Instrument panel flexible assembly robot

Abstract

A flexible instrument panel assembly robot includes an instrument clamp arm, a leveling swing joint, a rotary joint, a rotary connecting plate, a tilting drive cylinder, an instrument clamp main beam, left and right swing joints, an instrument clamp secondary beam, a lower support positioning assembly, and first and second side plate clamping and positioning pin assemblies, symmetrically arranged on both sides of the front of the instrument clamp secondary beam; two flexible tubular beam clamping mechanisms are respectively arranged on both sides of the instrument clamp secondary beam, each including an X-axis movement assembly, a rotation assembly, a clamping height switching assembly, a clamping angle switching assembly, a gripper mechanism, and a controller. This invention enables the switching of different states in flexible instrument panel assembly technology, overcoming the current situation of complex and difficult compatibility switching of vehicle model styles, accurately aligning with the diverse compatibility of clamping mechanisms, and achieving quick switching and precise matching of different instrument panels.

Description

Technical Field

[0001] This utility model relates to the fields of transfer, handling, and assembly, and in particular to a flexible assembly robot for instrument panels. Background Technology

[0002] With the rapid changes and development of the automotive industry, large and multi-screen displays with high-tech features and AI functions that enable human-machine interaction have become key factors for modern car users to participate in the buying and selling process. However, existing automotive dashboard assembly technology can no longer meet the assembly requirements of advanced and novel dashboards that integrate multiple modules into one assembly.

[0003] The rise of China's new energy vehicles and the increasingly fierce competition in the global automotive market, coupled with the continued existence of unstable external factors, have led to a fierce involution of competition in the automotive industry. Major automobile manufacturers are integrating their entire industrial chain systems to reduce costs, and various car models are assembling dashboards (including left and right steering) on ​​flexible collinear lines to maximize profits.

[0004] Existing technologies, such as Chinese patents CN202010993644.0, CN201621027534.4, CN202221511682.9, and CN201821541976.X, can only solve the problems of existing instrument panels with positioning holes, guide holes, or reserved auxiliary mounting plates on both sides. For instrument panels without positioning holes, with collinear left and right rudders, or with different instrument panel beam variations, there are still bottlenecks in installation and flexible docking.

[0005] Chinese patent CN201811518941.9 describes a dashboard fixture that is only tailored to a specific car model, but it cannot overcome the bottleneck of assembling multiple dashboards on the same line.

[0006] Although Chinese patent CN201620631348.5 can be assembled on the same production line for a series of car models, and the claws or clamps of several car models are fixed on the base plate assembly, when the car model dashboard is switched, the car model claws or clamps need to be manually disassembled and replaced, and cannot form an automatic or semi-automatic switching.

[0007] Chinese patent CN202022000786.0, although it can solve the problem of single flexible assembly of left-hand or right-hand drive instrument panel from three directions, cannot meet the requirements of collinear assembly of left-hand or right-hand drive instrument panels, and has no left-hand or right-hand drive switching mechanism. Moreover, the support bracket is fixed and cannot be adjusted, and can only meet the requirements of traditional vehicle instrument panels with little fixed difference.

[0008] Chinese patent CN201922205736.3 describes a device that connects a flange to a sliding rail plate on the main arm, with the other end connected to a floating crossbeam via a pin. The flange is connected to a lifting cylinder. The left and right support claws of the instrument panel at the front of the floating crossbeam are fixed to the lower surface of the floating crossbeam via sliding guide rails. Two cylinders are installed on the lower surface of the floating crossbeam to adjust the position of the instrument panel support claws. Instrument trolley guide cylinders with sliding rollers and positioning frames are fixed to the front ends of both sides of the floating crossbeam to accommodate different vehicle models. While it has support claws and guide cylinders for adjusting the lifting and clamping of instrument panels for different models, it cannot meet the requirements of co-line assembly of left-hand drive or right-hand drive instrument panels. When facing instrument panels with more AI functions and intelligent interconnection integration, its technology can no longer keep pace with the development of instrument panels. Summary of the Invention

[0009] The purpose of this utility model is to provide a flexible instrument panel assembly robot that enables the switching of different states in the flexible instrument panel assembly technology. This overcomes the current situation of complex and difficult compatibility switching of vehicle models, improves working conditions, reduces costs, and accurately connects to the diverse compatibility of the clamping mechanism, thereby achieving quick switching and precise matching of different instrument panels.

[0010] To achieve the above objectives, the technical solution of this utility model is as follows:

[0011] A flexible assembly robot for dashboards, comprising,

[0012] The instrument clamp arm is C-shaped, with a sleeve at its lower end;

[0013] The leveling swing joint is located on the top surface of the upper end of the instrument clamp arm;

[0014] A rotary joint is disposed within the sleeve, and includes a rotating shaft and bearings at both ends thereof;

[0015] A rotating connecting plate is coaxially connected to the rotating shaft, and a connecting part protrudes from one side of the plate.

[0016] The tilting drive electric cylinder has its cylinder body vertically downward and connected to the upper part of the arm of the instrument clamp; the end of its piston rod is connected to the connecting part of the rotating connecting plate.

[0017] The main beam of the instrument fixture has one end connected to the rotating connecting plate via a connecting plate;

[0018] A left-right swing joint, located at the other end of the main beam of the instrument fixture, includes,

[0019] The base plate and the swing shaft vertically set in the center of the front of the base plate, with bearings on both sides of the swing shaft; the back of the base plate is connected to the front of the other end of the main beam of the instrument fixture.

[0020] The swing joint includes two swing support plates and a swing sleeve disposed in the center between the two swing support plates, wherein the swing shaft and the bearing thereon are disposed in the swing sleeve.

[0021] The instrument fixture secondary beam has a mounting through hole in its middle, which is used to fit over the swing sleeve of the swing joint, so that the middle part of the instrument fixture secondary beam is embedded between the two swing support plates of the swing joint; the instrument fixture secondary beam is parallel to the instrument fixture main beam;

[0022] The lower support bracket positioning assembly includes,

[0023] The positioning drive device has its cylinder body located at the bottom middle of the secondary beam of the instrument fixture, perpendicular to the axial direction of the secondary beam of the instrument fixture;

[0024] The lower support plate is located at the output end of the support drive device and below the center of the front of the secondary beam of the instrument fixture.

[0025] The first side plate clamping positioning pin assembly and the second side plate clamping positioning pin assembly are symmetrically arranged on both sides of the front of the secondary beam of the instrument fixture; the first and second side plate clamping positioning pin assemblies respectively include:

[0026] The slide rail and its slider are arranged along the axial direction of the secondary beam of the instrument fixture on one side of the front of the secondary beam of the instrument fixture;

[0027] The base is L-shaped, with one side connected to the slider and a shaft hole at the other end;

[0028] A movable cylinder, the cylinder body of which is arranged parallel to the bottom of the secondary beam of the instrument fixture, and the end of its piston rod is connected to the base;

[0029] The mounting plate has a shaft hole at its lower part and is pivotally connected to the other side of the base via a pin; a connecting part protrudes from one side of the mounting plate.

[0030] Two locating pins are located on the upper part of the mounting plate;

[0031] The positioning pin switching cylinder has its cylinder body vertically upward and located on the outer side of the other side of the base, with its piston rod end connected to the connecting part of the mounting plate.

[0032] Two flexible clamping mechanisms for the tubular beams are respectively disposed on both sides of the secondary beam of the instrument fixture. Each flexible clamping mechanism includes...

[0033] X-axis movement components, including,

[0034] The guide rail and its slider are arranged along the axial direction of the secondary beam of the instrument fixture on one side of the upper end face of the secondary beam of the instrument fixture;

[0035] Support base, slider disposed on the guide rail;

[0036] The X-axis moving cylinder has its cylinder body arranged parallel above the secondary beam of the instrument fixture and connected to the secondary beam of the instrument fixture through a connector, and its piston rod end is connected to the support base.

[0037] Rotating components, including,

[0038] A base plate is provided on the upper surface of the support base, with a rotating shaft vertically installed in the center of the base plate, and bearings are sleeved on the upper and lower parts of the rotating shaft.

[0039] A connecting sleeve is fitted over the rotating shaft and bearing;

[0040] A rotary cylinder has its cylinder body arranged parallel above the support base, and its piston rod end is connected to the connecting sleeve, thereby driving the connecting sleeve to rotate.

[0041] Clamping height switching component, including,

[0042] The column, U-shaped, is fitted and fixed onto the connecting sleeve and can rotate with the connecting sleeve.

[0043] The lifting slide rail and its upper lifting slider are arranged on the outer side of the column along the height direction;

[0044] The lifting seat is located above the top surface of the column and is U-shaped. It includes a lifting base plate and forward-sloping support plates on both sides. The front end of the lifting base plate is connected to the lifting slider through a connecting plate. The front part of the support plate is provided with a shaft hole.

[0045] A clamping height switching cylinder has its cylinder body vertically upward installed inside the column, and its piston rod end is connected to the lifting base plate of the lifting seat;

[0046] The clamping angle switching component includes,

[0047] A support base, located between the two support plates of the lifting seat, is U-shaped, with its front two sides pivotally connected to the front of the support plates;

[0048] The clamping angle switching cylinder has its cylinder body tilted upward and connected to the outer side of the lifting seat, and its piston rod end is connected to the rear end of the support seat.

[0049] The gripper mechanism includes,

[0050] A support frame includes two parallel support plates connected at their rear ends by a connecting plate; the rear ends of the support plates are connected to the front ends of the support base; each support plate has an arc-shaped guide groove, and two shaft holes are symmetrically provided on both sides of the front and middle of the arc-shaped guide groove; a shaft hole is provided on the rear end of the support plate corresponding to the arc-shaped guide groove; guide rollers are provided on the opposite shaft holes of the two support plates; and a receiving groove is provided in the lower middle part of the two support plates.

[0051] The rotating gripper is arc-shaped and is movably mounted inside the guide roller between the two support plates; a guide shaft passes through the middle of the rotating gripper, and the two sides of the guide shaft are respectively inserted into the arc-shaped guide grooves of the two support plates.

[0052] Two first connecting rods, one end of which is connected to both ends of a guide shaft, and the other end of which is connected to both ends of a movable connecting shaft;

[0053] Two second connecting rods, one end of which is coaxially connected to both ends of a movable connecting shaft, and the other end of which is connected to both ends of a fixed shaft, which is fixed to the rear of the two support plates.

[0054] A clamping cylinder, the rear of which is connected to the rear of the support base, and the end of which is connected to one end of the movable connecting shaft;

[0055] A clamping block is disposed within the receiving groove;

[0056] The controller is connected to the instrument clamp arm via a bracket; the flip drive cylinder, the positioning drive device, the moving cylinder, the positioning pin switching cylinder, the X-axis moving cylinder, the rotating cylinder, the clamping height switching cylinder, the clamping angle switching cylinder, and the clamping cylinder are electrically connected to the controller.

[0057] Preferably, the positioning drive device includes two positioning pin switching cylinder groups, respectively disposed on both sides of the bottom center of the secondary beam of the instrument fixture. The positioning pin switching cylinder group includes...

[0058] The mounting base consists of a base plate and an upper fixing plate; the fixing plate is Z-shaped, with its two sides parallel to the secondary beam of the instrument fixture.

[0059] The first cylinder has its rear end connected to the bottom middle of the secondary beam of the instrument fixture and perpendicular to the axial direction of the secondary beam of the instrument fixture, and its piston rod end connected to the inner side of one side of the fixing plate.

[0060] The second cylinder has its rear end connected to the inner side of the other side of the fixing plate and is parallel to the first cylinder. Its piston rod end is connected to the back side of the lower bracket support plate. The first cylinder and the second cylinder are electrically connected to the controller.

[0061] Preferably, the first cylinder and the second cylinder are cylinders with guide rods with different strokes.

[0062] Preferably, the leveling swing joint includes a flange plate with a central hole and connecting rods on both sides of its bottom surface for connecting the instrument clamp arm.

[0063] Furthermore, an auxiliary handle for installation is provided, which is located on the secondary beam of the instrument fixture.

[0064] Preferably, the outer surface of the lower support plate is made of nylon.

[0065] The instrument panel flexible assembly robot of this utility model:

[0066] The leveling swing joint mainly serves as a mechanism for adjusting the level of the clamp and is connected to the flange surface of other parts.

[0067] The instrument clamp arm, serving as the vertical arm of the equipment, moves the mounting surface upwards to the outside of the mounting vehicle body, avoiding interference between the upper part of the connecting flange and the vehicle body. It also connects the tilting drive cylinder and the slewing joint, exhibiting high structural strength and the ability to withstand large cantilever bending moments, ensuring minimal deflection and deformation of the equipment during normal use.

[0068] The tilting drive electric cylinder, in conjunction with the rotary joint, serves as the main component for adjusting the equipment angle, converting the motor's rotary motion into linear motion.

[0069] This utility model designs two flexible clamping mechanisms for pipe beams, which are set on both sides of the secondary beam of the instrument fixture. The instrument workpieces of the pipe beams are clamped by the rotatable flexible clamping mechanism with cylinders.

[0070] The rotating component enables the switching of clamping angles. Specifically, the angle of the connecting part is adjusted by rotating the cylinder and rotating the shaft. This is used for some special workpieces where the left and right pipe beams being clamped are not concentric. This mechanism enables the switching of eccentric clamping of the pipe beams, thus allowing for automatic switching when different models are selected.

[0071] This invention achieves clamping height switching through a clamping height switching component, specifically by using a clamping height switching cylinder and a slide rail to switch between vertical and horizontal positions. Since the workpiece tube beam can be either left-hand drive or right-hand drive, with the driver's side tube beam being thicker and the passenger side tube beam thinner, this mechanism switches the clamping height according to the left-hand drive model, ensuring that the clamping can contact the lower surface of the tube beam on both sides. After clamping, the tube beam remains horizontal, thus allowing for automatic switching between different models.

[0072] The main beam of the instrument fixture is a long tube with a flange surface formed by welding square tube and plate. It serves as the main part connecting the rotating joint and the instrument secondary beam. It not only prevents the fixture from deflecting, but also ensures that the front end of the fixture does not sag or deform much when the load center of the fixture body deviates from the rotation axis.

[0073] The secondary beam of the instrument fixture, as an installation component of the equipment clamping mechanism, is connected to the left and right swing joint shaft of the main beam of the instrument fixture, which can realize the left and right swing adjustment of the equipment and workpiece during installation, making it easier to achieve the installation state.

[0074] The installation auxiliary handle is a long U-shaped pipe welded to a round tube, with multiple mounting surfaces for connection to the equipment. When installing a workpiece, the workpiece needs to swing left and right to reach the installation position, requiring the use of the auxiliary handle located in the middle.

[0075] The left and right swing joints connect the main beam of the instrument fixture to the secondary beam of the instrument fixture, allowing the secondary beam of the instrument fixture to swing left and right at small angles during use, so as to adapt to more installation conditions.

[0076] The positioning pin is a cylindrical pin with multiple steps. One end is machined into a thread as the mounting surface, and the other end is machined into a conical surface as the guide surface. As an instrument workpiece that needs to clamp the side plate, the clamping pin with the clamping hole makes clamping easier.

[0077] By switching the cylinder with the positioning pin, the equipment can be switched to the pipe beam clamping mode, and the gripper can be retracted to avoid interference with the workpiece.

[0078] The lower support positioning plate in the lower support positioning assembly is preferably a flat plate with a nylon surface. When the pipe beam is clamped, the pipe beam will rotate, and the lower support plate is needed to restrict the rotation of the workpiece to ensure that the workpiece does not rotate when the equipment rotates. The part in contact with the workpiece is made of non-metallic material with low surface hardness, so as not to damage the workpiece.

[0079] Preferably, the positioning pin switching cylinder group adopts two sets of left and right cylinders with guide rods with different strokes in parallel combination. Depending on the selected vehicle model, the length of the support plate that needs to extend is also different, and different switching positions can be achieved by different cylinder combinations.

[0080] Compared with the prior art, the advantages of this utility model are:

[0081] The instrument panel flexible assembly robot of this utility model is designed with a side plate clamping and positioning pin assembly tube and tube beam flexible clamping mechanism. Through related switching mechanisms, it can switch between different models by using different cylinder combinations. This changes the relatively traditional and primitive situation of existing technology for assembling instrument panels. It improves the existing single-model, single-series and other automotive instrument panel assembly technologies by using flexible assembly technology to replace them. It solves the bottleneck of assembling multiple automotive instrument panels on the same line, realizes the switching of different states of instrument panel flexible assembly technology, gets rid of the complex and difficult situation of compatible model style switching, improves working conditions, reduces costs, and accurately connects the clamping mechanism to achieve compatibility diversity, thereby realizing quick switching and precise matching of different instrument panels.

[0082] The flexible clamping mechanism for the tube beam described in this utility model uses an arc-shaped guide groove on the support plate and several guide rollers between the two support plates to rotate the rotating jaws and confine them in the arc-shaped guide groove, thereby reducing the space required for the clamping mechanism and satisfying the clamping requirements for the tube beams of the automotive dashboard.

[0083] This utility model changes the existing clamping technology of instrument panel tube beams, replacing the existing single, single-type, and single-series automotive instrument panel tube beam clamping technology with a flexible and adaptable clamping technology. It breaks through the limitations of the existing technology's small clamping space and gets rid of the current situation of complex and difficult compatibility with vehicle model styles, realizing the switching of different states of instrument panel flexible assembly technology. Attached Figure Description

[0084] Figure 1 Three-dimensional representation of the present utility model Figure 1 ;

[0085] Figure 2 Three-dimensional representation of the present utility model Figure 2 ;

[0086] Figure 3 This is a perspective view of the lower support positioning component in an embodiment of this utility model;

[0087] Figure 4 This is a three-dimensional exploded view of the left and right swing joint in an embodiment of this utility model;

[0088] Figure 5 This is a perspective view of the first side plate clamping and positioning pin assembly in an embodiment of the present utility model;

[0089] Figure 6 The three-dimensional representation of the third rotary braking device and clamping mechanism in this utility model embodiment. Figure 2 ;

[0090] Figure 7 This is an exploded perspective view of the clamping mechanism in an embodiment of this utility model;

[0091] Figure 8 This is a perspective view of the swing joint in an embodiment of the present invention;

[0092] Figure 9 This is a front view of the swing joint in an embodiment of this utility model;

[0093] Figure 10 This is a three-dimensional exploded view of the swing joint in an embodiment of this utility model. Detailed Implementation

[0094] See Figures 1-10 The instrument panel flexible assembly robot of this utility model includes,

[0095] The instrument clamp arm 1 is C-shaped, and its lower end is a sleeve 101;

[0096] The leveling swing joint 2 is located on the top surface of the upper end of the instrument clamp arm 1;

[0097] Rotary joint 3 is disposed inside the sleeve 101, and includes a rotating shaft and bearings at both ends thereof;

[0098] A rotating connecting plate 4 is coaxially connected to the rotating shaft, and a connecting part 41 protrudes from one side of it;

[0099] The tilting drive electric cylinder 5 has its cylinder body vertically downward and connected to the upper part of the rod body of the instrument clamp arm 1; the end of its piston rod is connected to the connecting part 41 of the rotating connecting plate 4;

[0100] The main beam 6 of the instrument fixture has one end connected to the rotating connecting plate 4 via a connecting plate 61;

[0101] A left-right swing joint 7 is located at the other end of the main beam 6 of the instrument fixture, and includes,

[0102] The base plate 71 and the swing shaft 72 are vertically arranged in the center of the front of the base plate 71, and bearings are provided on both sides of the swing shaft 72; the back of the base plate 71 is connected to the front of the other end of the main beam 6 of the instrument fixture.

[0103] The swing joint 73 includes two swing support plates 731 and a swing sleeve 732 disposed in the center between the two swing support plates 731. The swing shaft 72 and the bearing on it are disposed in the swing sleeve 732.

[0104] The instrument fixture secondary beam 8 has a mounting through hole 81 in its middle, which is fitted onto the swing sleeve 732 of the swing joint 73, so that the middle part of the instrument fixture secondary beam 8 is embedded between the two swing support plates 731 of the swing joint 73; the instrument fixture secondary beam 8 is parallel to the instrument fixture main beam 6.

[0105] The lower support bracket positioning component 9 includes,

[0106] The cylinder of the positioning drive device 91 is located at the bottom middle of the instrument fixture secondary beam 8 and is perpendicular to the axis of the instrument fixture secondary beam 8.

[0107] The lower support plate 92 is disposed at the output end of the support drive device 91 and is located below the center of the front of the secondary beam 8 of the instrument fixture; preferably, the outer surface of the lower support plate is a nylon surface.

[0108] The first side plate clamping positioning pin assembly 10 and the second side plate clamping positioning pin assembly 10' are symmetrically arranged on both sides of the front of the secondary beam 8 of the instrument fixture; the first and second side plate clamping positioning pin assemblies 10 and 10' respectively include: (taking the first side plate clamping positioning pin assembly 10 as an example, the same below)

[0109] The slide rail 1001 and its slider are arranged on one side of the front of the instrument fixture secondary beam 8 along the axial direction of the instrument fixture secondary beam 8;

[0110] The base 1002 is L-shaped, with one side connected to the slider and a shaft hole at the other end;

[0111] The movable cylinder 1003 has its cylinder body arranged parallel to the bottom of the secondary beam 8 of the instrument fixture, and its piston rod end is connected to the base 1002.

[0112] Mounting plate 1004 has a shaft hole at its lower part and is pivotally connected to the other side of base 1002 via a pin; a connecting part 10041 protrudes from one side of mounting plate 1004.

[0113] Two locating pins 1005 are disposed on the upper part of the mounting plate 1004;

[0114] The positioning pin switching cylinder 1006 has its cylinder body vertically upward and is located on the outer side of the other side of the base 1002, and its piston rod end is connected to the connecting part 10041 of the mounting plate 1004.

[0115] Two flexible clamping mechanisms 11 and 11' are respectively disposed on both sides of the secondary beam 8 of the instrument fixture. The flexible clamping mechanism 11 (taking the flexible clamping mechanism 11 as an example, the same below) includes,

[0116] X-axis movement component 111, including,

[0117] The guide rail 1111 and its slider are arranged along the axial direction of the secondary beam 8 of the instrument fixture on one side of the upper end face of the secondary beam 8 of the instrument fixture;

[0118] Support base 1112, slider disposed on guide rail 1111;

[0119] X-axis moving cylinder 1113, its cylinder body is arranged parallel above the instrument fixture secondary beam 8 and is connected to the instrument fixture secondary beam 8 through a connector, and its piston rod end is connected to the support base 1112;

[0120] Rotating assembly 112 includes,

[0121] A base plate 1121 is disposed on the upper end face of the support base 1112, and a rotating shaft 1122 is vertically disposed in the center of the base plate 1121, with bearings sleeved on the upper and lower parts of the rotating shaft 1122.

[0122] Connecting sleeve 1123 is fitted onto the outside of rotating shaft 1122 and bearing;

[0123] A rotary cylinder 1124 has its cylinder body arranged parallel above the support base 1112, and its piston rod end is connected to the connecting sleeve 1123, thereby driving the connecting sleeve 1123 to rotate.

[0124] Clamping height switching component 113 includes,

[0125] The column 1131 is U-shaped and is sleeved and fixed on the connecting sleeve 1122, and can rotate with the connecting sleeve 1122.

[0126] The lifting slide rail 1132 and its lifting slider are arranged on the outer side of the column 1151 along the height direction;

[0127] The lifting base 1133 is located above the top surface of the column 1131 and is U-shaped. It includes a lifting base plate 11331 and forward-sloping support plates 11332 on both sides. The front end of the lifting base plate is connected to the lifting slider through a connecting plate. The support plate 11332 has a shaft hole at the front.

[0128] The clamping height switching cylinder 1134 has its cylinder body vertically upward installed inside the column 1131, and its piston rod end is connected to the lifting base plate of the lifting seat 1133;

[0129] Clamping angle switching component 114 includes,

[0130] The support base 1141 is located between the two support plates 11332 of the lifting base 1133, and is U-shaped. Its front two sides are pivotally connected to the front of the support plate 11332.

[0131] The clamping angle switching cylinder 1142 has its cylinder body tilted upward and connected to the outer side of the lifting seat 1133, and its piston rod end is connected to the rear end of the support seat 1141.

[0132] The gripper mechanism 12 includes,

[0133] The support frame 121 includes two parallel support plates 1211, which are connected at their rear ends by a connecting plate. The rear ends of the support plates 1211 are connected to the front end of the support base 1141. The support plates 1211 are provided with arc-shaped guide grooves 1212. Two shaft holes 12111 and 12112 are symmetrically provided on both sides of the front and middle parts of the arc-shaped guide grooves 1212 on the support plates 1211. A shaft hole 12113 is provided on the support plates 1211 at the rear end of the arc-shaped guide grooves 1212. Guide rollers 122, 122', and 122" are provided on the opposite shaft holes of the two support plates 1211. A receiving groove 1213 is provided in the lower middle part of the two support plates 1211.

[0134] The rotating gripper 123 is arc-shaped and is movably disposed inside the guide rollers 122, 122', and 122" between the two support plates 1211; a guide shaft 124 is inserted through the middle of the rotating gripper 123, and the two sides of the guide shaft 124 are respectively inserted into the arc-shaped guide grooves 1212 of the two support plates 1211.

[0135] Two first connecting rods 125, one end of which is connected to both ends of the guide shaft 124, and the other end of which is connected to both ends of a movable connecting shaft 126;

[0136] Two second connecting rods 127, one end of each second connecting rod 127 is coaxially connected to both ends of the movable connecting shaft 126, and the other end of each second connecting rod 127 is connected to both ends of a fixed shaft 128, which is fixed to the rear of the two support plates 1211.

[0137] The clamping cylinder 129 has its rear body connected to the rear of the support base 1141, and its piston rod end connected to one end of the movable connecting shaft 126.

[0138] Clamping block 13 is disposed within the receiving groove 1213;

[0139] The controller 14 is connected to the instrument clamp arm 1 via a bracket; the flip drive cylinder 5, the positioning drive device 91, the moving cylinder 1003, the positioning pin switching cylinder 1006, the X-axis moving cylinder 1113, the rotating cylinder 1123, the clamping height switching cylinder 1134, the clamping angle switching cylinder 1142, and the clamping cylinder 129 are electrically connected to the controller.

[0140] Preferably, the positioning drive device 91 includes two positioning pin switching cylinder groups 911, respectively disposed on both sides of the bottom center of the secondary beam 8 of the instrument fixture. The positioning pin switching cylinder group 911 includes...

[0141] Mounting base 9111, which consists of a base plate and an upper fixing plate; the fixing plate is Z-shaped, and its two sides are parallel to the secondary beam 8 of the instrument fixture;

[0142] The first cylinder 9112 has its rear end connected to the bottom middle of the instrument fixture secondary beam 8 and perpendicular to the axial direction of the instrument fixture secondary beam 8, and its piston rod end connected to the inner side of one side of the fixing plate.

[0143] The second cylinder 9113 has its rear end connected to the inner side of the other side of the fixing plate and is parallel to the first cylinder 9112. Its piston rod end is connected to the back side of the lower bracket support plate 92. The first cylinder 9112 and the second cylinder 9113 are electrically connected to the controller.

[0144] Preferably, the first cylinder 9112 and the second cylinder 9113 are cylinders with guide rods with different strokes.

[0145] Preferably, the leveling swing joint 2 includes a flange plate 21 with a central hole and connecting rods 22 on both sides of its bottom surface for connecting the instrument clamp arm 1.

[0146] Preferably, an auxiliary handle 15 for installation is also provided, which is set on the secondary beam 8 of the instrument fixture.

[0147] When the workpiece needs to be clamped using a tube beam, select the gear according to the required vehicle model, switch the cylinder, and open the flexible clamping mechanism of the tube beam on both sides. At this time, depending on the different vehicle models, the clamping height switching component and the clamping angle switching component are switched into position according to the design state, and the clamping positioning pin components of the first and second side plates are retracted.

[0148] When the workpiece needs to be clamped by the side plate, select the gear according to the vehicle model and switch the cylinder. At this time, the first and second side plate clamping positioning pin assemblies open, the flexible clamping mechanisms of the left and right tube beams retract, and the clamping height switching assembly and the clamping angle switching assembly remain retracted.

Claims

1. A flexible assembly robot for instrument panels, characterized in that, include, The instrument clamp arm is C-shaped, with a sleeve at its lower end; The leveling swing joint is located on the top surface of the upper end of the instrument clamp arm; A rotary joint is disposed within the sleeve, and includes a rotating shaft and bearings at both ends thereof; A rotating connecting plate is coaxially connected to the rotating shaft, and a connecting part protrudes from one side of the plate. A tilting drive electric cylinder, the cylinder body of which is vertically downward and connected to the upper part of the arm of the instrument clamp; The piston rod end is connected to the connecting part of the rotating connecting plate; The main beam of the instrument fixture has one end connected to the rotating connecting plate via a connecting plate; A left-right swing joint is located at the other end of the main beam of the instrument fixture. It includes a base plate and a swing shaft vertically arranged in the center of the front of the base plate. Bearings are provided on both sides of the swing shaft. The back of the base plate is connected to the front of the other end of the main beam of the instrument fixture. The swing joint includes two swing support plates and a swing sleeve disposed in the center between the two swing support plates, wherein the swing shaft and the bearing thereon are disposed in the swing sleeve. The instrument fixture secondary beam has a mounting through hole in its middle, which is used to fit over the swing sleeve of the swing joint, so that the middle part of the instrument fixture secondary beam is embedded between the two swing support plates of the swing joint. The secondary beam of the instrument fixture is parallel to the main beam of the instrument fixture; The lower support bracket positioning assembly includes, The positioning drive device has its cylinder body located at the bottom middle of the secondary beam of the instrument fixture, perpendicular to the axial direction of the secondary beam of the instrument fixture; The lower support plate is located at the output end of the support drive device and below the center of the front of the secondary beam of the instrument fixture. The first side plate clamping positioning pin assembly and the second side plate clamping positioning pin assembly are symmetrically arranged on both sides of the front of the secondary beam of the instrument fixture; The first and second side plate clamping and positioning pin assemblies respectively include: The slide rail and its slider are arranged along the axial direction of the secondary beam of the instrument fixture on one side of the front of the secondary beam of the instrument fixture; The base is L-shaped, with one side connected to the slider and a shaft hole at the other end; A movable cylinder, the cylinder body of which is arranged parallel to the bottom of the secondary beam of the instrument fixture, and the end of its piston rod is connected to the base; The mounting plate has a shaft hole at its lower part and is pivotally connected to the other side of the base via a pin; a connecting part protrudes from one side of the mounting plate. Two locating pins are located on the upper part of the mounting plate; The positioning pin switching cylinder has its cylinder body vertically upward and located on the outer side of the other side of the base, with its piston rod end connected to the connecting part of the mounting plate. Two flexible clamping mechanisms for the tubular beams are respectively disposed on both sides of the secondary beam of the instrument fixture. Each flexible clamping mechanism includes... X-axis movement components, including, The guide rail and its slider are arranged along the axial direction of the secondary beam of the instrument fixture on one side of the upper end face of the secondary beam of the instrument fixture; Support base, slider disposed on the guide rail; The X-axis moving cylinder has its cylinder body arranged parallel above the secondary beam of the instrument fixture and connected to the secondary beam of the instrument fixture through a connector, and its piston rod end is connected to the support base. Rotating components, including, A base plate is provided on the upper surface of the support base, with a rotating shaft vertically installed in the center of the base plate, and bearings are sleeved on the upper and lower parts of the rotating shaft. A connecting sleeve is fitted over the rotating shaft and bearing; A rotary cylinder has its cylinder body arranged parallel above the support base, and its piston rod end is connected to the connecting sleeve, thereby driving the connecting sleeve to rotate. Clamping height switching component, including, The column, U-shaped, is fitted and fixed onto the connecting sleeve and can rotate with the connecting sleeve. The lifting slide rail and its upper lifting slider are arranged on the outer side of the column along the height direction; The lifting seat is located above the top surface of the column and is U-shaped. It includes a lifting base plate and forward-sloping support plates on both sides. The front end of the lifting base plate is connected to the lifting slider through a connecting plate. The front part of the support plate is provided with a shaft hole. A clamping height switching cylinder has its cylinder body vertically upward installed inside the column, and its piston rod end is connected to the lifting base plate of the lifting seat; The clamping angle switching component includes, A support base, located between the two support plates of the lifting seat, is U-shaped, with its front two sides pivotally connected to the front of the support plates; The clamping angle switching cylinder has its cylinder body tilted upward and connected to the outer side of the lifting seat, and its piston rod end is connected to the rear end of the support seat. The gripper mechanism includes, A support frame includes two parallel support plates connected at their rear ends by a connecting plate; the rear ends of the support plates are connected to the front ends of the support base; each support plate has an arc-shaped guide groove, and two shaft holes are symmetrically provided on both sides of the front and middle of the arc-shaped guide groove; a shaft hole is provided on the rear end of the support plate corresponding to the arc-shaped guide groove; guide rollers are provided on the opposite shaft holes of the two support plates; and a receiving groove is provided in the lower middle part of the two support plates. The rotating gripper is arc-shaped and is movably mounted inside the guide roller between the two support plates; a guide shaft passes through the middle of the rotating gripper, and the two sides of the guide shaft are respectively inserted into the arc-shaped guide grooves of the two support plates. Two first connecting rods, one end of which is connected to both ends of a guide shaft, and the other end of which is connected to both ends of a movable connecting shaft; Two second connecting rods, one end of which is coaxially connected to both ends of a movable connecting shaft, and the other end of which is connected to both ends of a fixed shaft, which is fixed to the rear of the two support plates. A clamping cylinder, the rear of which is connected to the rear of the support base, and the end of which is connected to one end of the movable connecting shaft; A clamping block is disposed within the receiving groove; The controller is connected to the instrument clamp arm via a bracket; the flip drive cylinder, the positioning drive device, the moving cylinder, the positioning pin switching cylinder, the X-axis moving cylinder, the rotating cylinder, the clamping height switching cylinder, the clamping angle switching cylinder, and the clamping cylinder are electrically connected to the controller.

2. The instrument panel flexible assembly robot as described in claim 1, characterized in that, The aforementioned positioning drive device includes two positioning pin switching cylinder assemblies, respectively disposed on both sides of the bottom center of the secondary beam of the instrument fixture. The positioning pin switching cylinder assemblies include... The mounting base consists of a base plate and an upper fixing plate; The fixing plate is Z-shaped, and its two sides are parallel to the secondary beam of the instrument fixture; The first cylinder has its rear end connected to the bottom middle of the secondary beam of the instrument fixture and perpendicular to the axial direction of the secondary beam of the instrument fixture, and its piston rod end connected to the inner side of one side of the fixing plate. The second cylinder has its rear end connected to the inner side of the other side of the fixing plate and is parallel to the first cylinder. Its piston rod end is connected to the back side of the lower bracket support plate. The first cylinder and the second cylinder are electrically connected to the controller.

3. The instrument panel flexible assembly robot as described in claim 2, characterized in that, The first cylinder and the second cylinder are cylinders with guide rods with different strokes.

4. The flexible assembly robot for instrument panels as described in claim 1, characterized in that, The leveling swing joint includes a flange plate with a central hole and connecting rods on both sides of its bottom surface for connecting the instrument clamp arm.

5. The flexible assembly robot for instrument panels as described in claim 1, characterized in that, An auxiliary handle for installation is also provided, which is located on the secondary beam of the instrument fixture.

6. The instrument panel flexible assembly robot as described in claim 1, characterized in that, The outer surface of the lower support plate is made of nylon.

Images