Power-assisted manipulator for installing back door

Abstract

The utility model relates to the technical field of assisting manipulators, and provides a back door installation assisting manipulator which comprises a first main transverse frame, a second main transverse frame and a second support, vertical frames are fixed to the two sides of the top of the first main transverse frame, the first support is installed at the tops of the vertical frames, and a glass suction cup telescopic air cylinder is installed at the end of the first support. By additionally arranging a plurality of groups of positioning structures, in a material taking stage, the Y-direction centering clamping air cylinder drives the centering mechanism assembly to drive the centering clamping block to act, alignment of a material frame guide and a material taking table and stable lifting of a back door bottom support are matched, calibration of a material taking position is achieved, interference between a manipulator and a workpiece is effectively avoided, and the working efficiency is improved. The workpiece damage risk is reduced; in the installation stage, the positioning pin telescopic air cylinder and the Z-direction combined installation air cylinder cooperatively drive the vehicle body positioning pin to stretch out and be inserted into a vehicle body positioning pin hole, rigid positioning of the clamp and a vehicle body is achieved, it is guaranteed that left and right gaps are uniform after a back door is installed, and the production process quality is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of power-assisted robotic arms, and in particular to a power-assisted robotic arm for installing a rear door. Background Technology

[0002] In the automotive assembly process, power-assisted robotic arms can be used for tasks such as tailgate installation. For example, rigid-arm power-assisted robotic arms can easily overcome obstacles, and specially designed tailgate grippers are not only simple and quick to use, but also reduce labor intensity and safety risks. Power-assisted robotic arms are widely used in automotive assembly lines, machining, electronics manufacturing, and aerospace fields for material handling and precision positioning.

[0003] Rear door assist robotic arms typically employ pneumatic balancing or servo motor drive technology. They can detect minute forces applied by the operator and amplify these forces to drive the robotic arm and its end effector. Through an internal pneumatic or servo system, the robotic arm exists in a "suspended" or "balanced" state both under no-load and load conditions. When the operator moves it, it feels as if they are moving a weightless object, only needing to overcome its inertia.

[0004] The power-assisted robotic arm features full-range balance and smooth movement, making its weight imperceptible to workers during operation, and making pushing, pulling, and lifting movements effortless. Simultaneously, the equipment possesses tooling capabilities, enabling precise positioning and installation of the rear door with a positioning accuracy of ±0.5mm. After installation, the rear door exhibits uniform lateral clearance, improving production process quality.

[0005] However, some problems still exist in the use of current power-assisted robotic arms;

[0006] Some rear door assist manipulators have an overly simple structural design that cannot meet the requirements for precise positioning, resulting in uneven left and right gaps after the rear door is installed, which affects the aesthetics.

[0007] Some power-assisted devices have limited flexibility due to their design, with some joints having a small range of motion, making it difficult to perform complex and delicate movements. For example, difficulties may arise when performing multi-angle operations in confined spaces.

[0008] Some robotic arms have limitations in load capacity, making it difficult to grasp and move heavy objects. If their load capacity is exceeded, they may vibrate or even suffer structural damage, affecting the stability and accuracy of their operation.

[0009] Furthermore, some door-assisting robotic arms have complex structures and numerous parts, which not only increases manufacturing and maintenance costs but also raises the probability of malfunctions. If even one component fails, the entire system may malfunction. Utility Model Content

[0010] The purpose of this invention is to provide a rear door installation assistive robot, which solves the above-mentioned problems by using this device.

[0011] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a rear door installation assistive manipulator, including a main crossbeam one, a main crossbeam two, and a support two. Uprights are fixed to both sides of the top of the main crossbeam one. The support one is installed on the top of the uprights. A glass suction cup telescopic cylinder is installed at the end of the support one. An adsorption component is provided at the output end of the glass suction cup telescopic cylinder. The main crossbeam two is installed at the front end of the uprights. Auxiliary operating handles are provided on both sides of the top of the main crossbeam two. Positioning pin telescopic cylinders are provided on both sides of the bottom of the main crossbeam two. A Z-axis assembly cylinder is provided at the output end of the positioning pin telescopic cylinder. A body positioning pin is provided on the Z-axis assembly cylinder. The bottom of the main crossbeam two is... There is a secondary crossbeam 1. A back door clamping cylinder is installed on both sides of the bottom of the secondary crossbeam 1. A secondary crossbeam 2 is fixed to the output end of the back door clamping cylinder. A back door bottom support is set on both sides of the secondary crossbeam 2. A bracket 2 is installed on both sides of the rear end of the main crossbeam 1. The bent part of the bracket 2 extends from the bottom of the main crossbeam 1 and a material rack guide is fixed at its end. A centering clamping block is set on both sides of the bottom of the main crossbeam 1. A centering mechanism assembly is set in the middle of the bottom of the main crossbeam 1. A Y-axis centering clamping cylinder is set on one side of the centering mechanism assembly. A connecting flange is set in the middle of the top of the main crossbeam 1. A swing joint is set at the bottom of the connecting flange. A main operating handle is set on both sides of the rear end of the main crossbeam 1.

[0012] Preferably, there are two uprights, which are symmetrically distributed on both sides of the top center line of the main crossbeam.

[0013] Preferably, the second main crossbeam is positioned at a higher height than the first main crossbeam, and the second main crossbeam is located above the front end of the first main crossbeam.

[0014] Preferably, side frames are installed on both sides of the secondary cross frame one, and the side frames are located on one side of the support frame two. A push-pull cylinder is provided at the rear end of the side frame, and the push-pull cylinder is located between the main cross frame one and the main cross frame two. The top end of the push-pull cylinder is connected to the upright frame, and the output end of the bottom of the push-pull cylinder is connected to the side frame. A side plate is fixed on the side of the support frame two facing the side frame. A guide groove is opened inside the side plate, and a guide block is provided inside the guide groove. The guide block is fixed to the side wall of the side frame.

[0015] Preferably, the size of the guide groove matches the size of the guide block, allowing the guide block to slide within the guide groove.

[0016] Preferably, the side frame and the bottom support of the tailgate are connected by a slider and a slide rail, with the slide rail installed on the side wall of the side frame and the slider installed on the side wall of the bottom support of the tailgate.

[0017] Preferably, the connecting rods on both sides of the centering mechanism assembly are connected to the centering clamping blocks on both sides of the bottom of the main cross frame, one end of the Y-axis centering clamping cylinder is connected to the bottom of the main cross frame, and the output end of the other end of the Y-axis centering clamping cylinder is connected to the centering mechanism assembly.

[0018] Preferably, auxiliary operating handles are provided on both sides of the top of the second main crossbeam, an operating box is provided on one side of the main operating handle, and operating button boxes are provided on both sides of the connecting flange.

[0019] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0020] This utility model provides a rear door installation assistive robot. By adding multiple sets of positioning structures, during the material picking stage, the Y-axis centering clamping cylinder drives the centering mechanism component to move the centering clamping block. This, combined with the alignment of the material rack guide with the picking platform and the stable lifting of the bottom support of the rear door, achieves the calibration of the picking position, effectively avoiding interference between the robot and the workpiece and reducing the risk of workpiece damage. During the installation stage, the positioning pin telescopic cylinder and the Z-axis assembly cylinder work together to drive the body positioning pin to extend and insert into the body positioning pin hole, achieving rigid positioning of the clamp and the body. This ensures uniform left and right gaps after the rear door is installed, significantly improving the quality of the production process and solving the problem of uneven installation gaps and affecting the aesthetics caused by the simple positioning of existing equipment.

[0021] The equipment is equipped with a swing joint at the bottom of the connecting flange and a front-to-back and left-to-right angle balance adjustment mechanism, which can flexibly adjust the overall angle of the clamp and achieve multi-angle error compensation. It can not only easily bypass obstacles in the installation process, but also adapt to the multi-angle operation needs in narrow spaces. It effectively solves the problem that some existing power-assisted equipment has a small range of joint movement and is difficult to complete complex and fine movements, and improves the adaptability of the equipment to different installation scenarios.

[0022] Before picking up materials, the equipment is in an unloaded and balanced state, making it easy for operators to move the equipment. After adsorbing the workpiece, it automatically switches to a load-balanced state. The internal balancing system offsets the load brought by the weight of the tailgate, so that when the equipment is suspended in the air, the operator only needs to overcome inertia to complete the movement and positioning of the equipment. This not only greatly reduces the labor intensity, but also avoids the problems of shaking and structural damage caused by the limited load capacity of existing equipment, ensuring the stability and accuracy of the operation.

[0023] The system adopts a modular structure design including the main cross frame, upright frame, and support frame. The functional components (drive cylinder, positioning structure, support components, etc.) are compactly arranged and work together efficiently. While achieving high-precision positioning and flexible operation, it avoids the setting of redundant parts, effectively reducing manufacturing and maintenance costs. At the same time, the modular structure facilitates the inspection and replacement of parts, reducing the risk of the entire system being paralyzed due to the failure of a single part, and solving the problems of complex structure, many parts, and high failure probability of some existing equipment.

[0024] During the material handling process, the tailgate clamping cylinder assists in tightening the tailgate, and the glass suction cup telescopic cylinder controls the adsorption components to adsorb the workpiece, ensuring that the workpiece is stable and reliable during transportation and will not fall, reducing safety risks. The equipment's electric following function can achieve synchronous matching with the line speed, avoiding interference from line movement on the installation operation. Combined with flexible angle adjustment and positioning, it significantly shortens the alignment and installation time and improves work efficiency. At the same time, the optimized balancing function makes operation more labor-saving and convenient, reduces the labor intensity of operators, and further improves work efficiency and operational safety. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ;

[0026] Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ;

[0027] Figure 3 This is a partial structural diagram of the present invention. Figure 1 ;

[0028] Figure 4 This is a partial structural diagram of the present invention. Figure 2 ;

[0029] Figure 5 This is a side view of the structure of this utility model;

[0030] Figure 6 This is a partial structural diagram of the present invention. Figure 3 ;

[0031] Figure 7 This is a front view of the structure of this utility model;

[0032] Figure 8 This is a top view of the structure of this utility model.

[0033] The following are the annotations in the diagram: 1. Main crossbeam one; 11. Upright frame; 12. Support one; 13. Glass suction cup telescopic cylinder; 14. Adsorption assembly; 2. Main crossbeam two; 21. Auxiliary operating handle; 3. Support two; 31. Material rack guide; 4. Positioning pin telescopic cylinder; 41. Z-axis assembly cylinder; 42. Body positioning pin; 5. Side plate; 51. Secondary crossbeam one; 52. Rear door clamping cylinder; 53. Secondary crossbeam two; 54. Rear door bottom support; 55. Side frame; 56. Push-pull cylinder; 57. Guide groove; 58. Guide block; 6. Centering clamping block; 61. Centering mechanism assembly; 62. Y-axis centering clamping cylinder; 7. Connecting flange; 71. Operating button box; 72. Swing joint; 8. Main operating handle; 81. Operating box. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings.

[0036] Combination Figures 1 to 8As shown, this utility model discloses a rear door installation assistive manipulator, including a main crossbeam 1, a second main crossbeam 2, and a bracket 2 3. A vertical frame 11 is fixed to both sides of the top of the main crossbeam 1. A bracket 12 is installed on the top of the vertical frame 11. A glass suction cup telescopic cylinder 13 is installed at the end of the bracket 12. An adsorption component 14 is provided at the output end of the glass suction cup telescopic cylinder 13. The second main crossbeam 2 is installed at the front end of the vertical frame 11. Auxiliary operating handles 21 are provided on both sides of the top of the second main crossbeam 2. Positioning pin telescopic cylinders 4 are provided on both sides of the bottom of the second main crossbeam 2. A Z-axis assembly cylinder 41 is provided at the output end of the positioning pin telescopic cylinder 4. A body positioning pin 42 is provided on the Z-axis assembly cylinder 41. A secondary crossbeam 51 is provided at the bottom of the second main crossbeam 2. A back door clamping cylinder 52 is installed on both sides of the bottom of the cross frame 1 51. A secondary cross frame 2 53 is fixed to the output end of the back door clamping cylinder 52. A back door bottom support 54 is provided on both sides of the secondary cross frame 2 53. A bracket 2 3 is installed on both sides of the rear end of the main cross frame 1. The bent part of the bracket 2 3 extends from the bottom of the main cross frame 1 and a material rack guide 31 is fixed at its end. A centering clamping block 6 is provided on both sides of the bottom of the main cross frame 1. A centering mechanism assembly 61 is provided in the middle of the bottom of the main cross frame 1. A Y-direction centering clamping cylinder 62 is provided on one side of the centering mechanism assembly 61. A connecting flange 7 is provided in the middle of the top of the main cross frame 1. A swing joint 72 is provided at the bottom of the connecting flange 7. A main operating handle 8 is provided on both sides of the rear end of the main cross frame 1.

[0037] There are two uprights 11, which are symmetrically distributed on both sides of the top center line of the main cross frame 1.

[0038] The position height of main crossbeam 2 is higher than that of main crossbeam 1, and main crossbeam 2 is located above the front end of main crossbeam 1.

[0039] Side frames 55 are installed on both sides of the secondary cross frame 1 51. The side frames 55 are located on one side of the support frame 2 3. A push-pull cylinder 56 is provided at the rear end of the side frame 55. The push-pull cylinder 56 is located between the main cross frame 1 and the main cross frame 2. The top of the push-pull cylinder 56 is connected to the upright frame 11. The output end of the bottom of the push-pull cylinder 56 is connected to the side frame 55. A side plate 5 is fixed on the side of the support frame 2 3 facing the side frame 55. A guide groove 57 is opened inside the side plate 5. A guide block 58 is provided inside the guide groove 57. The guide block 58 is fixed on the side wall of the side frame 55.

[0040] The dimensions of the guide groove 57 match the dimensions of the guide block 58, and the guide block 58 can slide within the guide groove 57.

[0041] The side frame 55 and the bottom support 54 of the tailgate are connected by a slider and a slide rail. The slide rail is installed on the side wall of the side frame 55, and the slider is installed on the side wall of the bottom support 54 of the tailgate.

[0042] The two connecting rods of the centering mechanism assembly 61 are respectively connected to the centering clamping blocks 6 on both sides of the bottom of the main cross frame 1. One end of the Y-axis centering clamping cylinder 62 is connected to the bottom of the main cross frame 1, and the output end of the other end of the Y-axis centering clamping cylinder 62 is connected to the centering mechanism assembly 61.

[0043] Auxiliary operating handles 21 are provided on both sides of the top of the main cross frame 2, an operating box 81 is provided on one side of the main operating handle 8, and operating button boxes 71 are provided on both sides of the connecting flange 7.

[0044] Specifically,

[0045] The operator unlocks the rotating joints of the equipment by manipulating the main control handle 8. (It should be noted that this equipment is a multi-joint folding arm device, each joint is called a rotating joint, and each rotating joint is designed with a pneumatic brake mechanism to lock the rotating joint. When the equipment is not in use, the rotating joints need to be locked to prevent the equipment from swinging.) At this time, the equipment is in the initial no-load balanced state, and the gripper (it should be noted that the robot arm in this solution is called a gripper in actual use) is simultaneously in the preset material picking posture, and all functional components are in the reset and standby state, ready for material picking operations.

[0046] The operator holds the main operating handle 8 and the auxiliary operating handle 21, and pushes the equipment to the material picking position. During the process, the material rack guide 31 at the end of the bracket 2 3 is aligned with the material picking platform guide. When the upper part of the clamp touches the tailgate glass and reaches the designated material picking position, the operator presses the centering button on the operating box 81 to trigger the Y-axis centering clamping cylinder 62. Since the connecting rods on both sides of the centering mechanism component 61 are connected to the centering clamping blocks 6 on both sides of the bottom of the main cross frame 1, the output end of the Y-axis centering clamping cylinder 62 transmits the driving force to the centering mechanism component 61, causing the two sets of centering clamping blocks 6 to move relative to each other, thereby achieving the centering and clamping of the tailgate.

[0047] After the tailgate is aligned and clamped, the operator presses the suction button on the main control handle 8, triggering the glass suction cup telescopic cylinder 13 mounted on the top of the stand 11. Its output end pushes the suction component 14 to extend and contact the tailgate glass, completing the suction and fixation of the tailgate workpiece. After suction is in place, the equipment automatically switches to load balance mode to offset the load caused by the weight of the tailgate, making it easy for the operator to transfer the workpiece.

[0048] The operator pushes the equipment, carrying the suction-fixed tailgate, to the central installation area of ​​the production line. Upon reaching the installation position, the operator presses the follow button on the operation button box 71. The equipment then activates its electric follow function, achieving synchronization with the production line speed and preventing interference from line movement. (It should be noted that the main body of the equipment has a built-in walking motor. The PLC program and PN coupler read the main production line's speed, and the PLC adjusts and controls the electric walking speed of this equipment to match the main production line's speed. This maintains a relatively stationary state between the equipment and the production line, facilitating workpiece installation and preventing difficulties caused by speed differences between the equipment and the main production line.) During this process, the operator can fine-tune the equipment position using the main operating handle 8 and the auxiliary operating handle 21, transferring the tailgate to the corresponding installation station.

[0049] Upon reaching the installation position, the overall angle of the fixture is adjusted using the swing joint 72 at the bottom of the connecting flange 7, aligning the Z-axis assembly cylinder 41 at the output end of the bottom positioning pin telescopic cylinder 4 of the main crossbeam 2 with the vehicle body installation area. Subsequently, the positioning pin telescopic cylinder 4 and the Z-axis assembly cylinder 41 work together to push the vehicle body positioning pin 42 out and insert it into the vehicle body positioning hole, completing the rigid positioning of the fixture and the vehicle body, thereby fitting the tailgate workpiece to the vehicle body installation surface. At this point, the operator can tighten the installation bolts to achieve a fixed assembly of the tailgate and the vehicle body; simultaneously, the tailgate clamping cylinders 52 on both sides of the bottom sub-crossbeam 51 of the main crossbeam 1 can assist in clamping the tailgate, working in conjunction with the tailgate bottom support 54 to provide stable support during tailgate installation and avoid installation deviations.

[0050] It is worth noting that the bottom support 54 of the tailgate and the side frame 55 are connected by a slider and a slide rail, which can adapt to the support requirements of different tailgate specifications; and the push-pull cylinder 56 at the rear end of the side frame 55 can drive the side frame 55 to slide along the guide groove 57 inside the side plate 5, thereby adjusting the position of the bottom support 54 of the tailgate and improving the versatility of the equipment.

[0051] After the tailgate bolts are tightened and secured, the operator presses the release button on the main control handle 8. The adsorption assembly 14 stops adsorption, and the centering clamping block 6 and the tailgate clamping cylinder 52 synchronously reset and release the workpiece. The operator then manipulates the equipment to move the clamp away from the line center and swings the rotary joint to a suitable position. Pressing the brake button on the main control handle 8, when all three indicator lights on the control button box 71 illuminate, the rotary joint is locked, ensuring safe equipment parking. It should be noted that the equipment is installed on the side of the assembly line in the final assembly workshop. The robotic arm is driven by the equipment's own electric walking motor. The equipment has an automatic return function; the automatic return function is activated only after all the rotary joints are locked, which is a safety feature.

[0052] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0053] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A rear door installation assistive robot, comprising a main crossbeam one (1), a main crossbeam two (2), and a support two (3), characterized in that: The main crossbeam 1 (1) has uprights (11) fixed on both sides of its top. The top of the uprights (11) is equipped with a bracket 1 (12). The end of the bracket 1 (12) is equipped with a glass suction cup telescopic cylinder (13). The output end of the glass suction cup telescopic cylinder (13) is equipped with an adsorption component (14). The front end of the uprights (11) is equipped with a main crossbeam 2 (2). The top of the main crossbeam 2 (2) is equipped with auxiliary operating handles (21) on both sides. The bottom of the main crossbeam 2 (2) is equipped with positioning pin telescopic cylinders (4). The output end of the positioning pin telescopic cylinders (4) is equipped with a Z-direction assembly cylinder (41). The Z-direction assembly cylinder (41) is equipped with a vehicle body positioning pin (42). The bottom of the main crossbeam 2 (2) is equipped with a secondary crossbeam 1 (51). The bottom of the secondary crossbeam 1 (51) is equipped with a back door clamping cylinder (5) on both sides. 2) The output end of the back door clamping cylinder (52) is fixed with a secondary crossbeam (53). The back door bottom support (54) is provided on both sides of the secondary crossbeam (53). The two sides of the rear end of the main crossbeam (1) are equipped with a bracket (3). The bent part of the bracket (3) extends from the bottom of the main crossbeam (1) and a material rack guide (31) is fixed at its end. The two sides of the bottom of the main crossbeam (1) are provided with centering clamping blocks (6). The middle position of the bottom of the main crossbeam (1) is provided with a centering mechanism assembly (61). The side of the centering mechanism assembly (61) is provided with a Y-direction centering clamping cylinder (62). The middle position of the top of the main crossbeam (1) is provided with a connecting flange (7). The bottom of the connecting flange (7) is provided with a swing joint (72). The two sides of the rear end of the main crossbeam (1) are provided with main operating handles (8).

2. The rear door installation assistive robot according to claim 1, characterized in that: There are two uprights (11), which are symmetrically distributed on both sides of the top center line of the main cross frame (1).

3. The rear door installation assistive robot according to claim 1, characterized in that: The position height of the second main crossbeam (2) is higher than that of the first main crossbeam (1), and the second main crossbeam (2) is located above the front end of the first main crossbeam (1).

4. The rear door installation assistive robot according to claim 1, characterized in that: Side frames (55) are installed on both sides of the first sub-horizontal frame (51). The side frames (55) are located on one side of the second support (3). A push-pull cylinder (56) is provided at the rear end of the side frame (55). The push-pull cylinder (56) is located between the first main horizontal frame (1) and the second main horizontal frame (2). The top of the push-pull cylinder (56) is connected to the upright frame (11). The output end of the bottom of the push-pull cylinder (56) is connected to the side frame (55). A side plate (5) is fixed on the side of the second support (3) facing the side frame (55). A guide groove (57) is provided inside the side plate (5). A guide block (58) is provided inside the guide groove (57). The guide block (58) is fixed on the side wall of the side frame (55).

5. A rear door installation assistive robot according to claim 4, characterized in that: The size of the guide groove (57) matches the size of the guide block (58), and the guide block (58) can slide within the guide groove (57).

6. A rear door installation assistive robot according to claim 4, characterized in that: The side frame (55) and the bottom support (54) of the rear door are connected by a slider and a slide rail. The slide rail is installed on the side wall of the side frame (55), and the slider is installed on the side wall of the bottom support (54).

7. The rear door installation assistive robot according to claim 1, characterized in that: The connecting rods on both sides of the centering mechanism assembly (61) are respectively connected to the centering clamping blocks (6) on both sides of the bottom of the main cross frame (1). One end of the Y-direction centering clamping cylinder (62) is connected to the bottom of the main cross frame (1), and the output end of the other end of the Y-direction centering clamping cylinder (62) is connected to the centering mechanism assembly (61).

8. A rear door installation assistive robot according to claim 1, characterized in that: The main crossbeam (2) has auxiliary operating handles (21) on both sides of its top, an operating box (81) is provided on one side of the main operating handle (8), and operating button boxes (71) are provided on both sides of the connecting flange (7).

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