Transfer robot for automobile production

Abstract

A transfer robot for automobile production, comprising: a frame (1), sequentially provided with a first mounting position (11), a working platform (10), a second mounting position (12) and an operation platform (13) in the length direction of the frame (1); locomotion driving assemblies (2), used for driving the frame (1) to move, two groups of locomotion driving assemblies (2) being provided and the two groups of locomotion driving assemblies (2) being respectively mounted at the first mounting position (11) and the second mounting position (12); and a lifting / lowering assembly (3), mounted on the frame (1) and located between the first mounting position (11) and the second mounting position (12), the lifting / lowering assembly (3) being connected to the working platform (10) and used for driving the working platform (10) to move up and down, wherein the working platform (10) is used for placing automobile components to be assembled, and the operation platform (13) is used for an operator to stand on. The transfer robot moves in an automobile production workshop, and transfers automobile components to be assembled to a target position, and the working platform (10) provides an assembly platform for different automobile components, so that assembly between the different automobile components is quickly realized, thereby improving the efficiency of automobile component assembly.

Description

A handling robot used in automobile production

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on February 19, 2024, with application number 202420306711.0 and invention name “A handling robot for automobile production”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of automobile production lines, and in particular to a handling robot used in automobile production. Background Art

[0003] During the automobile production process, components such as the frame, cabin, doors, wheels, power module, and control module are gradually assembled. This is typically done on a production line. However, with the increasing customization of cars, the number of components is rapidly increasing. Continuing to follow this traditional production line approach would significantly increase production line modification costs and affect assembly efficiency. Summary of the Invention

[0004] The present application aims to solve one of the technical problems in the related art to a certain extent. To this end, the present application provides a handling robot for automobile production.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical solution: a handling robot for automobile production, the handling robot comprising:

[0006] The frame is provided with a first installation position, a workbench, a second installation position and an operating table in sequence along its length direction;

[0007] A travel drive assembly, which is used to drive the frame to move and is provided with two groups, and the two groups of travel drive assemblies are respectively installed at the first installation position and the second installation position; and

[0008] a lifting assembly mounted on the vehicle frame and located between the first mounting position and the second mounting position, the lifting assembly being connected to the workbench and used for driving the workbench to move upward and downward;

[0009] The workbench is used for placing automobile parts to be assembled, and the operating table is used for operators to stand.

[0010] The application of this application has the following beneficial effects: the transport robot can be used to move within an automobile production workshop and transport automobile parts to their target locations. The workbench provides an assembly platform for different automobile parts, thereby quickly assembling different automobile parts and improving the efficiency of automobile part assembly. By providing a lifting component to drive the workbench up and down, the robot can adapt to the height position requirements of different automobile parts during assembly operations. In addition, the operating table can also be used to carry the operator in synchronous movement.

[0011] Optionally, one group of the travel drive assemblies includes two first steering wheels, and another group of the travel drive assemblies includes two second steering wheels.

[0012] Optionally, the transport robot also includes a cantilever, two first steering wheels are rotatably arranged at both ends of the cantilever, the frame is provided with two first through holes at the first mounting position, and the two first steering wheels are respectively arranged to pass through one of the first through holes; the cantilever is provided with a rotating shaft, the axial direction of the rotating shaft is in the same direction as the traveling direction of the transport robot, the cantilever is rotatably hinged to the frame through the rotating shaft, and a limit plate for positioning the cantilever is provided on the frame between the two first through holes.

[0013] Optionally, the frame is provided with two second through holes at the second mounting position, and a steering wheel mounting frame is provided on the frame directly above the second through holes, and the two second steering wheels respectively pass through one of the second through holes and are rotatably provided on the corresponding steering wheel mounting frames.

[0014] Optionally, the lifting assembly includes a drive motor and a scissor-type mechanism that is opened and closed by the drive motor, and the workbench is fixedly mounted to the scissor-type mechanism.

[0015] Optionally, the lifting assembly further includes a belt transmission mechanism, which is connected between the drive motor and the scissor-type mechanism and is used to transmit the power of the drive motor to the scissor-type mechanism.

[0016] Optionally, a sink is provided on the frame between the first installation position and the second installation position, and the lifting assembly is installed in the sink.

[0017] Optionally, the transport robot further includes a laser navigation module, and the laser navigation module is installed at the end of the frame on the side where the first mounting position is located; and / or the laser navigation module is installed at the end of the frame on the side where the operating platform is located.

[0018] Optionally, the transport robot further includes a protective cover and a buffer block, wherein the protective cover and the buffer block are both fixedly mounted on the frame, the laser navigation module is mounted on the buffer block, and the protective cover is arranged outside the laser navigation module.

[0019] Optionally, the transport robot further includes a rechargeable battery and a ground charging mechanism electrically connected to the rechargeable battery, and the rechargeable battery and the ground charging mechanism are both arranged on the frame.

[0020] These features and advantages of this application will be disclosed in detail in the following detailed description and accompanying drawings. The best embodiments or means of this application will be fully illustrated in conjunction with the accompanying drawings, but this does not limit the technical solutions of this application. Furthermore, although there may be multiple features, elements, and components in each of the following text and accompanying drawings, different symbols or numbers may be used for convenience, but all represent components with the same or similar structure or function. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0022] The present application will be further described below with reference to the accompanying drawings:

[0023] FIG1 is a schematic structural diagram of a handling robot for automobile production provided in an embodiment of the present application;

[0024] FIG2 is a schematic structural diagram of a transport robot provided in an embodiment from another perspective;

[0025] FIG3 is a schematic structural diagram of a frame of a transport robot provided in an embodiment;

[0026] FIG4 is a schematic structural diagram of the vehicle frame in FIG3 equipped with a travel drive assembly;

[0027] FIG5 is an exploded view of the vehicle frame and travel drive assembly in FIG4 ;

[0028] FIG6 is an enlarged schematic diagram of portion B in FIG5 ;

[0029] FIG7 is an enlarged schematic diagram of portion C in FIG5 ;

[0030] FIG8 is an exploded view of the vehicle frame, lifting assembly and workbench;

[0031] FIG9 is an enlarged schematic diagram of part A in FIG1 .

[0032] Among them, 1. Frame, 10. Workbench, 11. First mounting position, 110. Cantilever, 1100. Rotating axis, 111. First through hole, 112. Limiting plate, 12. Second mounting position, 120. Second through hole, 121. Steering wheel mounting frame, 13. Operating table, 14. Sink, 15. Connecting seat, 150. Connecting hole, 16. Crane ring, 17. Trailer fixing plate, 2. Travel drive assembly, 20. First steering wheel, 21. Second steering wheel, 3. Lifting assembly, 30. Drive motor, 31. Belt drive mechanism, 32. Scissors mechanism, 33. Organ cover, 4. Laser navigation module, 5. Protective cover, 6. Buffer block, 7. Rechargeable battery, 8. Ground charging mechanism, 9. Encoder. DETAILED DESCRIPTION

[0033] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described in the embodiments are intended to be used to explain the present application and are not to be construed as limiting the present application.

[0034] References in this specification to "one embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment disclosed herein. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0035] This embodiment provides a handling robot for automobile production, as shown in Figures 1 and 2. The handling robot includes a frame 1, a travel drive assembly 2, and a lifting assembly 3. The frame 1 is provided with a first mounting position 11, a workbench 10, a second mounting position 12, and an operating table 13 in sequence along its length. The travel drive assembly 2 is provided with two groups, and the two groups of travel drive assemblies 2 are respectively installed at the first mounting position 11 and the second mounting position 12. The travel drive assembly 2 is used to drive the frame 1 to move. The lifting assembly 3 is installed on the frame 1 and is located between the first mounting position 11 and the second mounting position 12. The lifting assembly 3 is connected to the workbench 10 and is used to drive the workbench 10 to rise and fall. The workbench 10 is used to place automobile parts to be assembled, and the operating table 13 is used for the operator to stand.

[0036] When used, the transport robot provided in this embodiment can move within an automobile production workshop and transport auto parts to their target locations. The workbench 10 provides an assembly platform for different auto parts, enabling rapid assembly of these parts and improving auto part assembly efficiency. By providing a lifting assembly 3 to drive the workbench 10 up and down, the robot can adapt to the height requirements of different auto parts during assembly operations. Furthermore, the robot can also move synchronously with an operator via the operating table 13.

[0037] The travel drive assembly 2 in this embodiment includes a steering wheel. Specifically, one group of travel drive assemblies 2 includes two first steering wheels 20, and the other group of travel drive assemblies 2 includes two second steering wheels 21. The steering wheel is an integrated mechanical structure that integrates components such as a drive motor 30, a steering motor, and a reducer. It can carry and tow heavier cargoes. It has the advantages of high integration and strong adaptability. When used with a servo system, it has higher accuracy and faster response. In an example, the steering wheel is mainly composed of parts such as a motor, a gearbox, a reducer, an encoder, a steering wheel, a wheel, a brake, and a limit switch. The working principle of the steering wheel is prior art and will not be repeated here.

[0038] As shown in Figure 3, the vehicle frame 1 in this embodiment is a one-piece welded structure. Specifically, the frame 1 comprises a main frame, rectangular tubes welded to the main frame, and metal plates. In this embodiment, multiple sets of trailer mounting plates 17 are welded to the front and rear sides of the frame 1 to facilitate the transport and transfer of the vehicle in the event of an abnormality. Furthermore, multiple sets of crane rings 16 are welded to the frame 1, allowing the vehicle body to be assembled or the assembled vehicle to be hoisted and transported. In this embodiment, anti-collision rubber strips are installed on the welded metal plates around the perimeter of the frame 1.

[0039] With reference to Figures 4, 5, 6, and 7, the assembly method of the first steering wheel 20 and the second steering wheel 21 with the frame 1 is described below: The handling robot provided in this embodiment also includes a cantilever 110, with two first steering wheels 20 fixedly mounted at both ends of the cantilever 110. The frame 1 is provided with two first through-holes 111 at the first mounting position 11, and the two first steering wheels 20 are respectively disposed through one of the first through-holes 111. A rotary shaft 1100 is provided on the cantilever 110, the axial direction of the rotary shaft 1100 being in the same direction as the direction of travel of the handling robot. The cantilever 110 is rotatably hinged to the frame 1 via the rotary shaft 1100, and a limit plate 112 is provided on the frame 1 between the two first through-holes 111 for limiting the rotation angle of the cantilever 110. That is, the two first steering wheels 20 are rotatably mounted on the cantilever 110, and the cantilever 110 is then rotatably hinged to the frame 1 via the rotary shaft 1100. At the same time, by providing a first through hole 111 on the frame 1, it is ensured that the first steering wheel 20 extends from the first through hole 111, so that the wheel on the first steering wheel 20 passes through the frame 1 to contact the ground.

[0040] Specifically in this embodiment, as shown in FIG6 , a sleeve is provided on the cantilever 110, and a rotary shaft 1100 is installed on the cantilever 110 through the sleeve. In addition, two connecting seats 15 are fixedly installed on the vehicle frame 1, and the connecting seats 15 are provided with connecting holes 150 that are compatible with the rotary shaft 1100. The two ends of the rotary shaft 1100 are respectively installed in the connecting holes 150 on the connecting seats 15 on the corresponding side. Through the above structural design, the cantilever 110 can achieve axial rotation relative to the vehicle frame 1 along the rotary shaft 1100. Of course, the rotation angle of the cantilever 110 can be limited by the limiting effect of the limiting plate 112.

[0041] Similarly, the vehicle frame 1 is provided with two second through-holes 120 at the second mounting location 12. In this embodiment, a steering wheel mounting bracket 121 is further provided on the vehicle frame 1 directly above the second through-holes 120. The two second steering wheels 21 each pass through a corresponding second through-hole 120 and are rotatably mounted on the corresponding steering wheel mounting bracket 121. Specifically, the steering wheel mounting bracket 121 includes a mounting plate and a support leg secured to the mounting plate. The mounting plate is fixedly connected to the vehicle frame 1 via the support leg and is located directly above the second through-holes 120. A connecting plate is fixedly provided above the second steering wheels 21. During assembly, the connecting plate is fastened to the aforementioned mounting plate via threaded bolts.

[0042] As shown in Figures 6 and 7, encoders 9 are provided on the first steering wheel 20 and the second steering wheel 21. The encoders 9 can convert the angular displacement or linear position of the first steering wheel 20 or the second steering wheel 21 into electrical signals, thereby facilitating the control of the first steering wheel 20 and the second steering wheel 21.

[0043] As shown in FIG8 , the lifting assembly 3 in this embodiment includes a drive motor 30 and a scissor mechanism 32. The scissor mechanism 32 includes two sets of interlocking, hinged forks. The output end of the drive motor 30 is connected to the lower end of one set of forks. When the drive motor 30 is in operation, it can drive the lower end of one set of forks to move horizontally, thereby causing the two sets of hinged forks to rotate relative to each other, bringing the two sets of forks closer together, and causing the upper ends of the two sets of forks to change height. The workbench 10 is mounted on the scissor mechanism 32. Specifically, the workbench 10 is mounted to the upper ends of the two sets of forks, so that it can be raised and lowered as the two sets of forks open and close.

[0044] The lifting assembly 3 in this embodiment also includes a belt drive mechanism 31. It is easy to understand that the belt drive mechanism 31 includes a driving pulley, a driven pulley, and a transmission belt. The driving pulley and the driven pulley are both rotatably mounted on the vehicle frame 1. The transmission belt is tensioned and sleeved around the driving pulley and the driven pulley. The output end of the drive motor 30 is then connected to the driving pulley. This allows the driving pulley to rotate, thereby driving the transmission belt to rotate. By fixedly connecting the lower ends of the aforementioned fork arms to the transmission belt, the drive motor 30 and the belt drive mechanism 31 can drive the lower ends of the fork arms to move horizontally.

[0045] Because this handling robot is used in automobile production, to prevent debris, dust, and other debris from affecting the drive motor 30 and the belt transmission mechanism 31, in this embodiment, an accordion cover 33 is provided between the work platform 10 and the vehicle frame 1. This allows the accordion cover 33 to extend and retract while the lifting assembly 3 drives the work platform 10 up and down, protecting the lifting assembly 3 located therein.

[0046] In this embodiment, a sink 14 is provided between the first mounting position 11 and the second mounting position 12 on the vehicle frame 1, and the lifting assembly 3 is installed in the sink 14. This can reduce the height dimension of the transport robot as much as possible.

[0047] As shown in Figures 1 and 9, the transport robot provided in this embodiment also includes a laser navigation module 4. In this embodiment, the laser navigation module 4 is installed at the end on the side where the first mounting position 11 on the frame 1 is located. At the same time, the laser navigation module 4 is also installed at the end on the side where the operating platform 13 on the frame 1 is located. It is easy to understand that, in an optional embodiment, the laser navigation module 4 can also be installed in one of the above two positions. Furthermore, in order to prevent the laser navigation module 4 from being damaged by collision, the transport robot provided in this embodiment also includes a protective cover 5 and a buffer block 6. The protective cover 5 and the buffer block 6 are both fixedly mounted on the frame 1, the laser navigation module 4 is mounted on the buffer block 6, and the protective cover 5 is arranged outside the laser navigation module 4. In this way, the laser navigation module 4 located inside it can be protected by the protective cover 5.

[0048] As shown in Figure 2, this embodiment also designs a power supply system for the transport robot, enabling it to operate online for extended periods of time. Specifically, the transport robot provided in this embodiment also includes a rechargeable battery 7 and a ground charging mechanism 8 electrically connected to the rechargeable battery 7. Both the rechargeable battery 7 and the ground charging mechanism 8 are mounted on the vehicle frame 1. Thus, when the transport robot is operating, after moving to the target location, while performing vehicle assembly operations, the rechargeable battery 7 can be charged by the charging device located at the target location in conjunction with the ground charging mechanism 8, thereby ensuring that the transport robot can operate online for extended periods of time.

[0049] The transport robot provided in this embodiment provides the whole machine with walking power through the steering wheel, thereby realizing horizontal movement; at the same time, the transport robot is provided with a lifting component, thereby realizing height movement. In summary, the transport robot can realize production operations at different heights at different workstations in the automobile production workshop, and the transport robot is provided with an operating table, and the operator can stand on the operating table to realize the purpose of moving with the vehicle to different workstations for assembly operations. The charging method adopts a ground charging structure, which can realize charging at any time during the production process, without the need to go to a designated charging location for charging, saving the robot extra charging time, realizing non-stop operation, and improving production efficiency. The lifting component of the transport robot adopts a belt drive mechanism, which has a smaller lifting size, saves space and is more stable in operation.

[0050] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present application are included within the scope of the claims.

Claims

1. A handling robot for automobile production, the handling robot comprising: A vehicle frame (1) is provided with a first mounting position (11), a workbench (10), a second mounting position (12) and an operating table (13) in sequence along its length direction; A travel drive assembly (2), which is used to drive the vehicle frame (1) to move and is provided with two groups, and the two groups of the travel drive assembly (2) are respectively installed at the first installation position (11) and the second installation position (12); A lifting assembly (3) is mounted on the vehicle frame (1) and is located between the first mounting position (11) and the second mounting position (12); the lifting assembly (3) is connected to the workbench (10) and is used to drive the workbench (10) to rise and fall; The workbench (10) is used for placing automobile parts to be assembled, and the operating table (13) is used for operators to stand.

2. The transport robot according to claim 1, wherein: One group of the travel drive assemblies (2) includes two first steering wheels (20), and the other group of the travel drive assemblies (2) includes two second steering wheels (21).

3. The transport robot according to claim 2, wherein: The transport robot further comprises a cantilever (110), two first steering wheels (20) are rotatably arranged at both ends of the cantilever (110), the frame (1) is provided with two first through holes (111) at the first mounting position (11), and the two first steering wheels (20) are respectively arranged to pass through one of the first through holes (111); The cantilever (110) is provided with a rotating shaft (1100), the axial direction of the rotating shaft (1100) is in the same direction as the moving direction of the transport robot, the cantilever (110) is rotatably hinged to the frame (1) through the rotating shaft (1100), and a limiting plate (112) for limiting the rotation angle of the cantilever (110) is provided between the two first through holes (111) on the frame (1).

4. The transport robot according to claim 2, wherein: The vehicle frame (1) is provided with two second through holes (120) at the second mounting position (12), and a steering wheel mounting frame (121) is provided on the vehicle frame (1) directly above the second through holes (120), and the two second steering wheels (21) respectively pass through one of the second through holes (120) and are rotatably arranged on the corresponding steering wheel mounting frame (121).

5. The transport robot according to any one of claims 1 to 4, wherein: The lifting assembly (3) comprises a driving motor (30) and a scissor mechanism (32) driven by the driving motor (30) to open and close, and the workbench (10) is fixedly mounted to the scissor mechanism (32).

6. The transport robot according to claim 5, wherein: The lifting assembly (3) further comprises a belt transmission mechanism (31), wherein the belt transmission mechanism (31) is connected between the drive motor (30) and the scissor mechanism (32) and is used to transmit the power of the drive motor (30) to the scissor mechanism (32).

7. The transport robot according to claim 5, wherein: A sink (14) is provided on the vehicle frame (1) between the first installation position (11) and the second installation position (12), and the lifting assembly (3) is installed in the sink (14).

8. The transport robot according to any one of claims 1 to 4, wherein: The transport robot further comprises a laser navigation module (4), and the laser navigation module (4) is mounted on the end portion of the frame (1) on the side where the first mounting position (11) is located; And / or, the laser navigation module (4) is installed at the end of the vehicle frame (1) on the side where the operating platform (13) is located.

9. The transport robot according to claim 8, wherein: The transport robot further comprises a protective cover (5) and a buffer block (6), wherein the protective cover (5) and the buffer block (6) are both fixedly mounted on the vehicle frame (1), the laser navigation module (4) is mounted on the buffer block (6), and the protective cover (5) is arranged outside the laser navigation module (4).

10. The transport robot according to claim 1, wherein: The transport robot further comprises a rechargeable battery (7) and a ground charging mechanism (8) electrically connected to the rechargeable battery (7); the rechargeable battery (7) and the ground charging mechanism (8) are both arranged on the vehicle frame (1).

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