CN103495975A - Automobile leaf spring carrying mechanical arm - Google Patents
Automobile leaf spring carrying mechanical arm Download PDFInfo
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- CN103495975A CN103495975A CN201310466708.1A CN201310466708A CN103495975A CN 103495975 A CN103495975 A CN 103495975A CN 201310466708 A CN201310466708 A CN 201310466708A CN 103495975 A CN103495975 A CN 103495975A
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- arm
- rotating seat
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Abstract
The invention discloses an automobile leaf spring carrying mechanical arm, and relates to a mechanical arm. A cross arm rotary seat is connected with a rotating arm through a rotating arm spindle, the rotating arm can rotate by 360 degrees, a locking mechanism II is arranged between the rotating arm and the cross arm rotary seat, a drop arm rotary seat which can rotate by 360 degrees is arranged at the tail end of the rotating arm and is connected with an auxiliary rotating shaft which is connected with a lower drop arm, a locking mechanism III is arranged between the drop arm rotary seat and the lower drop arm, and a turning air cylinder which can be turned by 90 degrees is arranged on the lower drop arm. According to the mechanical arm, workloads of workers are reduced, random movement accurate positioning is ensured when workpieces are connected in a butt joint mode, damage, to the workpieces, caused by collision is prevented in the assembling process, and the automobile leaf spring carrying mechanical arm is convenient and flexible to operate, efficient and safe and saves labor in the operation process.
Description
Technical field
The present invention relates to a kind of manipulator, particularly a kind of leaf springs of car conveying robot.
Background technology
Since reform and opening-up, the national economy rapid growth, oneself becomes the main flow of domestic industry development scientific and technical innovation, autonomous innovation, and China's industry is just progressively to the future development of intensive style, energy-saving and emission-reduction, low-carbon (LC).Because manipulator provides very good assist transportation and assembling tool for rolling off the production line on material and producing the article assembling, can complete the three dimensions move loading actions such as weight crawl, carrying, upset, docking, vernier angle, thereby be widely used in industrial production.Manipulator can partly substitute people's heavy work to realize mechanization and the automation of producing, under the easy manipulation of operator, can complete many complex work of automatic robot, and production and use cost greatly reduce, the scope of application is also extensive simultaneously, and flexibility and mobility are larger.In the automobile assembling industry, the weight of leaf spring is very large, domestic for leaf springs of car carrying be generally the plane manipulator of a dead lift or cross beam type, hand labor intensity is large, under operating efficiency.The underaction and the plane manipulator seems to a certain extent, operation accuracy and operating efficiency are lower.The technical staff of R&D institution and enterprise is constantly exploring, is studying, and wishes to develop a kind of manipulator of easy to operate, superior performance, although make some progress, still exists the technical barrier not yet overcome in practice.
Summary of the invention
The object of the invention is to overcome above deficiency, a kind of leaf springs of car conveying robot is provided, for motion modes such as the lifting of controlling leaf spring, flexible, rotations, improved workman's working condition.
The technical solution adopted for the present invention to solve the technical problems is: contain universal wheel, travelling car, pull bar, column, main lift cylinder, main rotating seat, main rotating shaft, retaining mechanism I, large side plate, swing principal arm, swing auxiliary, connecting plate, the transverse arm rotating seat, the turning arm main shaft, retaining mechanism II, turning arm, the plumbing arm rotating seat, secondary rotating shaft, retaining mechanism III, lower plumbing arm, hold out against cylinder, workpiece, fixture, operating handle, the upset cylinder, the travelling car cross section is rectangle, bottom it, four jiaos respectively are provided with a universal wheel, the travelling car top middle portion is provided with column, left side is provided with pull bar, the column top is provided with main rotating seat, rotatable 360 °, main rotating seat is connected with large side plate by main rotating shaft, be provided with pneumatic control valve in large side plate, pneumatic control valve is connected with main lift cylinder, lower end, large side plate left side is provided with main lift cylinder, large side plate is provided with interior plate, be provided with retaining mechanism I between main rotating seat and large side plate, swinging principal arm is connected with large side plate respectively with swing auxiliary one end, the other end is connected with connecting plate respectively, swinging principal arm is positioned at swing auxiliary downside and parallels with the swing auxiliary, the transverse arm rotating seat is connected with turning arm by the turning arm main shaft, rotatable 360 ° of turning arm, be provided with retaining mechanism II between turning arm and transverse arm rotating seat, the turning arm end is provided with the plumbing arm rotating seat, rotatable 360 °, the plumbing arm rotating seat is connected with secondary rotating shaft, secondary rotating shaft is connected with lower plumbing arm, be provided with retaining mechanism III between plumbing arm rotating seat and lower plumbing arm, lower plumbing arm is provided with the upset cylinder, turning 90 °, for the fixture of grabbing the folder workpiece, with the upset cylinder, with lower plumbing arm end, be connected, fixture is provided with and holds out against cylinder, lower plumbing arm inboard is provided with operating handle, operating handle is provided with computer controling box.
The present invention solves the know-why that its technical problem adopts: this manipulator adopts equilibrium of forces principle and the air pressure control principle is designed in conjunction forms, by detecting gas pressure in arm end fixture and telescopic cylinder, can automatically identify on mechanical arm no-load is arranged, and automatically adjust the air pressure in telescopic cylinder through the pneumatic logic control loop, reach self balancing purpose.During work, weight is aerial just as being suspended in, the collision in the time of can avoiding the product docking.In the working range of mechanical arm, operator can move to it optional position in three dimensions, but personnel easy manipulation itself.Simultaneously, pneumatic circuit prevents that maloperation from falling the interlock protection functions such as thing and o-volt protection in addition.Operating handle is provided with the personal computer control box, and computer controling box is controlled the upset cylinder, realizes the upset of fixture in 90 ° of scopes, holds out against cylinder and realizes the fixture folding, for holding workpiece.This manipulator makes operator in the situation that fundamental sensation less than object gravity, easily completes the operations such as the carrying, upset, assembling of leaf spring, simple to operate, operate laborsaving, highly effective and safe.Travelling car is for changing station, and travelling car is provided with column, and the column top is provided with main rotating seat, can realize the principal rotating motion of manipulator, and the workpiece in 360 ° of scopes is on every side operated.
The invention has the beneficial effects as follows: this manipulator designs according to ergonomics, with the tractive force of operator up and down all around the automatic frame of three dimensions survey operation, alleviate workman's work load, flexible to operation, increase work efficiency.Random mobile accurately location while guaranteeing the workpiece docking, the damage produced due to collision while having avoided the workpiece assembling.Workpiece is in the zero-g suspended state, makes operating personnel in the situation that fundamental sensation less than object gravity, easily completes the operations such as the carrying, upset, assembling of leaf spring, simple to operate, operate laborsaving, highly effective and safe.
The accompanying drawing explanation
Below that the invention will be further described in conjunction with the accompanying drawings and embodiments:
It in figure, is a kind of leaf springs of car conveying robot structural representation.
In the drawings, 1 universal wheel, 2 travelling cars, 3 pull bars, 4 columns, 5 main lift cylinders, 6 main rotating seats, 7 main rotating shafts, 8 retaining mechanism I, 9 large side plates, 10 swing that principal arms, 11 swing auxiliarys, 12 connecting plates, 13 transverse arm rotating seats, 14 turning arm main shafts, 15 retaining mechanism II, 16 turning arms, 17 plumbing arm rotating seats, 18 secondary rotating shafts, 19 retaining mechanism III, 20 times plumbing arms, 21 hold out against cylinder, 22 workpiece, 23 fixtures, 24 operating handles, 25 upset cylinders.
The specific embodiment
In the drawings, travelling car 2 cross sections are rectangle, bottom it, four jiaos respectively are provided with a universal wheel 1, travelling car 2 top middle portion are provided with column 4, left side is provided with pull bar 3, column 4 tops are provided with main rotating seat 6, rotatable 360 °, main rotating seat 6 is connected with large side plate 9 by main rotating shaft 7, be provided with pneumatic control valve in large side plate 9, pneumatic control valve is connected with main lift cylinder 5, large side plate 9 lower ends, left side are provided with main lift cylinder 5, large side plate 9 is provided with interior plate, be provided with retaining mechanism 18 between main rotating seat 6 and large side plate 9, swinging principal arm 10 is connected with large side plate 9 respectively with swing auxiliary 11 1 ends, the other end is connected with connecting plate 12 respectively, swinging principal arm 10 is positioned at swing auxiliary 11 downsides and parallels with swing auxiliary 11, transverse arm rotating seat 13 is connected with turning arm 16 by turning arm main shaft 14, rotatable 360 ° of turning arm 16, be provided with retaining mechanism 1115 between turning arm 16 and transverse arm rotating seat 13, turning arm 16 ends are provided with plumbing arm rotating seat 17, rotatable 360 °, plumbing arm rotating seat 17 is connected with secondary rotating shaft 18, secondary rotating shaft 18 is connected with lower plumbing arm 20, be provided with retaining mechanism III19 between plumbing arm rotating seat 17 and lower plumbing arm 20, lower plumbing arm 20 is provided with upset cylinder 25, turning 90 °, for the fixture 23 of grabbing folder workpiece 22, with upset cylinder 25, with lower plumbing arm 20 ends, be connected, fixture 23 is provided with and holds out against cylinder 21, lower plumbing arm 20 inboards are provided with operating handle 24, operating handle 24 is provided with computer controling box.
This manipulator adopts equilibrium of forces principle and the air pressure control principle is designed in conjunction forms, by detecting arm end fixture 23 and holding out against the interior gas pressure of cylinder 21, can automatically identify on mechanical arm no-load is arranged, and automatically adjust and hold out against the air pressure in cylinder 21 through the pneumatic logic control loop, reach self balancing purpose.During work, weight is aerial just as being suspended in, the collision in the time of can avoiding the product docking.In the working range of mechanical arm, operator can move to it optional position in three dimensions, but personnel easy manipulation itself.Simultaneously, pneumatic circuit prevents that maloperation from falling the interlock protection functions such as thing and o-volt protection in addition.Operating handle 24 is provided with the personal computer control box, and computer controling box is controlled upset cylinder 25, realizes the upset of fixture 23 in 90 ° of scopes, holds out against cylinder 21 and realizes fixture 23 foldings, for holding workpiece 22.This manipulator makes operator in the situation that fundamental sensation less than object gravity, easily completes the operations such as the carrying, upset, assembling of leaf spring, simple to operate, operate laborsaving, highly effective and safe.Travelling car 2 is for changing station, and travelling car 2 is provided with column 4, and column 4 tops are provided with main rotating seat 6, can realize the principal rotating motion of manipulator, and the workpiece in 360 ° of scopes is on every side operated.
Claims (1)
1. a leaf springs of car conveying robot, contain universal wheel, travelling car, pull bar, column, main lift cylinder, main rotating seat, main rotating shaft, retaining mechanism I, large side plate, swing principal arm, swing auxiliary, connecting plate, the transverse arm rotating seat, the turning arm main shaft, retaining mechanism II, turning arm, the plumbing arm rotating seat, secondary rotating shaft, retaining mechanism III, lower plumbing arm, hold out against cylinder, workpiece, fixture, operating handle, the upset cylinder, it is characterized in that: the travelling car cross section is rectangle, bottom it, four jiaos respectively are provided with a universal wheel, the travelling car top middle portion is provided with column, left side is provided with pull bar, the column top is provided with main rotating seat, rotatable 360 °, main rotating seat is connected with large side plate by main rotating shaft, be provided with pneumatic control valve in large side plate, pneumatic control valve is connected with main lift cylinder, lower end, large side plate left side is provided with main lift cylinder, large side plate is provided with interior plate, be provided with retaining mechanism I between main rotating seat and large side plate, swinging principal arm is connected with large side plate respectively with swing auxiliary one end, the other end is connected with connecting plate respectively, swinging principal arm is positioned at swing auxiliary downside and parallels with the swing auxiliary, the transverse arm rotating seat is connected with turning arm by the turning arm main shaft, rotatable 360 ° of turning arm, be provided with retaining mechanism II between turning arm and transverse arm rotating seat, the turning arm end is provided with the plumbing arm rotating seat, rotatable 360 °, the plumbing arm rotating seat is connected with secondary rotating shaft, secondary rotating shaft is connected with lower plumbing arm, be provided with retaining mechanism III between plumbing arm rotating seat and lower plumbing arm, lower plumbing arm is provided with the upset cylinder, turning 90 °, for the fixture of grabbing the folder workpiece, with the upset cylinder, with lower plumbing arm end, be connected, fixture is provided with and holds out against cylinder, lower plumbing arm inboard is provided with operating handle, operating handle is provided with computer controling box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310466708.1A CN103495975A (en) | 2013-10-08 | 2013-10-08 | Automobile leaf spring carrying mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310466708.1A CN103495975A (en) | 2013-10-08 | 2013-10-08 | Automobile leaf spring carrying mechanical arm |
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| Publication Number | Publication Date |
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| CN103495975A true CN103495975A (en) | 2014-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310466708.1A Pending CN103495975A (en) | 2013-10-08 | 2013-10-08 | Automobile leaf spring carrying mechanical arm |
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| CN (1) | CN103495975A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104097672A (en) * | 2014-06-30 | 2014-10-15 | 陈宝 | Machine tool spindle carrying device |
| CN104308487A (en) * | 2014-09-23 | 2015-01-28 | 中山市恒鑫聚诚工业设备有限公司 | Mechanical hand for automatically overturning motor stand |
| CN104625692A (en) * | 2014-12-09 | 2015-05-20 | 东风汽车公司 | Following assembly mechanism for spring press fitting |
| CN105215980A (en) * | 2015-11-11 | 2016-01-06 | 芜湖天金机械有限公司 | A kind of external ball cage of universal joint axle head clamping manipulator |
| CN105259210A (en) * | 2015-09-30 | 2016-01-20 | 中国人民解放军装甲兵工程学院 | Clamping-type ultrasonic excitation device and ultrasonic infrared thermal image detection system |
| CN105922233A (en) * | 2016-06-28 | 2016-09-07 | 江苏捷帝机器人股份有限公司 | High-precision intelligent mechanical arm and working method thereof |
| CN107717949A (en) * | 2017-11-23 | 2018-02-23 | 苏州夏木自动化科技有限公司 | Ground moving boosting manipulator |
| CN108796184A (en) * | 2018-07-16 | 2018-11-13 | 中原工学院 | Leaf springs of car quenching process auxiliary robot |
| CN113401254A (en) * | 2021-07-01 | 2021-09-17 | 东风华神汽车有限公司 | Anti-deflection device of U-shaped bolt and installation method |
| CN116946889A (en) * | 2023-07-10 | 2023-10-27 | 四川蓝海智能装备制造有限公司 | Branch type crank arm swinging arm support and engineering truck |
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| CN202668545U (en) * | 2012-06-04 | 2013-01-16 | 盐城市昱博自动化设备有限公司 | Novel vacuum carrying manipulator |
| CN202742374U (en) * | 2012-07-26 | 2013-02-20 | 江苏尚诚精密模具科技有限公司 | Stamping carrying intelligent robot |
| CN203527459U (en) * | 2013-10-08 | 2014-04-09 | 盐城市昱博自动化设备有限公司 | Automobile plate spring carrying mechanical arm |
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2013
- 2013-10-08 CN CN201310466708.1A patent/CN103495975A/en active Pending
Patent Citations (5)
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| CN2880409Y (en) * | 2006-03-23 | 2007-03-21 | 上海发那科机器人有限公司 | Cripping head for hood of engine |
| RU2438854C2 (en) * | 2010-02-24 | 2012-01-10 | Государственное образовательное учреждение высшего профессионального образования "Воронежская государственная лесотехническая академия" | Handling device for lumbering operations |
| CN202668545U (en) * | 2012-06-04 | 2013-01-16 | 盐城市昱博自动化设备有限公司 | Novel vacuum carrying manipulator |
| CN202742374U (en) * | 2012-07-26 | 2013-02-20 | 江苏尚诚精密模具科技有限公司 | Stamping carrying intelligent robot |
| CN203527459U (en) * | 2013-10-08 | 2014-04-09 | 盐城市昱博自动化设备有限公司 | Automobile plate spring carrying mechanical arm |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104097672A (en) * | 2014-06-30 | 2014-10-15 | 陈宝 | Machine tool spindle carrying device |
| CN104308487A (en) * | 2014-09-23 | 2015-01-28 | 中山市恒鑫聚诚工业设备有限公司 | Mechanical hand for automatically overturning motor stand |
| CN104625692A (en) * | 2014-12-09 | 2015-05-20 | 东风汽车公司 | Following assembly mechanism for spring press fitting |
| CN105259210A (en) * | 2015-09-30 | 2016-01-20 | 中国人民解放军装甲兵工程学院 | Clamping-type ultrasonic excitation device and ultrasonic infrared thermal image detection system |
| CN105215980A (en) * | 2015-11-11 | 2016-01-06 | 芜湖天金机械有限公司 | A kind of external ball cage of universal joint axle head clamping manipulator |
| CN105922233A (en) * | 2016-06-28 | 2016-09-07 | 江苏捷帝机器人股份有限公司 | High-precision intelligent mechanical arm and working method thereof |
| CN105922233B (en) * | 2016-06-28 | 2018-08-07 | 江苏捷帝机器人股份有限公司 | A kind of high accurate intelligent mechanical arm and its working method |
| CN107717949A (en) * | 2017-11-23 | 2018-02-23 | 苏州夏木自动化科技有限公司 | Ground moving boosting manipulator |
| CN108796184A (en) * | 2018-07-16 | 2018-11-13 | 中原工学院 | Leaf springs of car quenching process auxiliary robot |
| CN113401254A (en) * | 2021-07-01 | 2021-09-17 | 东风华神汽车有限公司 | Anti-deflection device of U-shaped bolt and installation method |
| CN116946889A (en) * | 2023-07-10 | 2023-10-27 | 四川蓝海智能装备制造有限公司 | Branch type crank arm swinging arm support and engineering truck |
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| PB01 | Publication | ||
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140108 |