CN113830205A - A car cockpit module turnover system - Google Patents
A car cockpit module turnover system Download PDFInfo
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- CN113830205A CN113830205A CN202111025937.0A CN202111025937A CN113830205A CN 113830205 A CN113830205 A CN 113830205A CN 202111025937 A CN202111025937 A CN 202111025937A CN 113830205 A CN113830205 A CN 113830205A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/022—Transferring or handling sub-units or components, e.g. in work stations or between workstations and transportation systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/14—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being passenger compartment fittings, e.g. seats, linings, trim, instrument panels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/18—Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
本申请涉及一种汽车驾驶舱模块周转系统，包括：装配小车和机械臂；装配小车包括车身框架、悬挂机构、工件支架、一对铰链机构、补偿机构、一对锁定机构以及至少一对防异物滚轮；机械臂包括固定横梁以及对称设置在固定横梁两端的支撑机构、夹持机构、导向机构、解锁机构；通过悬挂机构牵引车身框架移动、工件支架放置和支撑工件、一对铰链机构使得工件支架水平翻转、补偿机构调整工件支架的翻转角度、一对锁定机构锁定工件、至少一对防异物滚轮使得车身框架滚动、支撑机构支撑工件支架上放置的工件的转向柱、夹持机构夹持工件、导向机构对准工件解锁机构对应一对锁定机构将工件从工件支架解锁，不但能提高工件的装配效率，还能提高工件的周转效率。The present application relates to an automobile cockpit module turnover system, comprising: an assembly trolley and a mechanical arm; the assembly trolley includes a body frame, a suspension mechanism, a workpiece support, a pair of hinge mechanisms, a compensation mechanism, a pair of locking mechanisms, and at least a pair of anti-foreign objects Roller; the mechanical arm includes a fixed beam and a support mechanism, a clamping mechanism, a guide mechanism, and an unlocking mechanism symmetrically arranged at both ends of the fixed beam; the suspension mechanism is used to pull the body frame to move, the workpiece bracket is placed and supported, and a pair of hinge mechanisms make the workpiece bracket. Horizontal flip, compensation mechanism to adjust the flip angle of the workpiece support, a pair of locking mechanisms to lock the workpiece, at least one pair of anti-foreign object rollers to make the body frame roll, the support mechanism to support the steering column of the workpiece placed on the workpiece support, the clamping mechanism to clamp the workpiece, The guide mechanism aligns with the workpiece unlocking mechanism and corresponds to a pair of locking mechanisms to unlock the workpiece from the workpiece support, which can not only improve the assembly efficiency of the workpiece, but also improve the turnover efficiency of the workpiece.
Description
Technical Field
The application relates to the technical field of automobile assembly, in particular to an automobile cockpit module turnover system.
Background
At present, with the rapid development of the automobile industry, the automobile interior is more and more emphasized by people, and a high-quality automobile product not only needs to ensure the driving safety and power of a client, but also needs to make the client feel comfortable in vision in appearance and shape.
In the assembly line body of the existing automobile cockpit module, a lifting appliance with a fixed structure is adopted, and in the assembly process, the cockpit module can be turned over for many times due to the fact that the types of components needing to be assembled are various. When the traditional lifting appliance adopting the fixed structure is assembled, an assembler can only rotate the body to perform assembly operation, so that on one hand, the labor intensity of the assembler is improved; on the other hand, because the parts are not easy to position and install when being assembled, assembly errors are easy to generate, the working efficiency is reduced, and the rejection rate of the workpieces is also improved.
In addition, in the conventional turnover mode, the assembled workpieces are manually conveyed to a goods shelf and fixed, and a cockpit module is deformed or damaged by staff carelessly, so that a device capable of assisting assembly and turnover is needed.
Disclosure of Invention
In order to solve the technical problem, the embodiment of the application provides an automobile cockpit module turnover system, which not only can improve the assembly efficiency of workpieces, but also can improve the turnover efficiency of the workpieces.
In view of the above, according to an embodiment of the present application, there is provided an automobile cockpit module turnaround system including: assembling a trolley and a mechanical arm;
the assembly trolley comprises a trolley body frame, a suspension mechanism, a workpiece support, a pair of hinge mechanisms, a compensation mechanism, a pair of locking mechanisms and at least one pair of anti-foreign-matter rollers;
the mechanical arm comprises a fixed cross beam, and a supporting mechanism, a clamping mechanism, a guiding mechanism and an unlocking mechanism which are symmetrically arranged at two ends of the fixed cross beam;
the vehicle body frame is rectangular and is vertical to the horizontal plane;
the suspension mechanism is arranged at the top of the vehicle body frame and comprises a first suspension mechanism and a second suspension mechanism, the first suspension mechanism and the second suspension mechanism are respectively arranged at two ends of the top of the vehicle body frame, the first suspension mechanism is used for drawing the vehicle body frame to move, and the second suspension mechanism is used for moving along with the first suspension mechanism;
the workpiece support is horizontally arranged in the vehicle body frame and used for placing and supporting a workpiece;
the pair of hinge mechanisms are respectively arranged at the left side and the right side of the vehicle body frame and connected with the two ends of the workpiece support to enable the workpiece support to horizontally turn in the vehicle body frame;
the compensation mechanism is connected with a hinge mechanism arranged on the left side of the vehicle body frame and used for adjusting the turnover angle of the workpiece support;
the pair of locking mechanisms are respectively arranged at two ends of the workpiece support and used for locking the workpiece;
the at least one pair of foreign matter prevention rollers are respectively arranged at two ends of the bottom of the vehicle body frame and used for the vehicle body frame to roll under the traction of the suspension mechanism;
the supporting mechanism, the guide mechanism, the clamping mechanism and the unlocking mechanism are arranged on an XZ axial plane relative to the fixed cross beam;
the supporting mechanism comprises a supporting cylinder, a supporting connecting piece, a shifting cylinder and a steering column supporting plate, the supporting cylinder is fixed on the rear side of the fixed cross beam along the Y-axis direction, the supporting connecting piece is arranged downwards along the Z-axis direction and is perpendicular to the supporting cylinder, the shifting cylinder is vertically connected with the bottom of the supporting connecting piece along the X-axis direction and extends forwards relative to the fixed cross beam, the shifting cylinder is connected with the steering column supporting plate, and the supporting mechanism is used for supporting a steering column of a workpiece placed on the workpiece support;
the clamping mechanism comprises a clamping cylinder, a clamping hydraulic rod, a clamping connecting piece, a clamping plate and a clamping pin, wherein the clamping cylinder and the clamping hydraulic rod are arranged at the bottom of the fixed cross beam along the Y-axis direction;
the guide mechanism comprises a guide connecting piece and a guide post, the guide connecting piece is perpendicular to the fixed beam and arranged downwards along the Z-axis direction, the guide post is connected with the bottom of the guide connecting piece along the X-axis direction, and the guide mechanism is used for aligning a workpiece;
the unlocking mechanism comprises an unlocking connecting piece, an unlocking cylinder and an unlocking block which are sequentially connected along an X axis, the unlocking connecting piece is connected with the guide connecting piece, and the unlocking mechanism is used for corresponding to the pair of locking mechanisms to unlock the workpiece from the workpiece support.
Further, the work support includes: the device comprises a left side bracket, a right side bracket, a bracket beam, an air conditioner bracket, a steering column bracket, a pair of fetching parts, and a plurality of workpiece positioning parts; wherein
The left side support, the right side support and the support cross beam are arranged on the same plane, the support cross beam is arranged on the rear side of the vehicle body frame in parallel, the left side support and the right side support are perpendicular to two ends of the support cross beam and extend to the front side of the vehicle body frame, and the side edges of the left side support and the right side support are connected with a pair of hinge mechanisms;
the air conditioner support is vertically connected with the support beam and arranged towards the bottom of the vehicle body frame, and the air conditioner support is used for supporting an air conditioner of a workpiece;
the steering column supports are arranged on the left side and/or the right side of the air conditioner support side by side and used for positioning a steering column of a workpiece;
the pair of taking part guides are respectively arranged at the extending tail ends of the left side bracket and the right side bracket and are arranged in the same direction with the extending direction of the left side bracket and the right side bracket;
the workpiece positioning pieces are respectively arranged on the left side bracket, the right side bracket and the bracket beam and are used for positioning workpieces;
and the workpiece positioning parts arranged on the left side bracket and the right side bracket are positioned on the front side of the vehicle body frame, and the workpiece positioning parts arranged on the bracket cross beam extend to the front side of the vehicle body frame, so that when a workpiece is placed on the workpiece bracket, the gravity center position of the workpiece bracket is balanced.
Furthermore, the left side support and the right side support are in a T shape, one end of a transverse part of the T shape is vertically connected with the support beam, the other end of the transverse part of the T shape extends to the front side of the vehicle body frame, and a vertical part of the T shape is connected with the pair of hinge mechanisms;
wherein, a pair of hinge mechanism includes: the left side hinge mechanism comprises a left side fixing block, a left side rotating shaft and a left side rotating block which are sequentially connected, and the right side hinge mechanism comprises a right side fixing block, a right side rotating shaft and a right side rotating block which are sequentially connected;
the left fixing block is arranged on the left side of the vehicle body frame, the right fixing block is symmetrically arranged on the right side of the vehicle body frame relative to the left fixing block, and the left rotating shaft and the right rotating shaft are horizontally arranged in opposite directions and are positioned on the same axis;
then, the T-shaped vertical portions of the left and right side brackets are respectively attached to the side walls of the left and right side turning blocks so that the center of gravity of the workpiece support deviates from the axis on which the left and right side turning shafts are located, and so that the center of gravity of the workpiece support is on the axis when the workpiece is placed on the workpiece support.
Further, the compensation mechanism includes: the compensation device comprises a compensation bolt seat, a compensation bolt, a compensation turntable, a turntable handle and a pair of compensation limiting blocks; wherein
The compensation rotary table is arranged between the left fixed block and the left rotating block of the left hinge mechanism, is coaxially arranged with the left rotating shaft and is fixed on the left rotating block;
a plurality of bolt fixing holes and a plurality of limiting installation grooves are uniformly formed in the compensation turntable around the circle center, the bolt fixing holes are formed along the edge of the compensation turntable, and the limiting installation grooves are formed in one side, facing the left side fixing block, of the compensation turntable;
the compensation bolt seat is arranged above the left fixing block, and compensation bolt holes are formed in the compensation bolt seat at the positions corresponding to the heights of the bolt fixing holes;
the compensation bolt is horizontally connected with the compensation bolt hole and is used for being inserted into one bolt fixing hole so as to fix the overturning angle of the workpiece support;
the pair of compensation limiting blocks are respectively arranged in two limiting installation grooves and used for limiting the turnover angle of the workpiece support, and the limited turnover angle is an included angle formed by the pair of compensation limiting blocks;
the carousel handle sets up in one side that the compensation carousel is towards left side turning block, and the carousel handle stretches out towards the front side of automobile body frame, and the carousel handle is used for rotating the compensation carousel in order to overturn work piece support.
Further, a pair of locking mechanical system symmetry sets up and stretches out to the one end of automobile body frame front side at left side support and right side support, and each locking mechanical system includes: the locking fixing block, the locking claw, the locking spring, the locking guide and the locking supporting plate; wherein
The locking fixing block is connected with the left side bracket or the right side bracket;
the locking hook claw is arranged above the locking fixing block along the extending direction of the left side support and the right side support, the head of the locking hook claw is bent in a barb shape, the locking hook claw hooks a workpiece placed on the workpiece support through the bent barb shape, and the head of the locking hook claw is one end far away from the left side support and the right side support;
the locking spring is arranged between the tail part of the locking claw and the locking fixing block and used for jacking up the tail part of the locking claw and pressing down the head part of the locking claw, and the tail part of the locking claw is one end close to the left side support and the right side support;
the locking guide is arranged on the front side of the locking fixing block along the extending direction of the left side bracket and the right side bracket and is used for guiding the workpiece;
the locking supporting plate is arranged below the locking fixing block along the extending direction of the left side support and the right side support and used for supporting a workpiece.
Further, the locking finger includes: the hook comprises a hook body, a hook shifting block, a hook fixing block, a spring connecting block and an unlocking deflector rod;
the hook claw body is arranged in a straight line shape, the head part of the hook claw body is bent downwards to form a barb shape, and the tail part of the hook claw body deviates from the head part and inclines upwards;
the hook claw shifting block is arranged above the hook claw body and arranged on one side close to the head of the hook claw body, and the hook claw shifting block is used for shifting the locking hook claw;
the hook claw fixing block is arranged below the hook claw body and on one side close to the tail of the hook claw body, and the hook claw fixing block is used for being connected with the locking fixing block through a hinge;
the spring connecting block is arranged below the tail part of the hook body and is used for connecting the locking spring so as to press down the head part of the hook body by the locking spring in a barb shape;
the unlocking deflector rod is vertically arranged on the left side or the right side of the hook claw shifting block along the direction perpendicular to the extending direction of the hook claw body, and the unlocking deflector rod is used for shifting the locking hook claw to bend and lift the head part of the hook claw body in a barb shape.
Furthermore, the supporting mechanism, the clamping mechanism, the guiding mechanism and the unlocking mechanism are perpendicular to the workpiece support of the assembly trolley along the X-axis direction;
and the guide posts of the guide mechanism are aligned with the pair of taking pieces at the two ends of the workpiece support in a guiding manner, so that the unlocking mechanism unlocks the pair of locking mechanisms, and the support mechanism and the clamping mechanism of the mechanical arm take down the workpiece.
Furthermore, when the guide post of the guide mechanism is aligned with the guide of the pair of fetching pieces at the two ends of the workpiece support, the unlocking block of the unlocking mechanism corresponds to the unlocking deflector rod of the locking hook claw;
and the head part of the unlocking block facing the unlocking deflector rod is provided with an upward bulge, and the unlocking deflector rod is pulled by the upward bulge to jack the barb-shaped bend at the head part of the locking hook claw so as to unlock the workpiece.
Furthermore, the tail part of the unlocking block is connected with a push rod of the unlocking cylinder, so that the unlocking block extends out perpendicular to the workpiece support along the X-axis direction.
Compared with the prior art, the invention has the following beneficial effects:
in the embodiment of the application, the vehicle body frame is pulled to move by the suspension mechanism, the workpiece support is placed and supported by the workpiece support, the workpiece support is horizontally overturned by the pair of hinge mechanisms, the compensation mechanism adjusts the overturning angle of the workpiece support, the pair of locking mechanisms locks the workpiece, the at least one pair of foreign-matter-preventing rollers enables the vehicle body frame to roll, the support mechanism supports the steering column of the workpiece placed on the workpiece support, the clamping mechanism clamps the workpiece, and the guide mechanism aligns the workpiece unlocking mechanism and corresponds to the pair of locking mechanisms to unlock the workpiece from the workpiece support, so that the assembly efficiency of the workpiece can be improved, and the turnover efficiency of the workpiece can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings of the embodiments will be briefly introduced below, and it is apparent that the drawings in the following description only relate to some embodiments of the present application and are not limiting on the present application.
FIG. 1 is a schematic view of an assembly cart;
FIG. 2 is a schematic view of a workpiece holder;
FIG. 3 is a schematic view of the compensation mechanism in combination with a left side hinge mechanism;
FIG. 4 is a schematic view of a locking mechanism;
FIG. 5 is a schematic diagram of an auxiliary turnover system for an automobile cockpit module;
FIG. 6 is a schematic view of an auxiliary turnover device of an automobile cockpit module;
FIG. 7 is a schematic view of a robotic arm configuration;
FIG. 8 is a schematic view of a support mechanism in the robot arm;
FIG. 9 is a schematic view of a clamping mechanism in the robot arm;
FIG. 10 is a schematic view of a guide mechanism and an unlocking mechanism in the robot arm;
fig. 11 is an enlarged view of the guide mechanism of fig. 10.
Description of reference numerals:
100-mechanical arm, 200-lifting host, 300-stroke trolley, 400-X-axis guide rail, 500-Y-axis guide rail and 600-turnover truss;
110-fixed beam, 120-supporting mechanism, 130-clamping mechanism, 140-guiding mechanism, 150-unlocking mechanism, 160-main control box, 170-mechanical arm handrail and 180-side control handle;
210-an angle compensation mechanism, 220-a lifting cylinder, 230-a lifting hydraulic rod, 240-a control cabinet and 250-a drag chain;
121-supporting cylinders, 122-supporting connecting pieces, 123-deflection cylinders, 124-steering column supporting plates, 125-supporting fixed seats, 126-supporting protective covers, 1211-supporting rodless cylinders, 1212-supporting linear guide rails, 1221-supporting connecting blocks, 1222-supporting connecting rods, 1223-supporting connecting plates, 1224-supporting reinforcing plates, 1231-first deflection cylinders, 1232-second deflection cylinders, 1233-inverted T-shaped connecting blocks, 1234-transverse positioning blocks and 1235-transverse connecting pieces;
131-clamping cylinder, 132-clamping hydraulic rod, 133-clamping connecting piece, 134-clamping plate, 135-clamping pin, 136-clamping in-place sensor, 137-clamping detection end, 138-clamping protective cover and 1331-reinforcing connecting piece;
141-a guide connecting piece, 142-a guide column, 1421-a guide clamping block, 1422-a guide fixing column, 1423-a guide bolt, 1424-a guide stop and 1425-a guide in-place sensor;
151-unlocking connecting piece, 152-unlocking cylinder, 153-unlocking block;
181-side control box, 182-air intake compensation knob;
800-assembly trolley, 810-body frame, 820-first suspension mechanism, 830-second suspension mechanism, 840-workpiece support, 850-left side hinge mechanism, 860-right side hinge mechanism, 870-compensation mechanism, 880-locking mechanism, 890-foreign body prevention roller;
841-left side bracket, 842-right side bracket, 843-bracket beam, 844-air conditioner bracket, 845-steering column bracket, 846-fetching part guide, 847-workpiece positioning part, 848-left side fixing plate, 849-right side fixing plate, 8441-L-shaped connecting rod, 8442-vertical fixing plate, 8443-steering column connecting part, 8444-U-shaped supporting plate, 8445-vertical fixing block, 8446-fixing bolt, 8447-bolt connecting seat, 8448-air conditioner vertical positioning block, 8449-air conditioner transverse positioning block, 8451-transverse connecting rod, 8452-vertical connecting rod and 8453-horn slot;
851-left fixed block, 852-left rotating shaft and 853-left rotating block;
871-compensation bolt seat, 872-compensation bolt, 873-compensation turntable, 874-turntable handle, 875-compensation limiting block, 8731-bolt fixing hole, 8732-limiting mounting groove and 8733-handle connecting hole;
881-locking fixed block, 882-locking hook claw, 883-locking spring, 884-locking guide, 885-locking pallet.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The use of "first," "second," "third," and similar terms in the description and claims of this application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The terms "X-axis," "Y-axis," "Z-axis," "center," "vertical," "horizontal," "up," "down," "left," "right," "front," "back," "top," "bottom," and the like as used herein refer to orientations and positional relationships that are based on the orientation shown in the drawings, are used for convenience in describing the invention and to simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Embodiments of the present application are described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to fig. 11 in combination, in the embodiment of the present application, the vehicle cockpit module turnaround system includes: the cart 800 and robot arm 100 are assembled.
Wherein, the assembly trolley 800 may comprise: the vehicle body frame 810, the suspension mechanism (including the first suspension mechanism 820 and the second suspension mechanism 830), the work support 840, the pair of hinge mechanisms (including the left side hinge mechanism 850 and the right side hinge mechanism 860), the compensation mechanism 870, the pair of locking mechanisms 880, and the at least one pair of foreign-substance-prevention rollers 890.
The body frame 810 may be rectangular and disposed perpendicular to a horizontal plane;
the suspension mechanism is arranged on the top of the vehicle body frame 810 and comprises a first suspension mechanism 820 and a second suspension mechanism 830, the first suspension mechanism 820 and the second suspension mechanism 830 are respectively arranged at two ends of the top of the vehicle body frame 810, the first suspension mechanism 820 can be used for dragging the vehicle body frame 810 to move, and the second suspension mechanism 830 can be used for following the first suspension mechanism 820 to move;
the workpiece support 840 is horizontally arranged in the vehicle body frame 810 and can be used for placing and supporting a workpiece;
the pair of hinge mechanisms are respectively arranged at the left side and the right side of the vehicle body frame 810 and are connected with two ends of the workpiece support 840, including a left side hinge mechanism 850 and a right side hinge mechanism 860, and can be used for enabling the workpiece support 840 to horizontally turn in the vehicle body frame 810;
the compensating mechanism 870 may be coupled to a hinge mechanism disposed on the left side of the body frame 810 and may be used to adjust the tilt angle of the workpiece holder 840;
the pair of locking mechanisms 880 are respectively provided at both ends of the workpiece holder 840, and can be used to lock the workpiece;
the at least one pair of foreign matter prevention rollers 890 are respectively disposed at both ends of the bottom of the body frame 810, and may be used for the body frame 810 to roll under the traction of the suspension mechanism.
The robot arm 100 may include a fixed cross beam 110, and a support mechanism 120, a clamping mechanism 130, a guide mechanism 140, and an unlocking mechanism 150 symmetrically disposed at two ends of the fixed cross beam 110.
The fixed beam 110 can be arranged along the Y-axis direction, and the supporting mechanism 120, the guiding mechanism 140, the clamping mechanism 130, and the unlocking mechanism 150 are arranged on the XZ-axis plane relative to the fixed beam 110;
the supporting mechanism 120 may include a supporting cylinder 121, a supporting link 122, a shifting cylinder 123, and a steering column support plate 124, the supporting cylinder 121 may be fixed to the rear side of the fixed beam 110 along the Y-axis direction, the supporting link 122 may be disposed downward perpendicular to the supporting cylinder 121 along the Z-axis direction, the shifting cylinder 123 may be vertically connected to the bottom of the supporting link 122 along the X-axis direction, and extend forward relative to the fixed beam 110, i.e., extend toward the left side along the X-axis direction, the shifting cylinder 123 may be connected to the steering column support plate 124;
the clamping mechanism 130 may include a clamping cylinder 131, a clamping hydraulic rod 132, a clamping connector 133, a clamping plate 134, and a clamping pin 135, wherein the clamping cylinder 131 and the clamping hydraulic rod 132 may be disposed at the bottom of the fixed beam 110 along the Y-axis direction, the top of the clamping connector 133 may be connected to the clamping cylinder 131 and the clamping hydraulic rod 132, respectively, the clamping connector 133 may be disposed downward perpendicular to the clamping cylinder 131 along the Z-axis direction, the clamping plate 134 may be connected to the bottom of the clamping connector 133 along the X-axis direction, and the clamping pin 135 may be disposed at one side of the clamping plate 134 facing the center of the fixed beam 110 along the Y-axis direction;
the guide mechanism 140 may include a guide link 141, a guide post 142, wherein the guide link 141 may be disposed downward perpendicular to the fixed beam 110 along the Z-axis direction, and the guide post 142 may be connected to the bottom of the guide link 141 along the X-axis direction;
the unlocking mechanism 150 may include an unlocking link 151, an unlocking cylinder 152, and an unlocking block 153, which are connected in sequence along the X-axis, and the unlocking link 151 is connected to the guide link 141, as shown in fig. 10.
In the robot arm 100, the support mechanism 120, the gripping mechanism 130, the guide mechanism 140, and the unlocking mechanism 150 are perpendicular to the workpiece holder 840 of the assembly cart 800 in the X-axis direction. And the guide posts 142 of the guide mechanism 140 are aligned with a pair of pick guides 846 at the ends of the workpiece support 840 so that the unlocking mechanism 150 unlocks the pair of locking mechanisms 880 and the support mechanism 120 and gripper mechanism 130 of the robot arm 100 can remove the workpiece.
That is, when the guide posts 142 of the guide mechanism 140 are aligned with the pair of take-off guides 846 at both ends of the workpiece support 840, the unlocking block 153 of the unlocking mechanism 150 corresponds to the unlocking lever on the locking hook 882 of the pair of locking mechanisms 880, and the head of the unlocking block 153 facing the unlocking lever may be provided with an upward protrusion by which the unlocking lever is toggled to jack up the barb-like bend at the head of the locking hook 882 to unlock the workpiece. It is understood that, in the unlocking mechanism 150, the rear portion of the unlocking block 153 is connected to the push rod of the unlocking cylinder 152 so that the unlocking block 153 can be extended perpendicular to the work support 840 in the X-axis direction.
In the embodiment, as shown in fig. 2 to 4, the workpiece holder 840 may include: left bracket 841, right bracket 842, bracket cross member 843, air conditioner bracket 844, steering column bracket 845, a pair of pick-off guides 846, and a plurality of work piece positioners 847. Wherein
The left bracket 841, the right bracket 842 and the bracket beam 843 are arranged on the same plane, the bracket beam 843 can be arranged at the rear side of the vehicle body frame 810 in parallel, the left bracket 841 and the right bracket 842 can be arranged at two ends of the bracket beam 843 perpendicularly and extend to the front side of the vehicle body frame 810, and the side edges of the left bracket 841 and the right bracket 842 are connected with the vehicle body frame 810;
an air-conditioning bracket 844 is vertically connected with the bracket cross beam 843 and is arranged towards the bottom of the vehicle body frame 810, and the air-conditioning bracket 844 can be used for supporting air-conditioning of a workpiece;
a pair of take-off guides 846 may be respectively provided at the extended ends of the left and right brackets 841 and 842, and provided in the same direction as the extending direction of the left and right brackets 841 and 842;
the plurality of workpiece positioning elements 847 may be respectively disposed on the left bracket 841, the right bracket 842, and the bracket cross member 843, and may be respectively used to position the workpiece.
Further, as shown in fig. 2, the left-side bracket 841 and the right-side bracket 842 may have a T-shape, and a lateral portion of the T-shape has one end vertically connected to the bracket cross-member 843 and the other end extending to the front side of the body frame 810, and a vertical portion of the T-shape is connected to a pair of hinge mechanisms.
The pair of hinge mechanisms comprises a left hinge mechanism 850 and a right hinge mechanism 860, the left hinge mechanism 850 comprises a left fixed block 851, a left rotating shaft 852 and a left rotating block 853 which are sequentially connected, and the right hinge mechanism 860 comprises a right fixed block, a right rotating shaft and a right rotating block which are sequentially connected. The left fixing block 851 may be disposed at the left side of the body frame 810, and the right fixing block may be symmetrically disposed at the right side of the body frame 810 with respect to the left fixing block 851 such that the left rotation shaft 852 and the right rotation shaft are horizontally disposed opposite to each other and on the same axis.
Then, the T-shaped vertical portions of the left and right brackets 841 and 842 are respectively attached to the sidewalls of the left and right rotary blocks 853 and 842 such that the center of gravity of the workpiece holder 840 is offset from the axis on which the left and right rotary shafts 852 and 842 are located, and such that the center of gravity of the workpiece holder 840 is balanced to the axis when the workpiece is placed on the workpiece holder 840.
Further, as shown in fig. 2, the air conditioner stand 844 may include: an L-shaped connecting rod 8441, a vertical fixing plate 8442, a steering column connector 8443 and a U-shaped supporting plate 8444.
The vertical portion of the L-shaped connecting rod 8441 may be vertically connected to the bracket beam 843, and the lateral portion of the L-shaped connecting rod 8441 may be disposed in a direction perpendicular to the bracket beam 843 along the left bracket 841 and the right bracket 842; the vertical fixing plate 8442 may be disposed at the top of the vertical portion of the L-shaped connecting rod 8441, and may be disposed between the L-shaped connecting rod 8441 and the bracket cross beam 843, which may be used to fix the L-shaped connecting rod 8441 to the bracket cross beam 843; the steering column connecting piece 8443 may be disposed at a rear side of the vertical portion of the L-shaped connecting rod 8441, and the steering column connecting piece 8443 may be provided with a first connecting slot and a second connecting slot, the first connecting slot may be used to dispose the steering column bracket 845 side by side at a left side of the L-shaped connecting rod 8441, and the second connecting slot may be used to dispose the steering column bracket 845 side by side at a right side of the L-shaped connecting rod 8441, that is, a workpiece corresponding to the left-rudder steering column and a workpiece corresponding to the right-rudder steering column, respectively; the U-shaped support plate 8444 may be disposed at the front end of the transverse portion of the L-shaped connecting rod 8441 and may be disposed in the same direction as the transverse portion of the L-shaped connecting rod 8441, and the U-shaped support plate 8444 may be used to support an air conditioner for a workpiece; the rear side of the vertical portion of the L-shaped connecting rod 8441 is the side facing the bracket cross member 843, and the front end of the horizontal portion of the L-shaped connecting rod 8441 is the end away from the bracket cross member 843.
Further, as shown in fig. 2, the air conditioner stand 844 may further include: an air conditioner vertical positioning block 8448 and a pair of air conditioner transverse positioning blocks 8449 (one omitted from the drawing).
The air-conditioning vertical positioning block 8448 may be disposed at the top of the vertical portion of the L-shaped connecting rod 8441, the pair of air-conditioning horizontal positioning blocks 8449 may be disposed at both ends of the U-shaped supporting plate 8444, and the pair of air-conditioning horizontal positioning blocks 8449 are disposed opposite to each other, which is not shown in the drawings.
Further, as shown in fig. 2, the steering column holder 845 may include: a transverse connecting rod 8451, a vertical connecting rod 8452, a trumpet-shaped slot 8453.
One end of the transverse connecting rod 8451 may be connected to the first connecting slot or the second connecting slot of the steering column connector 8443, and the other end is connected to the vertical connecting rod 8452, and the transverse connecting rod 8451 may be arranged in parallel to the bracket cross beam 843; one end of the vertical connecting rod 8452 may be connected to a trumpet-shaped slot 8453, and the other end may be provided with a vertical connecting groove, which is provided along the vertical connecting rod 8452, for connecting the transverse connecting rod 8451 and adjusting the connecting position; the flared receptacle 8453 may be used to position a steering column of a workpiece.
Further, the plurality of work piece positioners 847 may comprise: a plurality of beam positioning pieces, at least one left positioning piece and at least one right positioning piece;
the plurality of beam positioning members can be perpendicular to the bracket beam 843 and can extend to the front side of the body frame 810 through an L-shaped connector; the at least one left positioning member may be vertically upward disposed on the left bracket 841 and positioned at the front side of the body frame 810; the at least one right side positioning member may be vertically upward disposed on the right side support 842 and located at the front side of the body frame 810;
moreover, a plurality of beam positioning pieces are provided with positioning insertion holes along the direction vertical to the support beam 843; the plurality of beam positioning pieces, the at least one left side positioning piece and the at least one right side positioning piece can be used for positioning when a workpiece is placed, and the plurality of beam positioning pieces, the at least one left side positioning piece and the at least one right side positioning piece which are arranged on the front side of the vehicle body frame 810 can be used for balancing the gravity center position of the workpiece support 840 when the workpiece is placed on the workpiece support 840.
Further, as shown in fig. 2, the workpiece holder 840 may further include: a left fixation plate 848 and a right fixation plate 849.
The left fixing plate 848 may be vertically disposed at an extended end of the left bracket 841, and the right fixing plate 849 may be vertically disposed at an extended end of the right bracket 842; also, the at least one left positioning element may be disposed at a right edge of the left fixing plate 848 and the at least one right positioning element may be disposed at a left edge of the right fixing plate 849, such that the at least one left positioning element and the at least one right positioning element are symmetrically disposed with respect to each other.
The pair of pick guides 846 may then be disposed perpendicularly to the left and right brackets 841 and 842 on the front side of the left and right fixation plates 848 and 849.
Further, the pair of pick guides 846 may be nylon.
In the embodiment of the present application, as shown in fig. 1 to 3, the left side hinge mechanism 850 and the compensating mechanism 870 may constitute a flip device.
The left hinge mechanism 850 may include a left fixing block 851, a left rotating block 853, and a left rotating shaft 852, and the compensating mechanism 870 may include a compensating latch seat 871, a compensating latch 872, a compensating dial 873, a dial handle 874, and a pair of compensating limit blocks 875. Wherein
The left fixing block 851 may be fixedly disposed at the left side of the body frame 810, and one end of the left rotating shaft 852 may be bearing-coupled to the left fixing block 851, and the other end may be fixedly coupled to the left rotating block 853;
the compensation turntable 873 can be arranged between the left fixed block 851 and the left rotating block 853, and the compensation turntable 873 can be coaxially arranged with the left rotating shaft 852 and can be fixed to the left rotating block 853;
moreover, a plurality of bolt fixing holes 8731 and a plurality of limit mounting grooves 8732 can be uniformly arranged on the compensation turntable 873 around the center of the circle, the bolt fixing holes 8731 can be arranged along the edge of the compensation turntable 873, and the limit mounting grooves 8732 can be arranged on one side of the compensation turntable 873 facing the left side fixing block 851;
the compensation pin seat 871 can be arranged above the left side fixing block 851, and the compensation pin seat 871 can be provided with a compensation pin hole at a height corresponding to the pin fixing hole 8731;
the compensation bolt 872 can be horizontally connected with the compensation bolt hole and can be used for being inserted into one of the bolt fixing holes 8731 to fix the rotation angle of the compensation turntable 873;
the pair of compensation limiting blocks 875 can be respectively arranged in two limiting installation grooves 8732 to limit the rotation angle of the compensation turntable 873, wherein the limited rotation angle is an included angle formed by the pair of compensation limiting blocks;
a turntable handle 874 may be provided on the side of the compensation turntable 873 facing the left side turning block 853, and the turntable handle 874 protrudes toward the front side of the vehicle body frame 810, and the turntable handle 874 may be used to turn the compensation turntable 873 to flip the work piece holder 840.
Further, as shown in fig. 3, the compensation pin seat 871 may be L-shaped, the L-shaped bottom of the compensation pin seat 871 is connected to the left fixing block 851, the L-shaped vertical edge of the compensation pin seat 871 is disposed adjacent to the compensation turntable 873, and the compensation pin hole is disposed on the L-shaped vertical edge and corresponds to the height of the pin fixing hole 8731 on the compensation turntable 873.
Further, as shown in fig. 3, the compensating bolt 872 may include: bolt pole, bolt driving lever, bolt sleeve.
The pin sleeve can be vertically arranged on the compensation pin seat 871 corresponding to the compensation pin hole; the bolt rod can be coaxially arranged in the bolt sleeve, one end of the bolt rod extends out of the bolt sleeve, and the other end of the bolt rod penetrates through the compensation bolt hole; the latch driver rod may be disposed at an end of the latch rod extending out of the latch sleeve and may be used to drive the latch rod into the latch fixing hole 8731 in the compensating turntable 873.
Furthermore, one end of the bolt rod, which extends out of the bolt sleeve, can be provided with a diagonal plane for shifting the bolt rod along the diagonal plane.
Further, the compensation turntable 873 may further include a plurality of rows of handle attachment holes 8733, wherein the plurality of rows of handle attachment holes 8733 may be radially disposed toward the compensation turntable 873, which may be used to attach the turntable handle 874 and adjust the angle of attachment of the turntable handle 874 to the compensation turntable 873.
Further, the swing handle 874 may include a bent short rod end fixedly coupled to one of the row of handle coupling holes 8733 and a bent long rod end protruding toward the front side of the body frame 810.
Further, the turntable handle 874 may also include a handle grip that may be disposed at the protruding end of the bent long rod end and on the side opposite the compensation turntable 873.
Further, the compensating mechanism 870 may further include a plurality of pin bushings correspondingly disposed in the pin holes 8731 for slidably connecting with the compensating pin 872.
Further, the left rotation block 853 may be a square block, and the left rotation shaft 852 may be vertically connected to the center of the square block.
In the embodiment of the present application, as shown in fig. 4, the locking mechanism 880 includes: a locking fixing block 881, a locking claw 882, a locking spring 883, a locking guide 884, and a locking support plate 885. Wherein
The locking fixing blocks 881 may be disposed at both ends of the workpiece holder 840;
the locking hook 882 can be arranged above the locking fixing block 881 along the extending direction of the two ends of the workpiece support 840, the head of the locking hook 882 is bent like a barb, the locking hook 882 can hook the workpiece placed on the workpiece support 840 through the bent like a barb, and the head of the locking hook 882 is the end far away from the workpiece support 840;
a locking spring 883 may be disposed between the tail of the locking finger 882 and the locking block 881, and may be used to jack up the tail of the locking finger 882, i.e., the end of the locking finger 882 near the workpiece holder 840, and press down the head of the locking finger 882;
a locking guide 884 may be provided on a front side of the locking fixing block 881 in a protruding direction of both ends of the workpiece holder 840, the locking guide 884 may be used for guiding the workpiece;
a locking pallet 885 may be disposed below the locking fixing block 881 in a protruding direction of both ends of the workpiece holder 840, and the locking pallet 885 may be used to hold a workpiece.
Further, as shown in fig. 4, the locking finger 882 may include: the hook comprises a hook body, a hook shifting block, a hook fixing block and a spring connecting block. Wherein
The hook body can be arranged in a straight line shape, the head part of the hook body can be bent downwards to form a barb shape, and the tail part of the hook body can deviate from the head part and tilt upwards; the hook claw shifting block can be arranged above the hook claw body and on one side close to the head of the hook claw body, and is used for shifting the locking hook claw 882; the claw fixing block can be arranged below the claw body and on one side close to the tail of the claw body, and the claw fixing block can be used for being connected with the locking fixing block 881 through a bolt hinge, so that the claw body can rotate around the bolt; a spring connecting block may be provided below the tail of the hook body for connecting the locking spring 883 to press down the head barb-like bend of the hook body by the locking spring 883.
Further, the locking finger 882 may further include an unlocking lever, which may be disposed perpendicularly to the extension direction of the finger body and may be disposed perpendicularly to the left or right side of the finger block to correspond to the left and right brackets 841 and 842. The unlocking deflector rod can be used for poking the locking claw 882 to lift the head part of the claw body in a barb shape.
Further, the spring connecting block of the locking fixing block 881 corresponding to the tail of the hook body is provided with a spring fixing groove, which can be used to install the locking spring 883, and the hook fixing block of the locking fixing block 881 corresponding to the lower side of the hook body is further provided with a hook fixing groove, which can be used to install the hook fixing block and is connected with the hook fixing block through a bolt hinge, as shown in fig. 4.
Further, the spring connecting block may be a cylinder smaller than the inner diameter of the locking spring 883 to be embedded in the locking spring 883.
Further, a fixed end of the locking supporting plate 885 is fixedly connected to a lower portion of the locking fixing block 881, and an extended end of the locking supporting plate 885 extends to a front side of the locking fixing block 881. And a pallet runner is provided at the extended end of the locking pallet 885, the pallet runner being disposed along the direction of extension of the extended end and having an incline slope at the bottom.
And the supporting plate sliding groove is arranged at the extending tail end of the extending end and at an opening at one side facing the supported workpiece, namely, the supporting plate sliding groove is not shielded.
Further, the left and right sides of the locking fixing block 881 are through and arranged in a shape of a Chinese character 'hui'.
In the embodiment of the present application, as shown in fig. 7 and 8, in the supporting mechanism 120, the supporting cylinder 121 may include a supporting rodless cylinder 1211 and a supporting linear guide 1212, and the supporting rodless cylinder 1211 and the supporting linear guide 1212 may be disposed side by side at the rear side of the fixed beam 110 and disposed in the same direction as the fixed beam 110, that is, disposed along the Y-axis direction.
Further, the support connection member 122 may include a support connection block 1221, a support connection rod 1222, and a support connection plate 1223, wherein the support connection block 1221 may be connected to the support rodless cylinder 1211 and the support linear guide 1212, respectively; the top of the support connection rod 1222 may be connected with the support connection block 1221, and the support connection rod 1222 may be disposed downward perpendicular to the support connection block 1221; the support connection plate 1223 may be vertically connected to the bottom of the support connection rod 1222, and the support connection plate 1223 may be extended forward relative to the vertical direction of the fixed beam 110, and the support connection plate 1223 may be used to connect the indexing cylinder 123.
Further, the support connector 122 may further include a support reinforcing plate 1224, and the support reinforcing plate 1224 is disposed at a corner of the support connecting rod 1222 perpendicular to the support connecting plate 1223 and can be used to reinforce the connection between the support connecting rod 1222 and the support connecting plate 1223.
Further, the shift cylinder 123 may include a first shift cylinder 1231, a second shift cylinder 1232, and an inverted T-shaped connection block 1233; the housing of the first displacement cylinder 1231 can be connected with the supporting connection plate 1223, and the push rod of the first displacement cylinder 1231 can be connected with the vertical part of the inverted T-shaped connection plate 1233; the housing of the second displacement cylinder 1232 may be connected to the lateral portion of the inverted T-shaped connecting block 1233, and the push rod of the second displacement cylinder 1232 may be connected to the steering column support plate 124; the first shifting cylinder 1231 and the second shifting cylinder 1232 may be disposed in the same direction as the supporting connection plate 1223, and both may extend forward relatively perpendicular to the fixed beam 110.
Further, the shifting cylinder 123 may further include a lateral positioning block 1234, the lateral positioning block 1234 may be disposed on a side of the second shifting cylinder 1232 facing the center of the fixed cross beam 110, and the lateral positioning block 1234 may be disposed in the same direction as the fixed cross beam 110, and the lateral positioning block 1234 may be used for positioning the auxiliary steering column supporting plate 124.
Further, the shifting cylinder 123 may further include a transverse connection member 1235, the transverse connection member 1235 is respectively connected to the second shifting cylinder 1232 and the transverse positioning block 1234, the transverse connection member 1235 is disposed along the Y-axis direction, and may be in a Z-shaped structure, and one end of the transverse connection member 1235 of the Z-shaped structure is connected to the tail of the second shifting cylinder 1232, and the other end is connected to the transverse positioning block 1234.
Further, the supporting cylinder 121 may further include a supporting fixing seat 125, and the supporting fixing seat 125 may be disposed above the fixed cross beam 110 corresponding to the supporting rodless cylinder 1211 and may be used for fixedly supporting the rodless cylinder 1211;
also, the support holder 125 may include a fixing surface connected to the upper surface of the fixing beam 110 and a mounting surface connected to the support rodless cylinder 1211, which are perpendicular to each other, and a plurality of reinforcing ribs are provided between the fixing surface and the mounting surface.
Further, the supporting mechanism 120 may further include a supporting protective cover 126, the supporting protective cover 126 may correspondingly wrap the supporting cylinder 121 and may be connected to the fixed cross member 110, and the supporting protective cover 126 may be configured to cover and protect the supporting cylinder 121.
Further, as shown in fig. 7, the steering column support plate 124 has a V-shaped groove for supporting a steering column of the vehicle cabin module to be carried.
Further, as shown in fig. 7 and 8, the support mechanisms 120 may be symmetrically disposed at both ends of the fixed beam 110 of the robot arm 100, so that the robot arm 100 carries the car cab module of the left-or right-rudder steering column through the support mechanisms 120.
In the embodiment of the present application, as shown in fig. 7 and 9, in the clamping mechanism 130, the clamping link 133 may have an inverted L-shape, and the clamping link 133 may include a horizontal link portion and a vertical link portion, wherein a top portion of the horizontal link portion may be connected to the clamping cylinder 131, a first end of the horizontal link portion may be connected to the clamping hydraulic rod 132, and a second end of the horizontal link portion may be connected to the vertical link portion; the vertical connecting portion may be disposed downward perpendicular to the horizontal connecting portion, and a clamping plate 134 may be connected to the bottom of the vertical connecting portion; the clamp link 133 can buffer the movement of the clamp cylinder 131 by the clamp hydraulic rod 132.
Further, the clamping connector 133 may further include a reinforcing connection portion 1331, and the reinforcing connection portion 1331 may be disposed between the vertical included angle of the horizontal connection portion and the vertical connection portion, and may be used to reinforce the connection between the horizontal connection portion and the vertical connection portion.
Further, as shown in fig. 9, the clamping mechanism 130 may further include a clamping-in-place sensor 136 and a clamping-detecting end 137, wherein the clamping-detecting end 137 may be connected to the transverse connection portion of the clamping connection member 133, and the clamping-in-place sensor 136 may be disposed on the fixed beam 110 corresponding to the clamping-detecting end 137. The grip-in-place sensor 136 and the grip detection end 137 are used to detect whether the gripping mechanism 130 is in place.
Further, the clamping mechanism 130 may further include an L-shaped fixing base, a vertical end of the L-shaped fixing base may be fixedly connected to the fixed beam 110, and a horizontal end of the L-shaped fixing base may be vertically installed with a clamping in-place sensor 136.
Moreover, the clamping detection end 137 may be Z-shaped corresponding to the L-shaped fixing base, one end of the clamping detection end may be parallel to the transverse end of the L-shaped fixing base, the other end may be fixed at the bottom of the transverse connection portion of the clamping connection member 133, and the clamping in-place sensor 136 may be a photoelectric sensor.
Further, the clamping pin 135 may include a tapered head portion, a cylindrical pin rod, a pin rod connecting portion, and a pin rod protruding portion, which are connected in sequence, wherein the tapered head portion and the cylindrical pin rod may be disposed on a side of the clamping plate 134 facing the center of the fixed beam 110, the pin rod connecting portion may be fixedly connected with the clamping plate 134, and the pin rod protruding portion may be disposed on a side of the clamping plate 134 away from the center of the fixed beam 110.
And, a pair of pin grooves can be arranged on the cylindrical pin rod, and the pair of pin grooves can be symmetrically arranged on the upper side and the lower side of the cylindrical pin rod.
Further, the clamp pin 135 may be provided at an end of the clamp plate 134 remote from the bottom of the clamp link 133, and the clamp pin 135 may include a pair of clamp pins, which may be provided side by side in a horizontal direction.
Further, as shown in fig. 9, the clamping mechanism 130 may further include a clamping protective cover 138, the clamping protective cover 138 may correspondingly wrap the clamping hydraulic rod 132 and is connected to the fixed cross member 110, and the clamping protective cover 138 may be configured to cover and protect the clamping hydraulic rod 132.
Further, the clamping cylinder 131 may be a rodless cylinder.
Further, the clamping mechanisms 130 may be symmetrically disposed at both ends of the fixed beam 110 of the robot arm 100, so that the robot arm 100 clamps the workpiece by the clamping mechanisms 130.
In the embodiment of the present application, as shown in fig. 7, 10, and 11, the guide mechanism 140 may include a guide link 141 and a guide post 142.
Wherein, the guide link 141 may be disposed downward perpendicular to the fixed beam 110 of the robot arm 100;
wherein, the guiding column 142 can be vertically connected with the bottom of the guiding connecting piece 141 and extends forwards relative to the fixed beam 110, i.e. extends towards the left side along the X-axis direction;
the guide column 142 may include a guide clamp block 1421, a guide fixing column 1422, a guide bolt 1423, a guide stop 1424, and a guide in-place sensor 1425, wherein the guide clamp block 1421 may be disposed at the bottom of the guide connecting member 141 for clamping the guide fixing column 1422; the guiding fixing column 1422 can be disposed along a direction perpendicular to the guiding connecting member 141, and one end of the guiding fixing column is connected to the guiding clamping block 1421, and the other end of the guiding fixing column is connected to the guiding bolt 1423; the guide bolt 1423 may be disposed coaxially with the guide fixing column 1422, i.e., along the X-axis direction; the guide block 1424 may be sleeved on the guide pin 1423, and the guide block 1424 is provided with at least one guide detection hole; the guide-in-place sensor 1425 may be disposed in one of the guide detection holes, which may be used to detect whether the guide mechanism 140 is in place.
Further, as shown in fig. 11, the guide clamp block 1421 may be provided with a through clamp hole along the extending direction of the guide column 142, that is, a through clamp hole along the X-axis direction. The clamping hole can be used to fix the guiding fixing column 1422, so that when the guiding fixing column 1422 moves along the clamping hole, the distance from the guiding bolt 1423 at the other end of the guiding fixing column 1422 to the bottom of the guiding connecting piece 141 is adjusted, so as to realize the adaptation to workpieces with different sizes.
Further, the guide clamp block 1421 may include: the opposite surfaces of the first guide clamping block and the second guide clamping block can be provided with symmetrical semicircular grooves so as to surround a clamping hole.
Further, one end of the guiding bolt 1423 may be a conical protrusion, and the other end may be provided with a fixing insertion hole extending inward, and the inner diameter of the fixing insertion hole may be the same as the diameter of the guiding fixing column 1422, and the fixing insertion hole may be used for inserting and fixing the guiding fixing column 1422.
Further, as shown in fig. 11, the guide block 1424 may be disposed on a side wall of the guide pin 1423 in a circular shape, the guide block 1424 may be disposed concentrically with the guide pin 1423, and the guide block 1424 may be integrally connected with the guide pin 1423.
Further, as shown in fig. 11, the guide stop 1424 may further be provided with a counter bore corresponding to the guide detection hole, and the counter bore may be disposed on a detection side of the guide stop 1424 for detection, so that the guide in-place sensor 1425 sinks into the detection side without protruding, and the detection side may be a side of the guide stop 1424 away from the guide connection member 141.
Further, the guide-to-position sensor 1425 may be a photosensor.
Further, the guide mechanisms 140 may be symmetrically disposed at both ends of the fixed beam 110 of the robot arm 100, so that the robot arm 100 may be aligned with the workpiece to be handled through the guide mechanisms 140.
In the embodiment of the present application, as shown in fig. 7, the robot arm 100 may further include a main control box 160 and a robot arm rest 170, the main control box 160 may be disposed at the rear side of the center of the fixed beam 110, and the robot arm rest 170 may be disposed corresponding to the main control box 160 and may be disposed around the periphery of the main control box 160;
the main control box 160 can be provided with a clamping button, an unlocking button, a wire body release button, a fault alarm lamp, a wire body start-stop button, a left and right rudder selecting button and a descending button, wherein the clamping button can be used for controlling the supporting mechanism 120 to support a workpiece and controlling the clamping mechanism 130 to clamp the workpiece; the workpiece is the workpiece to be carried in the assembly line.
Further, the robot arm 100 may further include a side control handle 180, and the side control handle 180 may be disposed at a left side end of the fixed beam 110 in the Y-axis direction;
moreover, a side control box 181 and an air inlet compensation knob 182 can be arranged on the side control handle 180;
the side control box 181 may be provided with a positioning knob for selecting a left or right rack, and a release button for controlling the resetting of the supporting mechanism 120 and the holding mechanism 130 to lower the workpiece into the rack, which is a rack disposed in the stacking line for stacking the workpiece;
the intake air compensation knob 182 may be used to increase the intake air amount of the lift cylinder 220, control the lift cylinder 220 to accelerate when it ascends, and control the lift cylinder 220 to accelerate when it descends.
The side control handle 180 may be a rectangular ring handle, the side control box 181 is fixed to the inner side of the rectangle, the air intake compensation knob 182 is installed at a vertical section of the rectangle to be connected with the ring handle, and a user may hold the air intake compensation knob 182 to adjust when pushing or pulling the ring handle. The air intake compensation knob 182 may be disposed on the right side of the lateral control handle 180 in the X-axis direction.
The above description is only exemplary of the present application and is not intended to limit the scope of the present application, which is defined by the appended claims.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111025937.0A CN113830205B (en) | 2021-09-02 | 2021-09-02 | Automobile cockpit module turnover system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111025937.0A CN113830205B (en) | 2021-09-02 | 2021-09-02 | Automobile cockpit module turnover system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113830205A true CN113830205A (en) | 2021-12-24 |
| CN113830205B CN113830205B (en) | 2025-05-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111025937.0A Active CN113830205B (en) | 2021-09-02 | 2021-09-02 | Automobile cockpit module turnover system |
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| CN (1) | CN113830205B (en) |
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|---|---|---|---|---|
| GB894410A (en) * | 1958-05-22 | 1962-04-18 | Richard Laplat Speaker | Endless conveyor system |
| US4724944A (en) * | 1985-11-11 | 1988-02-16 | Honda Giken Kogyo Kabushiki Kaisha | System and method for suspendingly transporting bodies |
| US20030189085A1 (en) * | 2002-04-08 | 2003-10-09 | Velibor Kilibarda | Vehicle framing system for plurality of vehicle body styles |
| CN104444802A (en) * | 2014-11-28 | 2015-03-25 | 天奇自动化工程股份有限公司 | Lifting appliance for automobile tail gate |
| CN105307916A (en) * | 2013-03-28 | 2016-02-03 | 株式会社大福 | Traveling route structure of conveying traveling body |
| CN216508718U (en) * | 2021-09-02 | 2022-05-13 | 赛亚森汽车系统(上海)有限公司 | A car cockpit module turnover system |
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2021
- 2021-09-02 CN CN202111025937.0A patent/CN113830205B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB894410A (en) * | 1958-05-22 | 1962-04-18 | Richard Laplat Speaker | Endless conveyor system |
| US4724944A (en) * | 1985-11-11 | 1988-02-16 | Honda Giken Kogyo Kabushiki Kaisha | System and method for suspendingly transporting bodies |
| US20030189085A1 (en) * | 2002-04-08 | 2003-10-09 | Velibor Kilibarda | Vehicle framing system for plurality of vehicle body styles |
| CN105307916A (en) * | 2013-03-28 | 2016-02-03 | 株式会社大福 | Traveling route structure of conveying traveling body |
| CN104444802A (en) * | 2014-11-28 | 2015-03-25 | 天奇自动化工程股份有限公司 | Lifting appliance for automobile tail gate |
| CN216508718U (en) * | 2021-09-02 | 2022-05-13 | 赛亚森汽车系统(上海)有限公司 | A car cockpit module turnover system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113830205B (en) | 2025-05-06 |
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