Vehicle door carrying manipulator

Abstract

The utility model discloses a car door carrying mechanical arm which comprises X-axis rails arranged in parallel, a plurality of hanging pieces used for fixing the X-axis rails are arranged at the tops of the X-axis rails, an X-axis moving assembly is arranged at the bottoms of the X-axis rails, and a Y-axis moving adjusting assembly is arranged at the bottom of the X-axis moving assembly. The Y-axis movement adjusting assembly is provided with a vehicle door grabbing assembly, the X-axis movement assembly comprises parallel Y-axis rails, and the tops of the Y-axis rails are in rolling connection with the inner wall of the X-axis rail through a first moving trolley. Flexible rotary positioning is achieved through cooperation of a rotary supporting mechanism and a positioning air cylinder, the automobile door grabbing assembly is combined with a vacuum suction cup and an anti-disengaging clamping frame, the stability of the whole automobile door grabbing and carrying process is ensured through assistance of a guide wheel and a limiting frame, and compared with traditional manual work, the labor intensity can be reduced, and the carrying efficiency can be improved.

Description

Technical Field

[0001] This utility model mainly relates to the field of automobile production equipment technology, specifically a door handling robot. Background Technology

[0002] In the automotive manufacturing industry, the handling and assembly of car doors is an indispensable and important part of the production line. With the rapid development of the automotive industry and the continuous expansion of the scale of automobile production, higher requirements have been placed on the efficiency, accuracy and safety of car door handling.

[0003] Traditional methods of handling car doors rely heavily on manual operation or simple mechanical aids. Manual handling is not only labor-intensive but also inefficient and prone to fatigue, making it difficult to meet the demands of large-scale, high-intensity production. Furthermore, manual operation is prone to errors, easily causing damage such as bumps and scratches to the doors during handling, affecting their appearance and assembly precision. While simple mechanical aids alleviate the burden of manpower to some extent, their limited structure and function, lack of flexible movement and positioning capabilities, make them unsuitable for diverse production scenarios and hinder efficient and precise handling of car doors. Therefore, a car door handling robot is needed. Utility Model Content

[0004] This utility model provides a solution that is significantly different from existing technologies, addressing the problem that existing solutions are too simplistic. It mainly provides a car door handling robot to solve the problem mentioned in the background that traditional car door handling methods rely heavily on manual operation or simple mechanical auxiliary devices, resulting in low handling efficiency.

[0005] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows:

[0006] A car door handling robot includes parallel X-axis tracks, with a plurality of hanging components for fixing the X-axis tracks at the top, an X-axis moving component at the bottom of the X-axis tracks, a Y-axis moving adjustment component at the bottom of the X-axis moving component, and a car door gripping component on the Y-axis moving adjustment component.

[0007] The X-axis moving component includes a parallel Y-axis track. The top of the Y-axis track is rolledly connected to the inner wall of the X-axis track via a first moving trolley. The X-axis moving component is used to drive the Y-axis moving adjustment component and the door gripping component to reciprocate along the X-axis direction.

[0008] The Y-axis movement adjustment assembly includes a first mounting frame and a mounting column. The top of the first mounting frame is rolledly connected to the inner wall of the Y-axis track via a second moving trolley. A telescopic cylinder is provided on the outer side of the mounting column. The piston rod end of the telescopic cylinder is connected to the door gripping assembly via a connecting frame. The Y-axis movement adjustment assembly is used to drive the door gripping assembly to translate along the Y-axis direction and to rise and fall along the Z-axis direction.

[0009] The door gripping assembly includes a push cylinder, and a third mounting bracket is provided at the end of the piston rod of the push cylinder. The third mounting bracket is provided with a plurality of vacuum suction cups and door guide wheels. The door gripping assembly is used for adsorption and gripping of the door.

[0010] More preferably, the Y-axis tracks are provided with parallel support rods, and both the X-axis and Y-axis tracks are equipped with spiral air pipes and several connectors, with protective steel wire ropes installed on each connector.

[0011] More preferably, the bottom of the first mounting frame is provided with a rotary support mechanism, a positioning cylinder, a limiting mechanism and a brake cylinder. The bottom of the rotary support mechanism is equipped with a mounting column via a connecting disc. A brake disc is installed at one end of the brake cylinder. A positioning block is fixed to the piston rod end of the positioning cylinder. Several positioning grooves that are adapted to the positioning blocks are evenly distributed along the circumference on the end face of the connecting disc.

[0012] More preferably, the outer wall of the mounting column is provided with a control box, indicator lights, tank chain guard plate, screw placement box and slide rail, and the outer wall of the slide rail is slidably installed with a height limiting mechanism and a connecting frame.

[0013] More preferably, the door gripping assembly includes a second mounting bracket connected to the connecting bracket, and the second mounting bracket is provided with a clamping cylinder, a pulley block, a control box, a pushing cylinder and a limiting bracket.

[0014] More preferably, one end of the clamping cylinder is equipped with an anti-detachment clamping frame, and the anti-detachment clamping frame is rotatably connected to the second mounting frame.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] This car door handling robot, through the coordination of X and Y axis tracks, a moving trolley, and a braking device, combined with a telescopic cylinder, constructs a three-dimensional spatial motion system. Simultaneously, through the design of a rotary support mechanism and a positioning cylinder, it can drive the car door gripping component to complete rotation and positioning according to actual needs, improving the equipment's operational flexibility. The car door gripping component adopts a combination design of vacuum suction cups and curved adaptive anti-detachment clamping frames, along with car door guide wheels and limit frames, ensuring the stability of the car door handling process. Compared to traditional manual handling methods, it can reduce labor intensity and improve car door handling efficiency.

[0017] The present invention will be explained in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0019] Figure 2 In this utility model Figure 1 Enlarged structural diagram at point A in the diagram;

[0020] Figure 3 This is a front view structural diagram of the present invention;

[0021] Figure 4 This is an enlarged structural schematic diagram of the X-axis moving component of this utility model;

[0022] Figure 5 This is an enlarged structural schematic diagram of the Y-axis movement adjustment component of this utility model;

[0023] Figure 6 This is a rear-view magnified structural diagram of the Y-axis movement adjustment component of this utility model;

[0024] Figure 7 This is an enlarged structural schematic diagram of the door gripping component of this utility model.

[0025] Numbering on the map:

[0026] 1. X-axis track; 2. Connector; 3. Hanger; 4. Protective steel wire rope; 5. Spiral air pipe; 6. X-axis moving assembly; 601. Y-axis track; 602. Support rod; 603. First moving trolley; 7. Y-axis moving adjustment assembly; 701. First mounting bracket; 702. Second moving trolley; 703. Rotary support mechanism; 704. Positioning cylinder; 705. Limiting mechanism; 706. Brake cylinder; 707. Mounting column; 708. Control box; 709. Indicator 7010, Light; 7011, Tank chain guard plate; 7012, Screw storage box; 7013, Telescopic cylinder; 7014, Connecting frame; 7015, Slide rail; 7016, Height limit mechanism; 8, Door gripping assembly; 801, Second mounting bracket; 802, Clamping cylinder; 803, Pulley block; 804, Control box; 805, Push cylinder; 806, Limiting bracket; 807, Third mounting bracket; 808, Vacuum suction cup; 809, Door guide wheel; 8010, Anti-detachment clamping bracket. Detailed Implementation

[0027] To facilitate understanding of this utility model, a more comprehensive description of the utility model will be given below with reference to the accompanying drawings, which show several embodiments of the utility model. However, the utility model can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the disclosure of the utility model more thorough and comprehensive.

[0028] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0029] Please refer to the appendix carefully. Figure 1-7 A door handling robot includes a parallel X-axis track 1, a plurality of hanging parts 3 for fixing the X-axis track 1 are provided on the top of the X-axis track 1, an X-axis moving component 6 is provided at the bottom of the X-axis track 1, a Y-axis moving adjustment component 7 is provided at the bottom of the X-axis moving component 6, and a door gripping component 8 is provided on the Y-axis moving adjustment component 7.

[0030] The X-axis moving component 6 includes a parallel Y-axis track 601. The top of the Y-axis track 601 is rolledly connected to the inner wall of the X-axis track 1 via a first moving trolley 603. The X-axis moving component 6 is used to drive the Y-axis moving adjustment component 7 and the door gripping component 8 to reciprocate along the X-axis direction.

[0031] The Y-axis movement adjustment assembly 7 includes a first mounting frame 701 and a mounting column 707. The top of the first mounting frame 701 is rolledly connected to the inner wall of the Y-axis track 601 via a second moving trolley 702. A telescopic cylinder 7012 is provided on the outer side of the mounting column 707. The piston rod end of the telescopic cylinder 7012 is connected to the door gripping assembly 8 via a connecting frame 7013. The Y-axis movement adjustment assembly 7 is used to drive the door gripping assembly 8 to move horizontally along the Y-axis and to move vertically along the Z-axis.

[0032] The door gripping assembly 8 includes a push cylinder 805, and a third mounting bracket 807 is provided at the end of the piston rod of the push cylinder 805. The third mounting bracket 807 is provided with a plurality of vacuum suction cups 808 and door guide wheels 809. The door gripping assembly 8 is used for adsorption and gripping of the door.

[0033] In this embodiment, as Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, parallel support rods 602 are arranged between the Y-axis tracks 601. Both the X-axis track 1 and the Y-axis track 601 are equipped with spiral air pipes 5 and several connecting parts 2. Each connecting part 2 is equipped with a protective steel wire rope 4. The parallel support rods 602 can enhance the structural stability of the Y-axis track 601 and reduce the risk of track deformation. The spiral air pipes 5 can provide stable compressed air to the cylinder. Its spiral structure design can effectively compensate for the displacement changes that occur when the equipment moves on the X-axis track 1 and the Y-axis track 601, avoiding the risk of air pipe rupture due to stretching or twisting. The protective steel wire rope 4 can provide additional safety protection for the equipment on the track and prevent the equipment from falling accidentally.

[0034] In this embodiment, as Figure 5 and Figure 6 As shown, the bottom of the first mounting frame 701 is provided with a rotary support mechanism 703, a positioning cylinder 704, a limiting mechanism 705, and a brake cylinder 706. The bottom of the rotary support mechanism 703 is equipped with a mounting column 707 via a connecting disc. A brake disc is installed at one end of the brake cylinder 706. A positioning block is fixed to the end of the piston rod of the positioning cylinder 704. Several positioning grooves that are compatible with the positioning blocks are evenly distributed along the circumference on the end face of the connecting disc. The rotary support mechanism 703 enables the mounting column 707 to rotate, thereby expanding the working range of the equipment.

[0035] The slewing support mechanism 703 can use a rotating shaft to rotatably connect the mounting column 707 to the first mounting frame 701. The mounting column 707 can be rotated manually or a rotating structure composed of a slewing support frame and a power unit can be used. The slewing support frame serves as the basic load-bearing structure, providing a stable rotating support platform for the mounting column 707. The power unit provides power for the rotational movement of the mounting column 707. The power unit can be a geared motor. The positioning cylinder 704 can control the position of the mounting column 707 and prevent the mounting column 707 from continuing to rotate when the slewing support mechanism 703 stops. The limit mechanism 705 can prevent the mounting column 707 from excessively rotating or moving, ensuring the safe operation of the equipment. The brake cylinder 706 cooperates with the brake disc. When the brake disc contacts the Y-axis rail 601, it can brake when needed to prevent the Y-axis movement adjustment component 7 from moving.

[0036] In this embodiment, as Figure 5 and Figure 6As shown, the outer wall of the mounting column 707 is equipped with a control box 708, indicator lights 709, a tank chain guard plate 7010, a screw storage box 7011, and a slide rail 7014. A height limiting mechanism 7015 and a connecting frame 7013 are slidably installed on the outer wall of the slide rail 7014. The control box 708 facilitates operator control and operation of the equipment, improving work efficiency. The indicator lights 709 visually display the equipment's operating status, allowing operators to promptly understand the equipment's operation. The tank chain guard plate 7010 protects internal cables and air pipes, extending their service life. The screw storage box 7011 facilitates the storage and retrieval of small parts such as screws, preventing loss. The height limiting mechanism 7015 limits the height at which the connecting frame 7013 moves the door grabbing assembly 8 upwards. The slide rail 7014 has several screw holes, and the height limiting mechanism 7015 is connected to the slide rail 7014 via screws. The height position of the height limiting mechanism 7015 can be adjusted as needed, and it is installed with the slide rail 7014.

[0037] In this embodiment, as Figure 5 and Figure 7 As shown, the door gripping assembly 8 includes a second mounting bracket 801 connected to the connecting bracket 7013. The second mounting bracket 801 is equipped with a clamping cylinder 802, a pulley assembly 803, a control box 804, a push cylinder 805, and a limit bracket 806. The pulley assembly 803 can be used to support the door. The control box 804 can control various actions of the door gripping assembly 8. The vacuum suction cup 808 is connected to a vacuum generator through a pipeline. The push cylinder 805 can drive the third mounting bracket 807, the vacuum suction cup 808, and the door guide wheel 809 to move. When the vacuum suction cup 808 adsorbs the door, it can drive the vacuum suction cup 808 and the door guide wheel 809 to move closer to the door, or drive the adsorbed door to move.

[0038] When the car door is placed on the roller assembly 803 and pushed to move, the door guide wheel 809 can support and guide the door, and the limiting bracket 806 can limit the door. The third mounting bracket 807 is provided with several screw holes. The vacuum suction cup 808 and the door guide wheel 809 are connected to the third mounting bracket 807 through an L-shaped connector. The L-shaped connector is provided with screw holes and arc grooves. The position and tilt angle of the vacuum suction cup 808 and the door guide wheel 809 on the third mounting bracket 807 can be adjusted according to the size of the car door to adapt to the suction of different sized car doors. When suctioning different car doors, the corresponding limiting bracket 806 and anti-detachment clamping bracket 8010 can be replaced as needed.

[0039] In this embodiment, as Figure 7As shown, an anti-detachment clamping frame 8010 is installed at one end of the clamping cylinder 802, and the anti-detachment clamping frame 8010 is rotatably connected to the second mounting frame 801. The piston rod of the clamping cylinder 802 is hinged to the middle of the anti-detachment clamping frame 8010. The extension and retraction of the piston rod drives the anti-detachment clamping frame 8010 to rotate around the rotatable connection point with the second mounting frame 801, thereby realizing the clamping action of the car door. The anti-detachment clamping frame 8010 is equipped with a pressure sensor, which is interactively connected to the control box 804 to detect the clamping pressure. The inner sidewall of the anti-detachment clamping frame 8010 is provided with an elastic anti-slip pad layer, and the clamping surface contour is adapted to the curved surface features of the car door edge, which can clamp the car door and prevent displacement or detachment during the handling of the car door.

[0040] It should be noted that the connection between the air pipe and the cylinder, the connection equipment, and the control technology in this utility model are conventional contents in the field of cylinder application and will not be described in detail here. The main structure of the mobile trolley consists of three parts: wheel assembly, drive motor, and braking device. The drive motor drives the wheel assembly, thereby driving the mobile trolley to move along the track. The braking device can adopt electromagnetic braking. When the equipment needs to be stopped or encounters an emergency, the electromagnetic brake responds quickly and uses the close contact between the friction plate and the axle to achieve instantaneous braking. The electromagnetic brake is existing technology and will not be described in detail here.

[0041] The specific operating procedure of this utility is as follows: First, the X-axis track 1 is fixed by the hanging component 3 to provide a support foundation for the entire equipment. The first moving trolley 603 in the X-axis moving component 6 rolls along the inner wall of the X-axis track 1, driving the Y-axis track 601 and subsequent components to move along the X-axis direction, thereby determining the working position of the equipment in the X-axis direction.

[0042] In the Y-axis direction, the second moving trolley 702 of the Y-axis moving adjustment component 7 rolls on the inner wall of the Y-axis track 601, driving the door gripping component 8 to translate along the Y-axis direction. At the same time, the piston rod of the telescopic cylinder 7012 extends and retracts, driving the door gripping component 8 to rise and fall in the Z-axis direction through the connecting frame 7013, thereby achieving the approach of the door at different height positions.

[0043] When the door gripping assembly 8 grips the door, it pushes the cylinder 805 to move the third mounting bracket 807, the vacuum suction cup 808, and the door guide wheel 809, so that the vacuum suction cup 808 is close to the door and uses vacuum suction to adsorb the door. The door guide wheel 809 assists in supporting and guiding the door. Then, the cylinder 805 pushes the third mounting bracket 807, the vacuum suction cup 808, and the door guide wheel 809 to reset. Then, the clamping cylinder 802 drives the anti-detachment clamping bracket 8010 to rotate around its rotational connection with the second mounting bracket 801. The elastic anti-slip pad layer fits against the curved surface of the door edge and clamps the door to prevent the door from shifting or falling off during transportation.

[0044] During equipment operation, the slewing support mechanism 703 can rotate the mounting column 707 to adjust the working angle of the door gripping component 8. When the slewing support mechanism 703 stops, the positioning cylinder 704, through the positioning block and positioning groove, prevents the mounting column 707 from continuing to rotate. The limiting mechanism 705 prevents the mounting column 707 from excessively rotating or moving. The brake cylinder 706, in conjunction with the brake disc, brakes when necessary to prevent the Y-axis movement adjustment component 7 from moving, ensuring the safe and stable operation of the equipment.

[0045] In addition, the spiral air pipe 5 provides stable compressed air to each cylinder, and its spiral structure compensates for displacement changes caused by equipment movement, preventing air pipe rupture. The protective wire rope 4 provides safety for the equipment. The control box 708 facilitates operator control of the equipment. The indicator light 709 displays the equipment's working status. The tank chain guard plate 7010 protects the cables and air pipes. The screw storage box 7011 facilitates the storage of small parts. The height limit mechanism 7015 limits the upward movement height of the door gripping assembly 8 and can be adjusted as needed. All parts work together to achieve efficient and safe door handling.

[0046] The present invention has been described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvement made by adopting the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, shall be within the protection scope of the present invention.

Claims

1. A door handling robot, comprising parallel X-axis tracks (1), characterized in that: The top of the X-axis track (1) is provided with several hanging parts (3) for fixing the X-axis track (1), the bottom of the X-axis track (1) is provided with an X-axis moving component (6), the bottom of the X-axis moving component (6) is provided with a Y-axis moving adjustment component (7), and the Y-axis moving adjustment component (7) is provided with a door gripping component (8). The X-axis moving component (6) includes a parallel Y-axis track (601). The top of the Y-axis track (601) is rolledly connected to the inner wall of the X-axis track (1) through a first moving trolley (603). The X-axis moving component (6) is used to drive the Y-axis moving adjustment component (7) and the door gripping component (8) to reciprocate along the X-axis direction. The Y-axis moving adjustment assembly (7) includes a first mounting frame (701) and a mounting column (707). The top of the first mounting frame (701) is rolled to the inner wall of the Y-axis track (601) via a second moving trolley (702). A telescopic cylinder (7012) is provided on the outside of the mounting column (707). The piston rod end of the telescopic cylinder (7012) is connected to the door gripping assembly (8) via a connecting frame (7013). The Y-axis moving adjustment assembly (7) is used to drive the door gripping assembly (8) to translate along the Y-axis direction and to rise and fall along the Z-axis direction. The door gripping assembly (8) includes a push cylinder (805), and a third mounting bracket (807) is provided at the end of the piston rod of the push cylinder (805). The third mounting bracket (807) is provided with a plurality of vacuum suction cups (808) and door guide wheels (809). The door gripping assembly (8) is used for door adsorption and gripping.

2. The door handling robot according to claim 1, characterized in that: The Y-axis track (601) is provided with parallel support rods (602). The X-axis track (1) and the Y-axis track (601) are both equipped with spiral air pipes (5) and several connectors (2). Each connector (2) is equipped with a protective steel wire rope (4).

3. The door handling robot according to claim 1, characterized in that: The bottom of the first mounting bracket (701) is provided with a rotary support mechanism (703), a positioning cylinder (704), a limiting mechanism (705) and a brake cylinder (706). The bottom of the rotary support mechanism (703) is equipped with a mounting column (707) through a connecting disc. A brake disc is installed at one end of the brake cylinder (706). A positioning block is fixed to the piston rod end of the positioning cylinder (704). Several positioning grooves that are adapted to the positioning blocks are evenly distributed along the circumference on the end face of the connecting disc.

4. The door handling robot according to claim 1, characterized in that: The outer wall of the mounting column (707) is provided with a control box (708), an indicator light (709), a tank chain guard plate (7010), a screw placement box (7011), and a slide rail (7014). The outer wall of the slide rail (7014) is slidably equipped with a height limiting mechanism (7015) and a connecting frame (7013).

5. A door handling robot according to claim 1, characterized in that: The door gripping assembly (8) includes a second mounting bracket (801) connected to the connecting bracket (7013). The second mounting bracket (801) is provided with a clamping cylinder (802), a pulley block (803), a control box (804), a push cylinder (805), and a limit bracket (806).

6. A door handling robot according to claim 5, characterized in that: One end of the clamping cylinder (802) is equipped with an anti-detachment clamping frame (8010), and the anti-detachment clamping frame (8010) is rotatably connected to the second mounting frame (801).

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