Automobile roof mounting robot

Abstract

The utility model relates to installation manipulator technical field provides a kind of automobile roof installation manipulator, including fixed track assembly, moving track and trolley assembly, the bottom of fixed track assembly is provided with moving track, the bottom of moving track is provided with trolley assembly, the bottom of trolley assembly is provided with lifting assembly, the bottom of lifting assembly is provided with roof installation clamp fixture assembly, roof installation clamp fixture assembly is used for the adsorption clamping of roof, lifting assembly is used to drive roof installation clamp fixture assembly to lift, the utility model is integrated with horizontal slewing mechanism by the angle swing joint of clamp flange plate, realize pitch, slewing dual-dimension angle fine adjustment alignment, adapt to compensate truck roof machining error, camber deviation, quickly and accurately complete hole alignment installation, solve the problem that traditional equipment installation alignment is difficult, and the problem of not being closely adhered, adapt to the roof camber of multiple vehicle models.

Description

Technical Field

[0001] This utility model relates to the field of installation robot technology, and in particular to an installation robot for automobile roof. Background Technology

[0002] The inspection, cover removal and installation, exterior maintenance, tarp replacement, and debris removal operations on the roofs of commercial vehicles such as trucks and light vans generally present problems such as high operating heights, high risks of manual operation, heavy workpieces on the roof, and difficulties in fitting curved surfaces. Vehicle-mounted vacuum adsorption robots have become the core equipment to replace manual high-altitude operations. Existing truck roof robots have many shortcomings in practical applications, seriously restricting operational safety and adaptability: First, traditional vacuum adsorption robots mostly use a single vacuum path, with all suction cups sharing the same air source and pipeline. If a single suction cup leaks, the pipeline is damaged, or the valve malfunctions, the overall negative pressure will instantly fail, easily causing the workpiece and equipment to fall, posing a significant safety hazard, and lacking redundant protection capabilities. Second, existing robot flange mounting structures are fixed, lacking adaptive swing and rotation adjustment structures. The truck roof mounting surface has processing errors and curvature deviations, making installation and alignment difficult, unable to adaptively align, resulting in low assembly accuracy and poor sealing. Third, traditional equipment mostly uses welded steel plate frames, which are heavy, have high wind resistance, and heavy installation loads. Long-term loading on the truck roof can easily cause the roof to deform under pressure. Utility Model Content

[0003] The purpose of this invention is to provide a robotic arm for mounting on the roof of a car, thereby solving the aforementioned problems.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a car roof mounting robot, including a fixed track assembly, a moving track and a trolley assembly. The fixed track assembly has a moving track at its bottom, the moving track has a trolley assembly at its bottom, the trolley assembly has a lifting assembly at its bottom, and the lifting assembly has a roof mounting clamp assembly at its bottom. The roof mounting clamp assembly is used for adsorption and clamping on the roof, and the lifting assembly is used to drive the roof mounting clamp assembly to rise and fall.

[0005] Preferably, the lifting assembly includes a lifting cylinder assembly, a fixed connecting base, a pneumatic control box assembly, and a locking cylinder. The lifting cylinder assembly is installed at the bottom of the trolley assembly. The fixed connecting base is fixed to the pushing end at the bottom of the lifting cylinder assembly. A locking cylinder is provided on one side of the lifting cylinder assembly. The pushing end at the bottom of the locking cylinder is fixedly connected to the fixed connecting base. A pneumatic control box assembly is provided at one end of the lifting cylinder assembly.

[0006] Preferably, the roof mounting clamp assembly includes a profile frame, a support base, a rotary joint, a cross-swing joint, a hydraulic damper, a vacuum suction cup assembly, and an auxiliary positioning block. The profile frame is provided at the bottom of the fixed connection base, the support base is installed in the middle of the profile frame, the rotary joint is provided in the middle of the top of the support base, the top of the rotary joint is connected to the cross-swing joint, the hydraulic dampers are provided on both sides of the rotary joint, the vacuum suction cup assembly is provided on both sides of the profile frame, and the auxiliary positioning block is provided in the middle of both sides of the profile frame.

[0007] Preferably, the top of the cross swing joint is fixed to the bottom of the fixed connection base to connect the roof mounting clamp assembly and the lifting assembly, and the hydraulic buffer is installed on both sides of the top of the support base.

[0008] Preferably, the profile frame includes four horizontal profiles and two vertical profiles. The four horizontal profiles are evenly distributed between the two vertical profiles, and the horizontal and vertical profiles are connected by connecting corner pieces.

[0009] Preferably, three vacuum suction cup assemblies are equally spaced on the outer sides of the two longitudinal profiles of the profile frame, and one vacuum suction cup assembly is provided on the side wall of each of the two transverse profiles in the middle position inside the profile frame.

[0010] Preferably, the roof mounting clamp assembly also includes an operating handle assembly and a button box. The operating handle assembly is fixed to one side of the profile frame, and button boxes are provided at both ends of one side of the operating handle assembly.

[0011] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. The present invention provides a car roof installation robot, which integrates an angle swing joint and a horizontal rotation mechanism into the clamp flange plate to achieve pitch and rotation dual-dimensional angle fine adjustment and alignment. It adapts to and compensates for the processing error and surface deviation of the truck roof, and quickly and accurately completes the hole alignment and installation. It solves the problems of difficult alignment and poor fit of traditional equipment, and is suitable for the roof curvature of various car models.

[0012] 2. The present invention provides a car roof mounting robot, which sets up two independent vacuum adsorption air paths, each equipped with an independent air supply, pressure control and negative pressure detection unit. The two air paths are connected to different suction cup units in corresponding sections. When a single air path fails or leaks, the faulty path can be isolated, and the negative pressure adsorption can be maintained independently by relying on the other air path, thereby reducing the safety hazard of the workpiece falling as a whole due to single-point failure of the traditional single air path structure.

[0013] 3. The robot arm for installing on the roof of a car provided by this utility model is constructed by modularly assembling the main frame of the equipment using industrial aluminum profiles, and the whole is treated with anodizing for corrosion protection. Compared with the traditional steel plate welded frame, it has the advantages of lighter weight, higher structural strength and lower wind resistance during operation. It can avoid the deformation of the truck roof under long-term pressure. At the same time, the modular structure is easy to disassemble and maintain, and the installation size can be adjusted adaptively, making it more versatile and adaptable to different scenarios. Attached Figure Description

[0014] Figure 1 This is a front view structural diagram of the present utility model; Figure 2 This is a side view of the structure of this utility model; Figure 3 This is a top view of the structure of this utility model; Figure 4 This is a front view structural diagram of the lifting component of this utility model; Figure 5 This is a side view of the lifting component of this utility model. Figure 6 A three-dimensional structural diagram of the roof mounting clamp assembly of this utility model; Figure 7 This is a front view structural diagram of the roof mounting clamp assembly of this utility model; Figure 8 This is a side view of the roof mounting clamp assembly of this utility model. Figure 9 This is a top view of the roof mounting clamp assembly of this utility model.

[0015] The following are the annotations in the diagram: 1. Fixed track assembly; 2. Moving track; 3. Trolley assembly; 4. Lifting assembly; 41. Lifting cylinder assembly; 42. Fixed connecting base; 43. Pneumatic control box assembly; 44. Locking cylinder; 5. Roof mounting clamp assembly; 51. Profile frame; 52. Support seat; 53. Rotary joint; 54. Cross swing joint; 55. Hydraulic damper; 56. Vacuum suction cup assembly; 57. Auxiliary positioning block; 58. Operating handle assembly; 59. Button box. Detailed Implementation

[0016] 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.

[0017] 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.

[0018] Combination Figures 1 to 9 As shown, the present invention discloses a car roof mounting robot, comprising a fixed track assembly 1, a movable track 2, and a trolley assembly 3. The fixed track assembly 1 has the movable track 2 at its bottom, the movable track 2 has the trolley assembly 3 at its bottom, the trolley assembly 3 has a lifting assembly 4 at its bottom, and the lifting assembly 4 has a roof mounting clamp assembly 5 at its bottom. The roof mounting clamp assembly 5 is used for adsorption and clamping of the car roof, and the lifting assembly 4 is used to drive the roof mounting clamp assembly 5 to rise and fall.

[0019] Specifically, the trolley assembly 3 can move laterally along the moving track 2, and the moving track 2 can move longitudinally along the fixed track assembly 1. The two work together to achieve two-dimensional displacement adjustment of the roof-mounted clamp assembly 5 in the horizontal plane.

[0020] During the operation, the roof is first held in place by the roof mounting clamp assembly 5; then the trolley assembly 3 is driven to move in conjunction with the moving track 2, moving the roof mounting clamp assembly 5 and the roof it holds to the target installation position; then the lifting assembly 4 drives the roof mounting clamp assembly 5 to make vertical lifting movements, adjusting the roof to the appropriate installation height; finally, the roof mounting clamp assembly 5 releases its gripping state and releases the roof, completing the roof installation process.

[0021] like Figure 4 and Figure 5 As shown, the lifting assembly 4 includes a lifting cylinder assembly 41, a fixed connecting base 42, a pneumatic control box assembly 43, and a locking cylinder 44. The lifting cylinder assembly 41 is installed at the bottom of the trolley assembly 3. The fixed connecting base 42 is fixed to the pushing end of the bottom of the lifting cylinder assembly 41. A locking cylinder 44 is provided on one side of the lifting cylinder assembly 41. The pushing end of the bottom of the locking cylinder 44 is fixedly connected to the fixed connecting base 42. A pneumatic control box assembly 43 is provided at one end of the lifting cylinder assembly 41.

[0022] Specifically, the fixed connecting base 42 is fixedly connected to the roof mounting clamp assembly 5. The lifting cylinder assembly 41 and the locking cylinder 44 work together to provide lifting driving force, which drives the roof mounting clamp assembly 5 to perform vertical lifting movement through the fixed connecting base 42, thereby driving the roof held by the roof mounting clamp assembly 5 to lift synchronously, adjusting the roof to the appropriate installation height.

[0023] like Figures 6 to 9As shown, the roof mounting clamp assembly 5 includes a profile frame 51, a support base 52, a rotary joint 53, a cross swing joint 54, a hydraulic damper 55, a vacuum suction cup assembly 56, and an auxiliary positioning block 57. The profile frame 51 is fixedly connected to the bottom of the base 42. The support base 52 is installed in the middle of the profile frame 51. The rotary joint 53 is located in the middle of the top of the support base 52. The top of the rotary joint 53 is connected to the cross swing joint 54. The hydraulic dampers 55 are located on both sides of the rotary joint 53. The vacuum suction cup assembly 56 is located on both sides of the profile frame 51. The auxiliary positioning block 57 is located in the middle of both sides of the profile frame 51.

[0024] Specifically, the suction end of the vacuum suction cup assembly 56 adopts a multi-layer pleated silicone suction cup, which can adapt to the arc curvature of the truck top surface from 0° to 15°. The bottom of the suction cup is equipped with a thickened sealing lip, which can automatically compensate for the surface shape error of the top surface through pleated deformation, and achieve full-circumference gapless sealing suction, solving the problems of misalignment, air leakage and easy detachment that exist when the traditional flat suction cup is used for curved surface suction.

[0025] The integrated rotary joint 53 and cross-shaped swing joint 54 enable dual-dimensional angle fine-tuning and alignment in both pitch and rotation. The cross-shaped swing joint 54 offers a pitch adjustment range of ±15°, while the rotary joint 53 features a 360° stepless fine-tuning structure and a mechanical angle locking mechanism to lock the angle after alignment. This structure adaptively compensates for machining errors and surface deviations on the truck roof, enabling rapid and precise hole alignment and installation, thus solving the problems of difficult alignment and poor fit associated with traditional equipment.

[0026] The top of the cross swing joint 54 is fixed to the bottom of the fixed connection base 42 to connect the roof mounting clamp assembly 5 and the lifting assembly 4. The hydraulic buffer 55 is installed on both sides of the top of the support base 52.

[0027] The profile frame 51 includes four horizontal profiles and two vertical profiles. The four horizontal profiles are evenly distributed between the two vertical profiles, and the horizontal profiles and the vertical profiles are connected by connecting corner pieces.

[0028] Specifically, the main frame of the equipment is assembled using modular industrial aluminum profiles and undergoes anodizing for corrosion protection. Compared with traditional steel plate frames, it has the advantages of lighter weight, higher structural strength, and lower wind resistance, which can prevent the truck roof from being deformed by long-term pressure. At the same time, the modular structure is easy to disassemble and maintain, can adaptively adjust the installation size, and has strong versatility.

[0029] Three vacuum suction cup assemblies 56 are equally spaced on the outer sides of the two longitudinal profiles of the profile frame 51, and one vacuum suction cup assembly 56 is provided on the side wall of each of the two transverse profiles in the middle position inside the profile frame 51.

[0030] The roof mounting clamp assembly 5 also includes an operating handle assembly 58 and a button box 59. The operating handle assembly 58 is fixed to one side of the profile frame 51, and the button boxes 59 are provided at both ends of one side of the operating handle assembly 58.

[0031] Specifically, During operation, the operator first manipulates the equipment to move the roof-mounted clamp assembly 5 to the adsorption station in the workpiece removal area on the roof. Using the auxiliary positioning block 57 with its guide ramp, rapid pre-positioning is achieved, positioning the clamp at the preset adsorption position of the workpiece on the roof, improving the positional accuracy of the adsorption operation. Then, the adsorption button on the button box 59 is triggered to start the dual-air-path negative pressure adsorption system (the equipment uses dual independent vacuum circuits, meaning the equipment is equipped with...). Figure 9 The eight suction cups shown are arranged in two sets of four, forming an independent vacuum circuit. The suction cups in the two vacuum circuits are staggered, so a problem in one set will not affect the normal operation of the other. The vacuum is generated by a vacuum generator, and each set of four suction cups connects to a common interface created by the vacuum generator's negative pressure, which can be connected via threads. Figure 9 As shown, a) indicates four sets of suction cups, which are named: Partition Suction Cup 1; b) indicates four sets of suction cups, which are named: Partition Suction Cup 2. The two independent vacuum circuits operate synchronously. Partition Suction Cup 1 synchronously extracts negative pressure, while Partition Suction Cup 2 adaptively deforms to conform to the curved surface of the car roof. The equipment has a built-in vacuum negative pressure detection function. After the dual-circuit pressure self-check meets the standard and the vacuum negative pressure value reaches the set threshold, the system enters a stable adsorption state, and the equipment automatically switches to load balancing mode.

[0032] In the roof mounting fixture assembly 5, the rotary joint 53 can drive the profile frame 51 to rotate circumferentially, causing the roof attached to the vacuum suction cup assembly 56 to rotate to the target angle; the cross swing joint 54 can adjust the tilt angle of the profile frame 51 to calibrate the roof attachment posture. Both the rotary joint 53 and the cross swing joint 54 integrate angle compensation mechanisms, which can not only achieve benchmark alignment and fitting by finely adjusting and adaptively matching the curvature of the roof surface with the mounting hole positions, but also adapt to the angle deviation of the vehicle body itself in subsequent installation processes.

[0033] The operator holds the operating handle assembly 58 to control the robotic arm to complete the extension, pitch, and swing movements, and transfer the attached car roof workpiece to the line installation station. During the operation, the lifting assembly 4 dynamically compensates the torque through the balance system to ensure that the equipment can operate smoothly in any position. It works in conjunction with the angle compensation mechanism of the rotary joint 53 and the cross swing joint 54 to complete the precise alignment and installation of the car roof workpiece.

[0034] Throughout the operation, the control system of the lifting assembly 4 and the roof-mounted clamp assembly 5 determines the support status in real time. The workpiece release action can only be performed when the support is effective. If a sudden gas interruption occurs, the system will automatically trigger the pressure-maintaining and anti-fall logic, control the equipment to descend slowly and lock, and prevent the workpiece from falling.

[0035] After the installation is completed, the operator uses the control handle assembly 58 to control the equipment to reset and store, sequentially release the dual-path vacuum negative pressure, shut off the air circuit system, lock the robotic arm and angle adjustment mechanism, and complete the entire operation process.

[0036] Furthermore, the equipment is equipped with a full-process adaptive torque balance system, consisting of a torque sensor and a constant torque balance cylinder. This system can collect the extension parameters and load parameters of the robotic arm in real time and dynamically compensate for the cantilever torque. This ensures that the equipment maintains torque balance at any extension position under no-load and heavy-load conditions, eliminating cantilever shaking, jamming, and offset problems.

[0037] The equipment integrates a dual safety protection mechanism: One of them is the gas cut-off anti-fall slow descent self-locking function, which has a built-in negative pressure energy storage tank and an emergency self-locking valve. When the equipment suddenly cuts off the gas supply or the pipeline fails, the self-locking valve instantly maintains pressure, and the energy storage tank can maintain effective negative pressure for no less than 3 seconds. Combined with the mechanical damping structure, the equipment can be slowly lowered and locked to prevent instantaneous fall. Secondly, the system employs a dual-judgment mechanism of pressure threshold determination and contact signal. Only when both signals meet the criteria and the equipment is in an effective support state will the system unlock the workpiece release function. The release command is forcibly locked in the suspended state, reducing the risk of accidental release in the suspended state and falling objects from heights, thus meeting the stringent safety standards for truck high-altitude operations.

[0038] 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.

[0039] 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 robot arm for mounting on the roof of a car, comprising a fixed track assembly (1), a moving track (2), and a trolley assembly (3), wherein the fixed track assembly (1) has the moving track (2) at its bottom, and the moving track (2) has the trolley assembly (3) at its bottom, characterized in that: The bottom of the trolley assembly (3) is provided with a lifting assembly (4), and the bottom of the lifting assembly (4) is provided with a roof mounting clamp assembly (5). The roof mounting clamp assembly (5) is used for adsorption and clamping on the roof, and the lifting assembly (4) is used to drive the roof mounting clamp assembly (5) to rise and fall.

2. A mechanical hand for mounting a roof to a vehicle as claimed in claim 1, wherein: The lifting assembly (4) includes a lifting cylinder assembly (41), a fixed connecting base (42), a pneumatic control box assembly (43), and a locking cylinder (44). The lifting cylinder assembly (41) is installed at the bottom of the trolley assembly (3). The fixed connecting base (42) is fixed to the pushing end of the bottom of the lifting cylinder assembly (41). A locking cylinder (44) is provided on one side of the lifting cylinder assembly (41). The pushing end of the bottom of the locking cylinder (44) is fixedly connected to the fixed connecting base (42). A pneumatic control box assembly (43) is provided at one end of the lifting cylinder assembly (41).

3. A mechanical hand for mounting a roof to a vehicle as claimed in claim 2, wherein: The roof mounting clamp assembly (5) includes a profile frame (51), a support base (52), a rotary joint (53), a cross swing joint (54), a hydraulic damper (55), a vacuum suction cup assembly (56), and an auxiliary positioning block (57). The bottom of the fixed connection base (42) is provided with a profile frame (51). The support base (52) is installed in the middle position inside the profile frame (51). The rotary joint (53) is provided in the middle position at the top of the support base (52). The top of the rotary joint (53) is connected to the cross swing joint (54). The hydraulic dampers (55) are provided on both sides of the rotary joint (53). The vacuum suction cup assembly (56) is provided on both sides of the profile frame (51). The auxiliary positioning block (57) is provided in the middle position on both sides of the profile frame (51).

4. A vehicle roof installation robot according to claim 3, characterized in that: The top of the cross swing joint (54) is fixed to the bottom of the fixed connection base (42) to connect the roof mounting clamp assembly (5) and the lifting assembly (4), and the hydraulic buffer (55) is installed on both sides of the top of the support base (52).

5. A mechanical hand for installing a roof in a motor vehicle according to claim 3, characterized in that: The profile frame (51) includes four horizontal profiles and two vertical profiles. The four horizontal profiles are evenly distributed between the two vertical profiles, and the horizontal profiles and the vertical profiles are connected by connecting corner pieces.

6. A mechanical hand for mounting a roof to a vehicle as defined in claim 5, characterized in that: Three vacuum suction cup assemblies (56) are equally spaced on the outer sides of the two longitudinal profiles of the profile frame (51), and a vacuum suction cup assembly (56) is provided on the side wall of each of the two transverse profiles in the middle position inside the profile frame (51).

7. A mechanical hand for installing a roof in a motor vehicle according to claim 3, characterized in that: The roof mounting clamp assembly (5) also includes an operating handle assembly (58) and a button box (59). The operating handle assembly (58) is fixed to one side of the profile frame (51), and button boxes (59) are provided at both ends of one side of the operating handle assembly (58).

Images