CN113524150B

CN113524150B - Manipulator is used in auto parts production

Info

Publication number: CN113524150B
Application number: CN202111077830.0A
Authority: CN
Inventors: 王太
Original assignee: Jiangsu Lyuneng Auto Accessories Technology Co ltd
Current assignee: Jiangsu Lyuneng Auto Accessories Technology Co ltd
Priority date: 2021-09-15
Filing date: 2021-09-15
Publication date: 2021-11-30
Anticipated expiration: 2041-09-15
Also published as: CN113524150A

Abstract

The invention discloses a manipulator for automobile part production, which belongs to the field of automobile part production equipment and comprises a lifting base, a manipulator and a manipulator assembly, wherein the manipulator assembly comprises: a rotating cylinder, a bracket and a conveying mechanism. The rotary drum is uniformly provided with a plurality of clamping mechanisms along the circumferential direction, and the rotary drum is internally provided with a transmission mechanism. The support is arranged on the mechanical arm, a connecting shaft is fixedly arranged on the support, the rotary drum is rotatably arranged on the connecting shaft, and a driving mechanism for driving the rotary drum to rotate is further arranged on the support. The conveying mechanism can convey the tubular parts on the conveying line into one of the clamping mechanisms. Compared with the manipulator which can only grab one tubular part in the prior art, the manipulator assembly provided by the invention can grab a plurality of tubular parts and transfer the tubular parts from one conveying line to another conveying line, and greatly improves the transfer efficiency.

Description

Manipulator is used in auto parts production

Technical Field

The invention relates to the field of automobile part production equipment, in particular to a manipulator for automobile part production.

Background

Tubular parts can be used in the automobile machining and assembling process, the tubular parts need to undergo multiple machining procedures in the machining process, such as stamping, welding and the like, transfer equipment is needed when the tubular parts are transferred from one machining station to another machining station, in the prior art, the transfer of the tubular parts is completed by mostly adopting a manipulator, but most of the manipulators can only grab one tubular part on a machining conveying line and then transfer the tubular part to another machining conveying line, and in the mass production process, the manipulator which can only grab one tubular part in each transfer has the problem of low efficiency, so that the manipulator which can grab a plurality of tubular parts needs to be designed.

Disclosure of Invention

The invention provides a manipulator for producing automobile parts, which can solve the problems pointed out in the background technology.

The utility model provides a manipulator is used in auto parts production, includes lift base, arm and manipulator subassembly, the manipulator subassembly includes: a rotating cylinder, a bracket and a conveying mechanism.

The rotary drum is uniformly provided with a plurality of clamping mechanisms along the circumferential direction, and the rotary drum is internally provided with a transmission mechanism.

The support is arranged on the mechanical arm, a connecting shaft is fixedly arranged on the support, the rotary drum is rotatably arranged on the connecting shaft, and a driving mechanism for driving the rotary drum to rotate is further arranged on the support.

The conveying mechanism can convey the tubular parts on the conveying line into one of the clamping mechanisms.

When the rotary drum rotates, any clamping mechanism can be switched between an opening state and a clamping state under the action of the transmission mechanism.

The preferred, fixture include the draw-in groove and articulate fixed plate on the draw-in groove, it is provided with a pivot to rotate on the draw-in groove, the fixed plate is fixed to be set up in the pivot, torsion spring has still been cup jointed in the pivot under torsion spring's the effect, the fixed plate can be contradicted on the tubulose part.

Preferably, the clamping groove is further provided with an extension supporting plate.

Preferably, the driving mechanism comprises a first gear ring fixedly arranged on one side of the rotating drum, a first gear wheel in meshed connection with the first gear ring, and a first motor fixedly arranged on the bracket, wherein the first gear wheel is arranged on an output shaft of the first motor.

Preferably, the transmission mechanism comprises a plurality of second gears which are rotatably arranged in the rotary drum and a transmission assembly which can be meshed and connected with the plurality of second gears; the plurality of second gears correspond to the plurality of clamping mechanisms one by one, and central shafts of the second gears are in transmission connection with the rotating shaft through belt transmission structures; the transmission assembly comprises a transmission rod, a transmission block sleeved on the transmission rod, and a third gear, a first arc-shaped rack and a second arc-shaped rack which are fixedly arranged on the transmission block; one end of the transmission rod penetrates through the support and extends into the rotary drum, and an air cylinder connected with the transmission rod is fixedly arranged on the support.

Preferably, the transmission rod is further sleeved with a return spring, one end of the return spring is connected with the transmission block, and the other end of the return spring is connected to the transmission rod.

Preferably, the conveying mechanism comprises a conveying frame fixedly arranged on the bracket and a conveying assembly arranged on the conveying frame; the conveying assembly comprises a driving shaft, a first conveying shaft and a second conveying shaft, wherein the driving shaft is rotatably arranged on the conveying frame, the first conveying shaft and the second conveying shaft are respectively provided with a first roller and a second roller at the middle positions of the first conveying shaft and the driving shaft, and the first roller and the second roller are mutually contacted; the conveying shaft I and the conveying shaft II are provided with two conveying belts, and the roller I and the roller II are located between the two conveying belts.

Preferably, a connecting block is arranged at the end part of the mechanical arm, the mechanical arm assembly is hinged to the connecting block, and a second motor used for driving the mechanical arm assembly to rotate is fixedly arranged on the connecting block.

Compared with the prior art, the invention has the beneficial effects that: compared with the manipulator which can only grab one tubular part in the prior art, the manipulator assembly provided by the invention can grab a plurality of tubular parts and transfer the tubular parts from one conveying line to another conveying line, and greatly improves the transfer efficiency.

The manipulator can also rotate a plurality of horizontally arranged tubular parts to be vertically arranged, so that the subsequent storage and arrangement work of the tubular parts is facilitated.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural diagram of the robot assembly of the present invention.

Figure 3 is a cross-sectional view of the robot assembly of the present invention gripping a tubular part.

Figure 4 is a cross-sectional view of the robot assembly of the present invention as it releases tubular parts one by one.

Figure 5 is a cross-sectional view of the robot assembly of the present invention as it would release all tubular parts.

Fig. 6 is a cross-sectional view at the stent of the present invention.

Fig. 7 is a schematic structural view of the transmission assembly of the present invention.

Fig. 8 is a schematic structural diagram of the clamping mechanism of the present invention.

Description of reference numerals: 1. the lifting device comprises a lifting base, 2, a mechanical arm, 3, a rotary drum, 4, a support, 5, a clamping groove, 6, a fixing plate, 7, a rotary shaft, 8, a torsion spring, 9, an extension supporting plate, 10, a connecting shaft, 11, a first gear ring, 12, a first gear, 13, a first motor, 14, a second gear, 15, a belt transmission structure, 16, a transmission rod, 17, a transmission block, 18, a third gear, 19, a first arc rack, 20, a second arc rack, 21, an air cylinder, 22, a conveying frame, 23, a driving shaft, 24, a first conveying shaft, 25, a first roller, 26, a conveying belt, 27, a return spring, 28, a connecting block, 29, a second motor, 30, a conveying line, 31, a second conveying shaft, 32 and a second roller.

Detailed Description

An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the embodiment.

As shown in fig. 1 to 8, a robot for manufacturing automobile parts according to an embodiment of the present invention includes a lifting base 1, a robot arm 2, and a robot assembly, where the robot assembly includes: a drum 3, a support 4 and a conveying mechanism.

Be equipped with in the lift base 1 and can drive arm 2 and rotary drum 3 pivoted motor, still be equipped with the cylinder that is used for playing the elevating system, lift base 1 that has rotation function and raising and lowering functions is prior art, so do not give unnecessary details here.

A plurality of clamping mechanisms are uniformly arranged on the rotary drum 3 along the circumferential direction, and a transmission mechanism is further arranged in the rotary drum 3.

The support 4 is arranged on the mechanical arm 2, a connecting shaft 10 is fixedly arranged on the support 4, the rotary drum 3 is rotatably arranged on the connecting shaft 10, and a driving mechanism for driving the rotary drum 3 to rotate is further arranged on the support 4.

The transport mechanism is capable of transporting tubular parts on the transport line 30 into one of the clamping mechanisms.

When the rotary drum 3 rotates, any clamping mechanism can be switched between an opening state and a clamping state under the action of the transmission mechanism.

Fixture includes draw-in groove 5 and articulates fixed plate 6 on the draw-in groove 5, it is provided with a pivot 7 to rotate on the draw-in groove 5, fixed plate 6 is fixed to be set up in the pivot 7, torque spring 8 has still been cup jointed on the pivot 7 under torque spring 8's the effect, fixed plate 6 can be contradicted on the tubulose part.

The clamping groove 5 is also provided with an extension supporting plate 9.

The driving mechanism comprises a gear ring I11 fixedly arranged on one side of the rotary drum 3, a gear I12 in meshed connection with the gear ring I11 and a motor I13 fixedly arranged on the support 4, wherein the gear I12 is arranged on an output shaft of the motor I13.

The transmission mechanism comprises a plurality of second gears 14 which are rotatably arranged in the rotary drum 3 and a transmission assembly which can be meshed with the plurality of second gears 14.

The plurality of second gears 14 correspond to the plurality of clamping mechanisms one by one, and the central shafts of the second gears 14 are in transmission connection with the rotating shaft 7 through belt transmission structures 15.

The belt transmission structure 15 is prior art and therefore not described in detail herein.

The transmission assembly comprises a transmission rod 16, a transmission block 17 sleeved on the transmission rod 16, a third gear 18, a first arc-shaped rack 19 and a second arc-shaped rack 20, wherein the third gear 18, the first arc-shaped rack 19 and the second arc-shaped rack 20 are fixedly arranged on the transmission block 17.

One end of the transmission rod 16 penetrates through the bracket 4 and extends into the rotary drum 3, and an air cylinder 21 connected with the transmission rod 16 is fixedly arranged on the bracket 4.

As shown in fig. 3, the second gears 14 are engaged with the first arc-shaped racks 19, when the drum 3 rotates, the second gears 14 are sequentially engaged with the first arc-shaped racks 19, so that the clamping mechanisms are sequentially switched from the clamping state to the opening state and then to the clamping state, and when the clamping mechanisms are in the opening state, the conveying mechanism can convey the tubular part into the clamping mechanisms.

The transmission rod 16 is further sleeved with a return spring 27, one end of the return spring 27 is connected with the transmission block 17, and the other end of the return spring 27 is connected to the transmission rod 16.

The return spring 27 can ensure that the first arc-shaped rack 19, the second arc-shaped rack 20 and the third gear 18 can be meshed and connected with the second gear 14.

The first arc-shaped rack 19, the second arc-shaped rack 20 and the third gear 18 respectively correspond to grabbing work, opening work one by one and all opening work.

Since the tubular parts are not all in a circular tube shape but also in a partial square tube shape, the circular tube-shaped parts can roll into the clamping grooves 5 under the action of the conveying line 30, but the square tube-shaped parts cannot roll into the clamping grooves 5 easily, so that a conveying mechanism is required to be designed to solve the problem, wherein the conveying mechanism comprises a conveying frame 22 fixedly arranged on the support 4 and a conveying assembly arranged on the conveying frame 22.

The conveying assembly comprises a driving shaft 23, a first conveying shaft 24 and a second conveying shaft 31 which are rotatably arranged on the conveying frame 22, a first roller 25 and a second roller 32 are respectively arranged at the middle positions of the first conveying shaft 24 and the driving shaft 23, and the first roller 25 and the second roller 32 are in contact with each other.

When the tubular part conveying device is used, the second roller 32 on the driving shaft 23 abuts against the conveying line 30, so that the first conveying shaft 24 rotates, and the tubular part is conveyed into the clamping groove 5.

Two conveyer belts 26 are arranged on the first conveying shaft 24 and the second conveying shaft 31, and the first roller 25 and the second roller 32 are positioned between the two conveyer belts 26.

The end part of the mechanical arm 2 is provided with a connecting block 28, the mechanical arm assembly is hinged on the connecting block 28, and a second motor 29 for driving the mechanical arm assembly to rotate is further fixedly arranged on the connecting block 28.

The working principle is as follows: when the automatic conveying device is used, the lifting base 1 drives the mechanical arm 2 and the mechanical arm assembly to rotate to the position above a conveying line 30, then the mechanical arm assembly descends until the two rollers 32 abut against the conveying line 30, the conveying mechanism starts to work under the transmission action of the two rollers 32 and the one roller 25, then the one motor 13 is started, the one motor 13 drives the rotary drum 3 to rotate, the two gears 14 in the rotary drum 3 are sequentially meshed with the first arc-shaped rack 19, the two gears 14 rotate in the process of being meshed and connected with the first arc-shaped rack 19, the belt transmission structure 15 transmits the rotation of the two gears 14 to the rotary shaft 7 and enables the rotary shaft 7 to rotate, so that the fixing plate 6 is driven to be opened, the tubular part on the conveying line 30 moves into the clamping groove 5 under the action of the conveying mechanism, and after the two gears 14 are separated from the first arc-shaped rack 19, the fixing plate 6 resets under the action of the torsion spring 8, and fix the tubular part, in the rotation process of rotary drum 3, a plurality of tubular parts get into a plurality of draw-in grooves 5 in proper order, all are fixed with the tubular part in all draw-in grooves 5, accomplish and snatch work.

During the transportation, lift base 1 drives the manipulator subassembly earlier and rises, then drives the manipulator subassembly and rotates to other transfer chain 30 on, cylinder 21 promotes transfer line 16 and removes, make two arc rack 20 can be connected with two 14 meshing of gear, start motor 13 once more after that, motor 13 drives rotary drum 3 and rotates, a plurality of two gears 14 mesh with two arc rack 20 in proper order and are connected, as shown in figure 4, when two gears 14 mesh with two arc rack 20 and be connected, fixed plate 6 is opened, the tubulose part that is located draw-in groove 5 just falls on transfer chain 30, in the rotation process of rotary drum 3, can accomplish the transportation work of tubulose part.

When the tubular parts need to be placed vertically instead of horizontally, the second motor 29 is started, the second motor 29 drives the manipulator assembly to rotate by 90 degrees, then the cylinder 21 is started, the cylinder 21 pushes the transmission rod 16 to move, the third gear 18 is meshed with the second gear 14, then the first motor 13 is started, and the first motor 13 drives the rotary drum 3 to rotate, so that all the second gears 14 rotate simultaneously, that is, as shown in fig. 5, all the fixing plates 6 are in an open state, all the tubular parts fall down from the clamping grooves 5 synchronously, and the work of changing the horizontal placement into the vertical placement is completed.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a manipulator is used in auto parts production which characterized in that, includes lift base, arm and manipulator subassembly, the manipulator subassembly includes:

the rotary drum is uniformly provided with a plurality of clamping mechanisms along the circumferential direction, and a transmission mechanism is also arranged in the rotary drum;

the support is arranged on the mechanical arm, a connecting shaft is fixedly arranged on the support, the rotary drum is rotatably arranged on the connecting shaft, and a driving mechanism for driving the rotary drum to rotate is further arranged on the support; and

a conveying mechanism capable of conveying the tubular parts on the conveying line into one of the clamping mechanisms;

when the rotary drum rotates, any clamping mechanism can be switched between an opening state and a clamping state under the action of the transmission mechanism;

the clamping mechanism comprises a clamping groove and a fixed plate hinged to the clamping groove, a rotating shaft is rotatably arranged on the clamping groove, the fixed plate is fixedly arranged on the rotating shaft, a torsion spring is further sleeved on the rotating shaft, and the fixed plate can abut against the tubular part under the action of the torsion spring;

the driving mechanism comprises a first gear ring fixedly arranged on one side of the rotary drum, a first gear in meshed connection with the first gear ring, and a first motor fixedly arranged on the support, wherein the first gear is arranged on an output shaft of the first motor;

the transmission mechanism comprises a plurality of second gears which are rotatably arranged in the rotary drum and a transmission assembly which can be meshed and connected with the plurality of second gears;

the plurality of second gears correspond to the plurality of clamping mechanisms one by one, and central shafts of the second gears are in transmission connection with the rotating shaft through belt transmission structures;

the transmission assembly comprises a transmission rod, a transmission block sleeved on the transmission rod, and a third gear, a first arc-shaped rack and a second arc-shaped rack which are fixedly arranged on the transmission block;

one end of the transmission rod penetrates through the bracket and extends into the rotary drum, and an air cylinder connected with the transmission rod is fixedly arranged on the bracket;

the motor drives the rotary drum to rotate, a plurality of second gears in the rotary drum are sequentially meshed with the first arc-shaped rack, the second gears can rotate in the process of being meshed with the first arc-shaped rack, the belt transmission structure transmits the rotation of the second gears to the rotary shaft and enables the rotary shaft to rotate, so that the fixing plate is driven to open, and after the second gears are separated from the first arc-shaped rack, the fixing plate is reset under the action of the torsion spring;

the air cylinder pushes the transmission rod to move, so that the second arc-shaped rack can be meshed with the second gear, then the first motor is started again, the first motor drives the rotary drum to rotate, the second gears are sequentially meshed with the second arc-shaped rack, and the fixing plate is opened;

the cylinder pushes the transmission rod to move, the gear III is meshed with the gear II to be connected, then the motor I is started, the motor drives the rotary drum to rotate, all the gears II rotate simultaneously, and all the fixing plates are opened.

2. A robot for manufacturing auto parts according to claim 1, wherein an extension plate is further provided on the engaging groove.

3. A manipulator for producing automobile parts, according to claim 1, wherein a return spring is further sleeved on the transmission rod, one end of the return spring is connected with the transmission block, and the other end of the return spring is connected to the transmission rod.

4. A robot for manufacturing automobile parts, according to claim 1, wherein said transfer mechanism includes a transfer rack fixedly provided on said support and a transfer unit provided on said transfer rack;

the conveying assembly comprises a driving shaft, a first conveying shaft and a second conveying shaft, wherein the driving shaft is rotatably arranged on the conveying frame, the first conveying shaft and the second conveying shaft are respectively provided with a first roller and a second roller at the middle positions of the first conveying shaft and the driving shaft, and the first roller and the second roller are in contact with each other;

the conveying shaft I and the conveying shaft II are provided with two conveying belts, and the roller I and the roller II are located between the two conveying belts.

5. A manipulator for producing automobile parts, according to claim 1, wherein a connecting block is provided at an end of said manipulator, said manipulator assembly is hinged to said connecting block, and a second motor for driving said manipulator assembly to rotate is further fixedly provided on said connecting block.