking of parts, it is often necessary to adjust the position and orientation of the parts. For the assembly and docking of large precision workpieces, flexible assembly systems composed of three coordinates or more are usually used. These assembly systems often have complex mechanical structures and control systems, and their development, use and maintenance costs are very high, and they are also highly specialized. For the assembly and docking of most general workpieces, manual handling, adjustment and assembly are usually used.

[0003] Taking the automotive center console as an example, it is an assembly installed between the two front seats of a car, integrating components such as the gear shift lever, handbrake, and storage / armrest box. With the development of the automotive industry, the center console has also integrated more and more functions, such as a car refrigerator. These increasing functions have led to the increasing weight of the center console assembly. During installation, the center console needs to be manually moved from the material rack to the car body. This process requires employees to frequently bend over and carry it, and the increasingly heavy center console greatly increases the labor intensity of employees. More personnel must be assigned to this workstation to carry it in shifts, which not only affects the production line's pace but also leads to high employee workload, low efficiency, and poor workpiece assembly quality.

[0004] In response, related technologies often use cranes and electric hoists to assist in transportation. However, these handling tools are inefficient, have poor precision, and are limited in the direction of transport, which cannot meet the requirements for in-vehicle installation of related workpieces. Utility Model Content

[0005] In view of the above problems, this utility model provides a power-assisted robot for assembling workpieces inside a vehicle, which can solve the problems of high workload, low assembly efficiency and poor installation quality during the assembly, handling and installation of parts inside a vehicle.

[0006] According to one aspect of the present invention, a power-assisted manipulator for assembling workpieces inside a vehicle is provided, comprising: a positioning part having a connecting end and configured to drive the connecting end to move in a horizontal and vertical direction; a crossbar, the crossbar being horizontally arranged, one end of its length direction being fixedly connected to the connecting end, and the connecting end being configured to rotate around a vertical direction to drive the crossbar to rotate around a vertical direction; or the crossbar being rotatably connected to the connecting end, the rotation axis being parallel to the vertical direction; and an execution part connected to the other end of the crossbar in the length direction, suitable for connecting vehicle parts to be assembled.

[0007] In an exemplary embodiment of the present invention, the invention further includes: a connecting portion, comprising a first connecting seat, a second connecting seat, and at least one stop structure; the first connecting seat is connected to one of the actuator and the crossbar, and the second connecting seat is connected to the other of the actuator and the crossbar; wherein the first connecting seat has a insertion cavity opened along the length direction of the crossbar, and the second connecting seat is correspondingly provided with an insertion end; the insertion end is inserted into the insertion cavity to connect the actuator and the crossbar; the stop structure is movably connected to the first connecting seat and the second connecting seat, and is configured to lock the insertion end when the insertion end is inserted into the insertion cavity.

[0008] In an exemplary embodiment of the present invention, the stop structure includes a buckle and a hook. The buckle is disposed on one of the first connecting seat and the second connecting seat, and the hook is disposed on the other of the first connecting seat and the second connecting seat. The buckle is adapted to engage with the hook.

[0009] In an exemplary embodiment of this utility model, a first flange is provided at one end of the first connecting seat facing the second connecting seat. The first flange is circumferentially arranged around the insertion cavity, and a plurality of first conduit joints are provided on the surface of the first flange. A second flange is provided at one end of the second connecting seat facing the first connecting seat. The second flange is circumferentially arranged around the insertion end, and a plurality of second conduit joints are provided on the surface of the second flange. When the insertion end is inserted into the insertion cavity, the first flange and the second flange are mated, and the first conduit joints and the second conduit joints are correspondingly connected.

[0010] In an exemplary embodiment of the present invention, the actuator includes: a rotating platform, the rotating platform including a base, a rotating brake and a rotating shaft, a crossbar connected to one side of the base; the base has a hollow cavity opened in the vertical direction, and the rotating shaft is rotatably inserted through the hollow cavity in the vertical direction; the rotating brake is disposed at the upper end of the base and coaxially connected to the rotating shaft; and a clamp, the clamp is connected to the lower end of the rotating shaft and is configured to clamp vehicle parts to restrict their movement and rotation.

[0011] In an exemplary embodiment of the present invention, the execution unit further includes: a horizontal floating mechanism, which is disposed between the rotating shaft and the clamp, and has a horizontal floating state and a horizontal locking state; wherein, when the horizontal floating mechanism is in the horizontal floating state, it can drive the clamp to move in the horizontal direction relative to the rotating shaft; when the horizontal floating mechanism is in the horizontal locking state, the clamp is stationary in the horizontal direction relative to the rotating shaft.

[0012] In an exemplary embodiment of this utility model, the horizontal floating mechanism includes: a first floating frame, comprising a first crossbeam and a second crossbeam extending laterally and parallel to each other in the horizontal direction, and two first guide shafts vertically disposed between the first and second crossbeams, the two first guide shafts being parallel and spaced apart in the horizontal direction; a second floating frame, comprising a first longitudinal beam, a second longitudinal beam, and a second guide shaft, the first and second longitudinal beams being respectively connected to the two first guide shafts and capable of sliding along the first guide shafts; the second guide shaft being vertically disposed between the first and second longitudinal beams; and a third connecting seat, the third connecting seat being connected to the second guide shaft and capable of sliding along the second guide shaft. The horizontal floating mechanism is horizontally locked when the locking device slides and is fixedly connected to the rotating shaft on the upper side; a fourth connecting seat is disposed below the third connecting seat and fixedly connected to the first floating frame, and fixedly connected to the clamp on the lower side; and a locking device is vertically disposed between the third connecting seat and the fourth connecting seat, one end of which is fixed to one of the third connecting seat and the fourth connecting seat, and the other end is configured to extend and retract in the vertical direction; wherein, when the locking device extends and retracts to abut against one of the third connecting seat and the fourth connecting seat, the horizontal floating mechanism is in a horizontally locked state; when the locking device extends and retracts to separate from one of the third connecting seat and the fourth connecting seat, the horizontal floating mechanism is in a horizontally floating state.

[0013] In an exemplary embodiment of the present invention, the execution unit further includes a vertical floating mechanism, which is disposed between the rotating shaft and the clamp, and is used to drive the clamp to move in the vertical direction.

[0014] In an exemplary embodiment of the present invention, the clamp includes: a base connected to the lower end of a rotating shaft; a driving device fixed to the base and having at least two driving ends arranged in a rotationally symmetrical manner in the horizontal direction; and at least two grippers respectively connected to at least two driving ends and configured to move towards or away from each other under the drive of the driving ends.

[0015] In an exemplary embodiment of the present invention, the clamp further includes a limiting member, which is connected to the base and has a first limiting portion, a second limiting portion and a third limiting portion. The first limiting portion is adapted to at least partially abut against the horizontal lateral side of the vehicle component, the second limiting portion is adapted to at least partially abut against the horizontal longitudinal side of the vehicle component, and the third limiting portion is adapted to at least partially abut against the vertical side of the vehicle component.

[0016] This invention enables multi-dimensional movement of the actuator and vehicle components through the cooperation of the positioning part and the crossbar. This allows the actuator to adapt to changes in the shape, position, and orientation of the vehicle components when connected, preventing damage and improving assembly efficiency and quality. When installing vehicle components onto a vehicle, it enables long-distance and multi-angle handling, effectively reducing the labor intensity of employees and improving transportation efficiency. Simultaneously, supported by the crossbar, the actuator can extend from the door side into the vehicle frame, meeting the in-vehicle installation requirements of relevant workpieces.

[0017] The above description is merely an overview of the technical solutions of the present utility model embodiments. In order to better understand the technical means of the present utility model embodiments and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present utility model embodiments more obvious and understandable, specific embodiments of the present utility model are described below. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the structure of the power-assisted robotic arm according to an embodiment of the present invention is shown;

[0020] Figure 2 A schematic diagram of the positioning part according to an embodiment of the present invention is shown;

[0021] Figure 3 A schematic diagram of the connecting portion according to an embodiment of the present invention is shown;

[0022] Figure 4 A schematic diagram of the structure of the execution unit according to an embodiment of the present invention is shown;

[0023] Figure 5 A connection diagram of the execution unit according to an embodiment of the present invention is shown;

[0024] Figure 6 A schematic diagram of the structure of the horizontal floating mechanism according to an embodiment of the present invention is shown;

[0025] Figure 7 A schematic diagram of the fixture described in an embodiment of this utility model is shown;

[0026] Figure 8A connection diagram of the clamp described in an embodiment of the present invention is shown.

[0027] Explanation of icon numbers:

[0028] 1-Positioning part, 11-Connecting end, 12-Vertical guide rail, 13-Transverse guide rail, 14-Longitudinal guide rail

[0029] 2-Crossbar,

[0030] 3-Execution Department

[0031] 31-Rotating platform, 311-Base, 312-Rotating brake, 313-Rotating shaft

[0032] 32-Clamp, 321-Base, 3211-Handle, 322-Drive device, 3221-Drive end, 323-Gripper, 324-Limiting member, 3241-First limiting part, 3242-Second limiting part, 3243-Third limiting part

[0033] 33-Horizontal floating mechanism; 331-First floating frame; 3311-First crossbeam; 3312-Second crossbeam; 3313-First guide shaft; 332-Second floating frame; 3321-First longitudinal beam; 3322-Second longitudinal beam; 3323-Second guide shaft; 333-Third connecting seat; 334-Fourth connecting seat; 335-Locking device.

[0034] 4-Connecting part, 41-First connecting seat, 411-Plug-in cavity, 412-First flange, 413-First conduit connector, 42-Second connecting seat, 421-Plug-in end, 422-Second flange, 423-Second conduit connector, 43-Stop structure, 431-Hook, 432-Snap fastener.

[0035] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0036] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make the present invention more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0037] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of the present invention. However, those skilled in the art will recognize that the technical solutions of the present invention can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., may be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of the present invention.

[0038] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0039] It should be noted that the orientations or positional relationships indicated by "front," "rear," "left," "right," "up," and "down" in the embodiments of this application are based on the orientations or positional relationships shown in the accompanying drawings; the X direction is the horizontal longitudinal direction, where the direction the arrow points is "front," and vice versa; the Y direction is the horizontal transverse direction, where the direction the arrow points is "left," and vice versa; the Z direction is the vertical direction, where the direction the arrow points is "up," and vice versa. The terms "inner" and "outer" mentioned in the embodiments of this application are defined based on the outline of the corresponding component. It is understood that the above-mentioned terms indicating orientations or positional relationships are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the utility model.

[0040] like Figure 1 and Figure 2As shown, this embodiment provides a power-assisted manipulator for assembling in-vehicle parts, including a positioning part 1, a crossbar 2, and an execution part 3. The positioning part 1 has a connecting end 11 and is configured to drive the connecting end 11 to move in the horizontal direction and the vertical direction Z. The crossbar 2 is horizontally arranged, with one end of its length direction fixedly connected to the connecting end 11, and the connecting end 11 is configured to rotate around the vertical direction Z to drive the crossbar 2 to rotate around the vertical direction Z; or the crossbar 2 is rotatably connected to the connecting end 11, with the rotation axis parallel to the vertical direction Z, so that the crossbar 2 can rotate around the vertical direction Z. The execution part 3 is connected to the other end of the crossbar 2 in the length direction and is suitable for connecting the vehicle parts to be assembled. The multi-dimensional movement and rotation of the actuator 3 can be achieved through the cooperation of the positioning part 1 and the crossbar 2. In this way, when the actuator 3 is connected to the vehicle parts to be assembled, it can adapt to changes in the shape, position and orientation of the vehicle parts, avoid damage to the vehicle parts, and improve assembly efficiency and quality. When the vehicle parts are installed in the vehicle, long-distance and multi-angle handling can be achieved, effectively reducing the labor intensity of employees and improving transportation efficiency. At the same time, with the support of the crossbar 2, the depth requirement of the actuator 3 in the vehicle can be met, ensuring that the vehicle parts reach the installation position in the vehicle and realize the installation of related workpieces in the vehicle.

[0041] For example, such as Figure 1 and Figure 2 The positioning unit 1 can be a multi-dimensional guide rail system including a vertical guide rail 12 extending vertically in the Z direction, a horizontal guide rail 13 extending horizontally in the Y direction, and a longitudinal guide rail 14 extending vertically in the X direction. The connecting end 11 is connected to the vertical guide rail 12 via a slide block to slide along the vertical guide rail 12. The vertical guide rail 12 is connected to the horizontal guide rail 13 via another slide block to slide along the horizontal guide rail 13. The horizontal guide rail 13 is connected to the longitudinal guide rail 14 via yet another slide block to slide along the longitudinal guide rail 14. Thus, by moving the connecting end 11, the crossbar 2 and the execution unit 3 can move synchronously as a whole, achieving movement at any position in the vertical Z direction and the horizontal direction. This facilitates the connection or separation of the execution unit 3 from the vehicle parts to be assembled, improving assembly efficiency and quality. Alternatively, in other embodiments, the positioning unit 1 can be a multi-joint robotic arm, using multiple joints, links, and motors to achieve bending, extension, and rotation movements, thereby enabling the connecting end 11 to move at any position in the vertical Z direction and the horizontal direction within a certain range. At the same time, such as Figure 1As shown, in this embodiment, the crossbar 2 and the connecting end 11 are connected at right angles by bolts. The connecting end 11 is rotatably connected to the slide and the slide is slidably connected to the vertical guide rail 12, or the connecting end 11 is fixedly connected to the slide and the slide is rotatably and slidably connected to the vertical guide rail 12. The rotation axis is parallel to the vertical direction Z. At this time, the connecting end 11 is configured to rotate around the vertical direction Z. By rotating the connecting end 11, the crossbar 2 can be driven to rotate around the vertical direction Z. In this way, the crossbar 2 and the actuator 3 can rotate 360 ​​degrees around the connecting end 11, further improving the assembly operation flexibility of the robot arm. Of course, in other embodiments, the crossbar 2 and the connecting end 11 can also be rotatably connected, with the rotation axis parallel to the vertical direction Z. The function of rotating around the vertical direction Z can be achieved by rotating the crossbar 2. The actuator 3 can connect to the vehicle parts to be assembled by means of plug-in, snap-fit ​​or bolt connection, or it can use clamping devices with clamping function such as pneumatic clamps or mechanical grippers to clamp the vehicle parts to be assembled, thereby restricting the movement and rotation of the vehicle parts to be assembled.

[0042] It is understood that the positioning unit 1 can maintain the balance of the entire power-assisted manipulator and hover at any position when under load through the balancing cylinder. At the same time, the controller can control the power-assisted manipulator to perform operations such as fast forward, fast backward, rotation and following, as well as control the clamping and releasing actions of the execution unit 3, so as to automatically or assist employees in performing tasks such as picking up, transporting, rotating and loading into the vehicle and installing parts on the ground. This is existing technology and will not be described in detail here.

[0043] In some embodiments, such as Figures 1 to 3As shown, the power-assisted manipulator also includes a connecting part 4, which includes a first connecting seat 41, a second connecting seat 42, and at least one stop structure 43. The first connecting seat 41 is connected to one of the actuator 3 and the crossbar 2, and the second connecting seat 42 is connected to the other of the actuator 3 and the crossbar 2. The first connecting seat 41 has a insertion cavity 411 opened along the length direction of the crossbar 2, i.e., the horizontal longitudinal direction X. The second connecting seat 42 is correspondingly provided with an insertion end 421. The insertion end 421 is inserted into the insertion cavity 411 to connect the actuator 3 and the crossbar 2. The stop structure 43 is movably connected to the first connecting seat 41 and the second connecting seat 42, and is configured to lock the insertion end 421 when it is inserted into the insertion cavity 411, so as to limit the axial movement and rotation of the insertion end 421 and the side wall of the insertion cavity 411, so that the connection between the actuator 3 and the crossbar 2 is reliable and stable. In this way, by using the plug-in end 421 and the plug-in cavity 411 to plug in, sufficient support strength can be provided to meet the transportation and installation of heavy workpieces such as automotive center consoles. At the same time, the plug-in connection method combined with the movable locking stop structure 43 can quickly replace the actuator 3 to meet the needs of quick replacement of different models or types of automotive parts, thereby improving the working efficiency and compatibility of the power-assisted robot.

[0044] Specifically, such as Figure 1 , Figure 3 and Figure 4 As shown, a first connecting seat 41 with a insertion cavity 411 is fixed to the horizontal side of the actuator 3, and its insertion cavity 411 faces the crossbar 2; a second connecting seat 42 with a insertion end 421 is fixed to the end of the crossbar 2 away from the connecting end 11, and its insertion end 421 extends forward along the length direction of the crossbar 2, i.e., the horizontal longitudinal direction X. The shape and size of the insertion end 421 are adapted to the insertion cavity 411. Preferably, the insertion end 421 and the insertion cavity 411 are rectangular in cross-section. Thus, by inserting the insertion end 421 into the insertion cavity 411 along the horizontal longitudinal direction X, the docking of the first connecting seat 41 and the second connecting seat 42 can be completed conveniently and quickly. Furthermore, it can prevent the first connecting seat 41 and the second connecting seat 42 from rotating relative to each other in the axial direction; the stop structure 43, as a movable component, can be two structural components that can be connected and separated from each other, one of which is located in the first connecting seat 41 and the other is located in the second connecting seat 42. When the insertion end 421 is inserted into the insertion cavity 411, the two structural components can be connected to lock the insertion end 421 in the insertion cavity 411, thereby restricting the axial movement of the insertion end 421 and the side wall of the insertion cavity 411, realizing the effective fixation of the first connecting seat 41 and the second connecting seat 42, and ensuring the stable connection between the actuator 3 and the crossbar 2.

[0045] For example, such as Figure 1 and Figure 3As shown, the stopping structure 43 includes a latch 432 and a hook 431. The hook 431 is located on the first connecting seat 41, and the latch 432 is located on the second connecting seat 42. The latch 432 is adapted to engage with the hook 431 and can withstand a certain amount of tension, pressure, or shear force to maintain the stability of the connection. In this embodiment, there are two hooks 431, which are symmetrically distributed 180 degrees around the first connecting seat 41. There are also two latches 432, which are distributed around the second connecting seat 42 corresponding to the hooks 431. When the insertion end 421 is inserted into the insertion cavity 411, by fastening the latch 432 onto the hook 431, the friction between the two and their own structural strength can be used to effectively prevent the connection from breaking, thereby limiting the axial movement of the insertion end 421 and the side wall of the insertion cavity 411, and effectively fixing the first connecting seat 41 and the second connecting seat 42. Of course, in other embodiments, the hook 431 can also be provided on the second connecting seat 42, and the buckle 432 can be correspondingly provided on the first connecting seat 41, which can also effectively fix the first connecting seat 41 and the second connecting seat 42, achieving the same technical effect as described above. It is understood that the specific structure of the buckle 432 and the hook 431 is conventional technology in the art, and will not be described in detail here.

[0046] In addition, in other embodiments, the stop structure 43 can also be a locking pin. The side walls of the insertion end 421 and the insertion cavity 411 are provided with corresponding locking holes. The locking pin passes through the locking holes along the length direction perpendicular to the crossbar 2 and passes through the side walls of the insertion end 421 and the insertion cavity 411. This can also achieve the purpose of restricting the axial movement and relative rotation of the side walls of the insertion end 421 and the insertion cavity 411.

[0047] In some embodiments, such as Figure 1 and Figure 3As shown, the first connecting seat 41 has a first flange 412 at one end facing the second connecting seat 42. The first flange 412 is circumferentially arranged around the insertion cavity 411, and the surface of the first flange 412 is provided with a plurality of first conduit connectors 413. The second connecting seat 42 has a second flange 422 at one end facing the first connecting seat 41. The second flange 422 is circumferentially arranged around the insertion end 421, and the surface of the second flange 422 is provided with a plurality of second conduit connectors 423. When the insertion end 421 is inserted into the insertion cavity 411, the first flange 412 and the second flange 422 are mated, and the first conduit connectors 413 and the second conduit connectors 423 are correspondingly connected. By arranging the first flange 412 and the second flange 422, on the one hand, the insertion depth of the insertion end 421 in the insertion cavity 411 can be limited, which facilitates the locking and positioning of the stop structure 43; on the other hand, it can provide installation space for the conduit connector. Not only can the first conduit connector 413 and the second conduit connector 423 be used to organize the gas / liquid pipes and wire harnesses to prevent them from getting tangled, but it can also facilitate and quickly connect the actuator 3 with the gas / liquid pipes and wire harnesses on the side of the crossbar 2.

[0048] In some embodiments, such as Figures 3 to 5 As shown, the actuator 3 includes a rotating platform 31 and a clamp 32. The rotating platform 31 includes a base 311, a rotating brake 312, and a rotating shaft 313. The crossbar 2 is connected to one side of the base 311 via a connecting part 4. The connection method includes, but is not limited to, bolt connection, welding, or integral molding connection, so as to drive the actuator 3 to move. The base 311 has a hollow cavity opened in the vertical direction Z. The rotating shaft 313 passes through the hollow cavity in the vertical direction Z and is rotatably connected to the base 311 via a bearing. The rotating brake 312 is located at the upper end of the base 311 and is coaxially connected to the rotating shaft 313. It generates a braking torque to act on the rotating shaft 313 to limit its rotation. The clamp 32 is connected to the lower end of the rotating shaft 313 and is configured to clamp vehicle parts to limit their movement and rotation. In this way, by rotating the rotating shaft 313 and the base 311, the assembly angle can be adjusted by directly rotating the fixture 32. After the assembly angle is adjusted, the rotation of the rotating shaft 313 can be restricted by activating the rotating brake 312 to fix the assembly angle of the fixture 32.

[0049] It is understood that the aforementioned rotary brake 312 can be a disc brake or a drum brake, etc., utilizing the friction generated by the contact between the brake pads or brake drum and the rotating shaft 313 to achieve braking. The aforementioned rotating platform 31 can also be equipped with a motor to drive the rotating shaft 313 to rotate, and the motor and rotary brake 312 are connected via a PLC system, limit switches, and encoders to control the rotation, acceleration, deceleration, and positioning of the rotating shaft 313, achieving precise control and automated operation of the assembly angle of the fixture 32. The aforementioned fixture 32 can be a pneumatic fixture or a mechanical gripper, etc., with clamping function, which clamps the vehicle parts to be assembled, thereby achieving the purpose of fixing the vehicle parts. This is existing technology and will not be elaborated further here.

[0050] In some embodiments, such as Figures 4 to 6 As shown, the actuator 3 also includes a horizontal floating mechanism 33, which is located between the rotating shaft 313 and the clamp 32. The horizontal floating mechanism 33 has a horizontal floating state and a horizontal locking state. When the horizontal floating mechanism 33 is in the horizontal floating state, it can drive the clamp 32 to move relative to the rotating shaft 313 in the horizontal direction (including the horizontal lateral Y and horizontal longitudinal X). When the horizontal floating mechanism 33 is in the horizontal locking state, the clamp 32 is stationary relative to the rotating shaft 313 in the horizontal direction. Since the position of the workpiece may have a certain error, the horizontal floating mechanism 33 allows the clamp 32 to be finely adjusted in the horizontal direction during docking with vehicle parts, thereby accurately gripping the workpiece. At the same time, when installing vehicle parts into the vehicle, the horizontal floating mechanism 33 can help the vehicle parts to be accurately aligned in the horizontal direction, improving its assembly accuracy and installation quality.

[0051] It is understood that the aforementioned horizontal floating mechanism 33 is an active mechanism used to enable an object to move within a certain range in the horizontal direction. This is mainly achieved through a sliding connection structure. The low-friction sliding surface of the sliding connection structure allows the clamp 32 to slide horizontally, thereby fine-tuning its position in the horizontal direction. Simultaneously, the aforementioned horizontal floating mechanism 33 can be equipped with elastic elements (such as springs) at one or both ends of the sliding direction of the sliding connection structure. The elastic deformation of these elements achieves a flexible floating effect, and the clamp 32 can be reset using its elastic restoring force after docking or installation. Alternatively, a hydraulic device or cylinder can be installed at one or both ends of the sliding direction of the sliding connection structure. By controlling the flow direction and pressure changes of hydraulic oil or gas, the position of the clamp 32 in the horizontal direction can be adjusted, and the switching between a horizontal floating state and a horizontal locking state can be achieved. Furthermore, a linear module can be installed at one or both ends of the sliding direction of the sliding connection structure, using the linear module to move the clamp 32 to adjust its position in the horizontal direction.

[0052] For example, such as Figure 5 and Figure 6 As shown, the horizontal floating mechanism 33 includes a first floating frame 331, a second floating frame 332, a third connecting seat 333, a fourth connecting seat 334, and a locking device 335. The first floating frame 331 includes a first crossbeam 3311 extending in the horizontal transverse direction Y and arranged parallel to each other in the horizontal longitudinal direction X, a second crossbeam 3312, and two first guide shafts 3313 vertically arranged between the first crossbeam 3311 and the second crossbeam 3312, the two first guide shafts 3313 being arranged parallel to each other in the horizontal transverse direction Y. The second floating frame 332 includes a first longitudinal beam 3321, a second longitudinal beam 3322, and a second guide shaft 3315. 23. The first longitudinal beam 3321 and the second longitudinal beam 3322 are respectively connected to two first guide shafts 3313 and can slide along their respective first guide shafts 3313; the second guide shaft 3323 is vertically arranged between the first longitudinal beam 3321 and the second longitudinal beam 3322 along the horizontal transverse Y direction, and is fixedly connected to the first longitudinal beam 3321 and the second longitudinal beam 3322 so as to slide synchronously with the first longitudinal beam 3321 and the second longitudinal beam 3322; at this time, the third connecting seat 333 is slidably connected to the second guide shaft 3323, and the upper side of the third connecting seat 333 is fixedly connected to the rotating shaft 313. Thus, the third connecting seat 333... The first floating frame 331 can move horizontally (Y) relative to the second floating frame 332 along the second guide axis 3323, and the second floating frame 332 can move horizontally (X) relative to the first floating frame 331 along the first guide axis 3313. The fourth connecting seat 334 is located below the third connecting seat 333 and is fixedly connected to the first floating frame 331, and is also fixedly connected to the clamp 32 on its lower side. In this way, the clamp 32 and the rotating shaft 313 can float in the horizontal direction, thereby allowing for fine adjustment of the position of the clamp 32 in the horizontal direction. The locking device 335 is vertically arranged between the third connecting seat 333 and the fourth connecting seat 334. One end of the device is fixed to the fourth connecting seat 334, and the other end is configured to extend and retract in the vertical direction Z to switch between a horizontal floating state and a horizontal locking state. When the other end of the locking device 335 extends to abut against the third connecting seat 333, it generates friction with the third connecting seat 333 to achieve a limit braking. At this time, the horizontal floating mechanism 33 is in a horizontal locking state, and the clamp 32 is stationary relative to the rotation axis 313 in the horizontal direction. When the locking device 335 retracts to separate from the third connecting seat 333, the horizontal floating mechanism 33 is in a horizontal floating state, and the clamp 32 can move relative to the rotation axis 313 in the horizontal direction.

[0053] It is understood that in this embodiment, two second guide shafts 3323 are provided, and the two second guide shafts 3323 are arranged parallel to each other in the horizontal longitudinal direction X. The third connecting seat 333 is slidably connected to the two second guide shafts 3323, which can improve the balance and stability of the third connecting seat 333 when it moves. In addition, the locking device 335 can be a cylinder, which can provide greater pressure to enhance friction when in contact with the third connecting seat 333, ensuring the effectiveness of the movement lock. Similarly, in other embodiments, the locking device 335 can also be fixed to the third connecting seat 333, while its other end, which can extend and retract in the vertical direction Z, abuts or separates from the fourth connecting seat 334, which can also achieve the purpose of switching between the horizontal floating state and the horizontal locking state.

[0054] In some embodiments, the actuator 3 further includes a vertical floating mechanism (not shown in the figure), which can be disposed between the rotating shaft 313 and the clamp 32, and has a vertical floating state and a vertical locking state; wherein, when the vertical floating mechanism is in the vertical floating state, it can drive the clamp 32 to move along the vertical direction Z; when the vertical floating mechanism is in the vertical locking state, the clamp 32 is stationary relative to the rotating shaft 313 in the vertical direction Z. By setting the vertical floating mechanism, the clamp 32 can be finely adjusted in the vertical direction Z during docking with vehicle parts, thereby accurately gripping the workpiece; at the same time, when installing vehicle parts on the vehicle, the horizontal floating mechanism 33 can help the vehicle parts to be accurately aligned in the vertical direction Z, reducing the risk of collision with the vehicle body parts.

[0055] It is understood that the aforementioned vertical floating mechanism is an active mechanism used to enable an object to move within a certain range in the vertical direction Z. This can be achieved through a sliding connection structure. The low-friction sliding surface of the sliding connection structure allows the clamp 32 to slide in the vertical direction Z, thereby fine-tuning the position of the clamp 32 in the vertical direction Z. Similarly, the aforementioned vertical floating mechanism can also have elastic elements at one or both ends of its sliding connection structure to achieve a flexible floating effect, and be equipped with driving components such as hydraulic devices, cylinders, or linear modules to automatically adjust the position of the clamp 32 in the horizontal direction, achieving switching between horizontal floating and horizontal locking states, and resetting the clamp 32 after docking or installation. It is also understood that when a horizontal floating mechanism 33 is configured between the rotating shaft 313 and the clamp 32, the vertical floating mechanism can be located between the horizontal floating mechanism 33 and the clamp 32, only enabling the clamp 32 to have a vertical floating function; or it can be located between the rotating shaft 313 and the horizontal floating mechanism 33 to drive the horizontal floating mechanism 33 and the clamp 32 to float synchronously in the vertical direction Z.

[0056] In some embodiments, such as Figure 7 and Figure 8 As shown, the clamp 32 includes a base 321, a drive unit 322, and grippers 323. The base 321 is connected to the lower end of the rotating shaft 313. The drive unit 322 is fixed to the base 321 and has at least two drive ends 3221, which are arranged in a rotationally symmetrical manner in the horizontal direction. At least two grippers 323 are provided corresponding to the drive ends 3221, and each gripper 323 is connected to one of the drive ends 3221. Driven by the drive ends 3221, the at least two grippers 323 can move towards each other in a direction close to the center of rotational symmetry or move away from each other in a direction away from the center of rotational symmetry. For some vehicle parts that can be clamped, the at least two grippers 323 define a space between them that can accommodate at least the clampable portion of the vehicle parts. Thus, the at least two grippers 323 can move towards each other and clamp the outside of the vehicle parts by moving towards each other to clamp the vehicle parts, restricting their movement and rotation. After installation, they can move away from each other by moving away from each other to separate from the vehicle parts. For some hollow vehicle parts, at least two grippers 323 can also support the hollow part of the vehicle part by moving away from each other through opposite movements to restrict its movement and rotation, and move closer to each other through opposite movements after installation to separate from the vehicle part.

[0057] Taking the assembly of a car's center console as an example, such as Figure 7 and Figure 8 As shown, in this embodiment, the drive device 322 consists of two separate cylinders. The two cylinders are symmetrically arranged on the base 321 at a 180-degree rotational angle in the horizontal direction Y. The drive ends 3221 of the two cylinders are also symmetrically arranged opposite each other at a 180-degree rotational angle in the horizontal direction Y. At the same time, two grippers 323 are provided corresponding to the two drive ends 3221. The grippers 323 are formed into brackets with pins. The car center console to be assembled has assembly holes on both sides in its width direction for the pins to be inserted. Thus, by driving the two grippers 323 to move towards each other through the drive device 322, the pins are inserted into the assembly holes of the car center console, thereby completing the clamping of the car center console. After the car center console is brought into the vehicle from the door side and assembled, the two grippers 323 are driven to move away from each other to disengage the pins from the assembly holes of the car center console, thereby removing the clamp 32 from the vehicle body and completing the auxiliary installation process of the car center console.

[0058] It is understood that in other embodiments, the drive device 322 can also be driven by a hydraulic device or a motor, and the drive end 3221 and the gripper 323 can be provided with three, four or more correspondingly. Furthermore, the specific shape of the gripper 323 can be configured according to the type of automotive parts, so that the gripper 323 can be driven to come closer together to achieve clamping or to spread apart to achieve external support. In addition, a handle 3211 can be provided on the base 321 to facilitate manual movement and rotation of the clamp 32.

[0059] In some embodiments, such as Figure 7 and Figure 8 As shown, the fixture 32 also includes a limiting member 324, which is connected to the base 321 and has a first limiting portion 3241, a second limiting portion 3242, and a third limiting portion 3243. The first limiting portion 3241 is used to contact at least one side of the horizontal transverse direction Y of the vehicle component; the second limiting portion 3242 is used to contact at least one side of the horizontal longitudinal direction X of the vehicle component; and the third limiting portion 3243 is used to contact at least one side (preferably the upper side) of the vertical direction Z of the vehicle component. Thus, by contacting the first limiting portion 3241, the second limiting portion 3242, and the third limiting portion 3243 with the surface of the vehicle component, the three degrees of freedom of movement of the vehicle component in the horizontal and vertical directions can be restricted, ensuring accurate positioning of the fixture 32 and the vehicle component and improving the assembly accuracy of the fixture 32 and the vehicle component.

[0060] It is understood that, in this utility model, unless otherwise explicitly specified and limited, the terms "assembly," "connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0061] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified. The terms "some embodiments," "exemplarily," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this utility model.

[0062] The illustrative expressions of the terms used above do not necessarily refer to the same embodiments or examples. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, those skilled in the art can combine and integrate the different embodiments or examples described herein, as well as the features of those different embodiments or examples, without contradiction.

[0063] Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, substitutions and variations to the above embodiments within the scope of the present invention. Therefore, any changes or modifications made in accordance with the claims and description of the present invention should fall within the scope of the patent coverage of the present invention.

Claims

1. A power-assisted robotic arm for assembling workpieces inside a vehicle, characterized in that, include: The positioning part has a connecting end and is configured to drive the connecting end to move in the horizontal and vertical directions. A horizontal bar, wherein one end of its length is fixedly connected to the connecting end, and the connecting end is configured to rotate about the vertical direction to drive the horizontal bar to rotate about the vertical direction; or the horizontal bar is rotatably connected to the connecting end, and the axis of rotation is parallel to the vertical direction; and An actuator, connected to the other end of the crossbar along its length, is adapted to connect vehicle parts to be assembled.

2. The assisted robotic arm for assembling workpieces inside a vehicle according to claim 1, characterized in that, Also includes: The connecting portion includes a first connecting seat, a second connecting seat, and at least one stop structure. The first connecting seat is connected to one of the actuator and the crossbar, and the second connecting seat is connected to the other of the actuator and the crossbar. The first connecting seat has a insertion cavity opened along the length direction of the crossbar, and the second connecting seat is correspondingly provided with an insertion end. The insertion end is inserted into the insertion cavity to connect the actuator to the crossbar. The stop structure is movably connected to the first connecting seat and the second connecting seat, and is configured to lock the insertion end when the insertion end is inserted into the insertion cavity.

3. The assisted robotic arm for assembling workpieces inside a vehicle according to claim 2, characterized in that, The stop structure includes a buckle and a hook. The buckle is located on one of the first connecting seat and the second connecting seat, and the hook is located on the other of the first connecting seat and the second connecting seat. The buckle is adapted to engage with the hook.

4. The assisted manipulator for assembling workpieces inside a vehicle according to claim 2, characterized in that, The first connecting seat has a first flange at one end facing the second connecting seat. The first flange is circumferentially arranged around the insertion cavity, and the surface of the first flange is provided with a plurality of first conduit connectors. The second connecting seat has a second flange at one end facing the first connecting seat. The second flange is circumferentially arranged around the insertion end, and the surface of the second flange is provided with a plurality of second conduit connectors. When the insertion end is inserted into the insertion cavity, the first flange and the second flange are mated, and the first conduit connectors and the second conduit connectors are correspondingly connected.

5. The assisted manipulator for assembling workpieces inside a vehicle according to any one of claims 1-4, characterized in that, The execution unit includes: A rotating platform includes a base, a rotating brake, and a rotating shaft. A crossbar is connected to one side of the base. The base has a hollow cavity extending along the vertical direction, and the rotating shaft rotatably passes through the hollow cavity along the vertical direction. The rotating brake is located at the upper end of the base and coaxially connected to the rotating shaft. A clamp is attached to the lower end of the rotating shaft and configured to clamp the vehicle component to restrict its movement and rotation.

6. The assisted manipulator for assembling workpieces inside a vehicle according to claim 5, characterized in that, The execution unit also includes: A horizontal floating mechanism is provided, which is disposed between the rotating shaft and the clamp, and has a horizontal floating state and a horizontal locked state; wherein, When the horizontal floating mechanism is in the horizontal floating state, it can drive the clamp to move relative to the rotation axis in the horizontal direction; when the horizontal floating mechanism is in the horizontal locking state, the clamp is stationary relative to the rotation axis in the horizontal direction.

7. The assisted manipulator for assembling workpieces inside a vehicle according to claim 6, characterized in that, The horizontal floating mechanism includes: The first floating frame includes a first crossbeam and a second crossbeam extending horizontally and arranged parallel to each other in the horizontal direction, and two first guide shafts arranged vertically between the first crossbeam and the second crossbeam, the two first guide shafts being arranged parallel to each other in the horizontal direction. The second floating frame includes a first longitudinal beam, a second longitudinal beam, and a second guide shaft. The first and second longitudinal beams are respectively connected to the two first guide shafts and can slide along the first guide shafts. The second guide shaft is vertically disposed between the first and second longitudinal beams. The third connecting seat is connected to the second guide shaft and can slide along the second guide shaft, and is fixedly connected to the rotating shaft on the upper side; A fourth connecting seat, wherein the fourth connecting seat is disposed below the third connecting seat and fixedly connected to the first floating frame, and fixedly connected to the clamp on its lower side; and A locking device is vertically disposed between the third connecting seat and the fourth connecting seat, one end of which is fixed to one of the third and fourth connecting seats, and the other end is configured to extend and retract along the vertical direction; wherein, When the locking device extends to abut against one of the third connecting seat and the fourth connecting seat, the horizontal floating mechanism is in the horizontally locked state; When the locking device extends to separate from one of the third and fourth connecting seats, the horizontal floating mechanism is in the horizontal floating state.

8. The assisted robotic arm for assembling workpieces inside a vehicle according to claim 5, characterized in that, The execution unit also includes: A vertical floating mechanism is provided between the rotating shaft and the clamp, and the vertical floating mechanism is used to drive the clamp to move along the vertical direction.

9. The assisted robotic arm for assembling workpieces inside a vehicle according to claim 5, characterized in that, The clamp includes: A base connected to the lower end of the rotating shaft; A driving device, fixed to the base, having at least two driving ends, wherein the at least two driving ends are arranged rotationally symmetrically in the horizontal direction; and At least two grippers are respectively connected to at least two drive ends and are configured to move towards or away from each other under the drive of the drive ends.

10. The assisted manipulator for assembling workpieces inside a vehicle according to claim 9, characterized in that, The clamp also includes: A limiting member is connected to the base and has a first limiting portion, a second limiting portion and a third limiting portion. The first limiting portion is adapted to at least partially abut against a horizontal lateral side of the vehicle component, the second limiting portion is adapted to at least partially abut against a horizontal longitudinal side of the vehicle component, and the third limiting portion is adapted to at least partially abut against a vertical side of the vehicle component.

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