CN106737787B - Manipulator assembly - Google Patents
Manipulator assembly Download PDFInfo
- Publication number
- CN106737787B CN106737787B CN201710095465.3A CN201710095465A CN106737787B CN 106737787 B CN106737787 B CN 106737787B CN 201710095465 A CN201710095465 A CN 201710095465A CN 106737787 B CN106737787 B CN 106737787B
- Authority
- CN
- China
- Prior art keywords
- positioning
- pin
- manipulator assembly
- instrument panel
- button
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003825 pressing Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract description 2
- 239000002184 metal Substances 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Instrument Panels (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to a manipulator assembly comprising: a body having a T-shaped structure; a first positioning arm located at the first end of the body and carrying a first positioning pin; a second locating arm located at the second end of the body and carrying a second locating pin; and a third positioning arm located at a third end of the body and carrying a third positioning pin; wherein the first positioning arm and the third positioning arm are configured to grip the instrument panel and the second positioning arm is configured to provide localized support of the instrument panel. The manipulator assembly has the advantages of simple structure, easiness in manufacturing, convenience in installation and the like, and can clamp and convert a single-side stressed half-arm instrument panel.
Description
Technical Field
The present invention relates to the field of automotive manufacturing equipment, and more particularly to a manipulator assembly for gripping and translating an instrument panel.
Background
It is known that a vehicle is often provided with an instrument panel, and thus a robot is required to carry the instrument panel assembly. Conventional dashboards are generally configured to be grippable on both sides by a robot arm, i.e. they are configured to be stressed bilaterally, for example by providing structural components such as ribs on the dashboard. For this type of instrument panel, a robot hand that grips on both sides of the instrument panel may be employed for handling.
However, with improvements in instrument panel design, half-arm instrument panels have emerged. Wherein the new instrument panel design may not be able to withstand bilateral forces and only one side of the instrument panel may be subject to forces. For example, the left side of the instrument panel may include a metal cross-member that is capable of being stressed, while the right side is formed of a non-metal structure that is not capable of being stressed. The existing manipulator cannot carry the half-arm instrument panel.
It is therefore desirable to provide an improved manipulator assembly that is capable of gripping and translating a single-sided, stressed half-arm instrument panel.
Disclosure of Invention
It is an object of the present invention to provide a manipulator assembly that is capable of gripping and translating a single-sided, stressed half-arm instrument panel.
The invention aims at realizing the following technical scheme:
a robot assembly, comprising:
a body having a T-shaped structure;
a first positioning arm located at the first end of the body and carrying a first positioning pin;
a second locating arm located at the second end of the body and carrying a second locating pin; and
a third positioning arm located at a third end of the body and carrying a third positioning pin;
wherein the first positioning arm and the third positioning arm are configured to grip the instrument panel and the second positioning arm is configured to provide localized support of the instrument panel.
Optionally, the first locating pin is configured to mate with a first locating hole on the instrument panel, the second locating pin is configured to mate with a second locating hole on the instrument panel, and the first locating pin is configured to mate with a third locating hole on the instrument panel;
the first positioning hole is a four-way positioning hole on the left side of the instrument board, the second positioning hole is a four-way positioning hole on the right side of the instrument board, and the third positioning hole is a two-way positioning hole in the center of the lower part of the instrument board.
Alternatively, the first positioning pin is disposed opposite to the second positioning pin in a first direction and movable relative to each other in the first direction, and the third positioning pin is disposed in a second direction perpendicular to the first direction and movable in the second direction.
Optionally, the first, second and third locating pins are configured with tapered guide structures.
Optionally, the first locating pin is configured to have a circular cross-section.
Optionally, the manipulator assembly further comprises an operation panel attached to the body, the operation panel being provided with a first button, a second button, a third button and a withdrawal button;
wherein the first button is configured to operate the first positioning arm, the second button is configured to operate the second positioning arm, the third button is configured to operate the third positioning arm, and the retract button is configured to operate all three positioning arms.
Optionally, the manipulator assembly is configured to have a first position in which the first locating pin fits into the first locating hole upon depression of the first button such that the instrument panel is unable to float in the first direction and is rotatable about the first direction.
Optionally, the manipulator assembly is configured to have a second position, wherein upon pressing the third button, the third locating pin fits into the third locating hole such that the instrument panel cannot be moved in the second direction.
Optionally, the manipulator assembly is configured to have a third position, wherein the second locating pin fits into the second locating hole upon depression of the second button, to provide localized support to the instrument panel.
Optionally, the manipulator assembly is configured to have a fourth position, wherein upon depression of the withdrawal button, the second locating pin is first out of contact with the second locating hole, and then the first locating pin and the third locating pin are simultaneously out of contact with the first locating hole and the third locating hole.
The manipulator assembly has the advantages of simple structure, easiness in manufacturing, convenience in installation and the like, and can clamp and transfer the single-side stressed half-arm instrument panel under the condition of not damaging the instrument panel.
Drawings
The invention will be described in further detail below in connection with the drawings and the preferred embodiments, but it will be appreciated by those skilled in the art that these drawings are drawn for the purpose of illustrating the preferred embodiments only and thus should not be taken as limiting the scope of the invention. Moreover, unless specifically indicated otherwise, the drawings are merely intended to conceptually illustrate the compositions or constructions of the described objects and may contain exaggerated representations, and the drawings are not necessarily drawn to scale.
FIG. 1 is a perspective view of one embodiment of a robot assembly of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Those skilled in the art will appreciate that these descriptions are merely illustrative, exemplary, and should not be construed as limiting the scope of the invention.
First, it should be noted that terms of top, bottom, upward, downward, etc. are defined herein with respect to the directions in the respective drawings, which are relative concepts and thus can be changed according to the different positions and different practical states in which they are located. These and other directional terms should not be construed as limiting terms.
Furthermore, it should also be noted that any individual feature described or implicit in the embodiments herein, or any individual feature shown or implicit in the drawings, can still be combined between these features (or their equivalents) to obtain other embodiments of the invention not directly mentioned herein.
It should be noted that in different drawings, the same reference numerals indicate the same or substantially the same components.
FIG. 1 is a perspective view of one embodiment of a robot assembly of the present invention. Wherein the robot assembly 100 includes: a body 101 having a generally T-shaped configuration; a first positioning arm 110 located at a first end of the body 101 and carrying a first positioning pin 111; a second positioning arm 120 located at a second end of the body 101 and carrying a second positioning pin 121; and a third positioning arm 130 located at a third end of the body 101 and carrying a third positioning pin 131.
Alternatively, in the state shown in fig. 1, the first positioning arm 110 is located at the left side of the body 101, the second positioning arm 120 is located at the right side of the body 101, and the third positioning arm 130 is located at the lower side of the body 101.
Alternatively, the first and second positioning pins 111 and 121 are configured to be arranged relative to each other in a first direction and movable in the first direction, and the third positioning pin 131 is configured to be arranged in a second direction perpendicular to the first direction and movable in the second direction.
Alternatively, the first direction is the Y direction shown in fig. 1, and the second direction is the X direction shown in fig. 1.
Alternatively, each dowel may be a tapered guide dowel.
Alternatively, each of the positioning pins may be configured to have a circular cross section.
Alternatively, an operation panel 140 is attached to the body 101.
Alternatively, the operation panel 140 is provided with a first button 141, a second button 142, and a third button 143. Wherein the first button 141 is configured to operate the first positioning arm 110, the second button 142 is configured to operate the second positioning arm 120, and the third button 143 is configured to operate the third positioning arm 130.
Alternatively, a withdrawal button or a withdrawal key, not shown, is provided on the operation panel 140.
Alternatively, the operation panel 140 is attached to the body 101.
In one embodiment of the present invention, the instrument panel to be gripped by the manipulator assembly 100 of the present invention is provided with a first positioning hole, a second positioning hole, and a third positioning hole. The first positioning hole is a four-way positioning hole on the left side of the instrument board, the second positioning hole is a four-way positioning hole on the right side of the instrument board, and the third positioning hole is a two-way positioning hole in the center of the lower part of the instrument board.
Optionally, a metal cross beam or reinforcement structure is provided on a first side of the instrument panel and is stressing, while a second side of the instrument panel is configured to not withstand clamping forces. For example, the second side of the instrument panel may have a flexible or resilient structure.
Optionally, the first positioning hole is configured to mate with a first positioning pin 111 on the first positioning arm 110, the second positioning hole is configured to mate with a second positioning pin 121 on the second positioning arm 120, and the third positioning hole is configured to mate with a third positioning pin 131 on the third positioning arm 130.
In one embodiment, the manipulator assembly of the present invention may operate according to the following steps:
1. moving the robot assembly 100 to a corresponding position of the instrument panel sub-mount table where the instrument panel is placed, and causing the first positioning pin 111 to be substantially aligned with the first positioning hole;
2. moving the first positioning arm 110 toward the instrument panel such that the first positioning pin 111 is fitted into the first positioning hole, wherein the first positioning pin 111 restricts the instrument panel from moving in the Y direction, and the robot assembly 100 is allowed to rotate around the Y direction due to the circular shape of the positioning pin 111, thereby absorbing a positional error that may be generated in a subsequent step;
3. such that the third positioning arm 130 moves toward the instrument panel in the X-direction and the third positioning pin 131 fits into the third positioning hole, thereby limiting the instrument panel from moving in the Z-direction, wherein if there is a deviation of the third positioning pin 131 from the third positioning hole, alignment can be achieved by rotating the robot assembly 100;
4. so that the second positioning arm 120 moves toward the instrument panel in the Y direction, and the second positioning pin 121 is fitted into the second positioning hole; wherein the second positioning arm 120 serves only as a local support and not as a stress point.
During use as described above, the first positioning arm 110 and the third positioning arm 130 provide a force bearing for the instrument panel, while the second positioning arm 120 acts only as a partial bearing and not as a force bearing point.
After the robot assembly 100 moves and mounts the instrument panel in place, the user may press the withdraw button so that the second positioning arm 120 may be first separated from the instrument panel, and then the first positioning arm 110 and the third positioning arm 130 are simultaneously separated from the instrument panel.
Alternatively, the user may operate the first, second and third positioning arms 110, 120 and 130, respectively, by pressing the first, second and third buttons 141, 142 and 143.
The present specification discloses the present invention with reference to the accompanying drawings and also enables one skilled in the art to practice the invention, including making and using any devices or systems, selecting suitable materials, and using any incorporated methods. The scope of the invention is defined by the claims and encompasses other examples that will occur to those skilled in the art. Such other examples should be considered to be within the scope of protection as determined by the claimed subject matter, so long as such other examples include structural elements that are not literally different from the claimed subject matter, or include equivalent structural elements with insubstantial differences from the literal languages of the claimed subject matter.
Claims (10)
1. In a manipulator assembly (100), comprising:
a body (101) having a T-shaped structure;
a first positioning arm (110) located at a first end of the body (101) and carrying a first positioning pin (111);
a second positioning arm (120) located at a second end of the body (101) and carrying a second positioning pin (121); and
a third positioning arm (130) located at a third end of the body (101) and carrying a third positioning pin (131);
wherein the first positioning arm (110) and the third positioning arm (130) are configured to grip an instrument panel, and the second positioning arm (120) is configured to provide localized support of the instrument panel; and is also provided with
Wherein the first end, the second end and the third end are respectively three ends of a T-shaped structure of the body (101).
2. The manipulator assembly (100) of claim 1, wherein the first locating pin (111) is configured to mate with a first locating hole on the instrument panel, the second locating pin (121) is configured to mate with a second locating hole on the instrument panel, and the first locating pin (131) is configured to mate with a third locating hole on the instrument panel;
the first positioning hole is a four-way positioning hole on the left side of the instrument board, the second positioning hole is a four-way positioning hole on the right side of the instrument board, and the third positioning hole is a two-way positioning hole in the center of the lower part of the instrument board.
3. The manipulator assembly (100) according to claim 2, wherein the first positioning pin (111) is arranged opposite the second positioning pin (121) in a first direction and movable relative to each other in the first direction, and the third positioning pin (131) is arranged in a second direction perpendicular to the first direction and movable in the second direction.
4. The manipulator assembly (100) of claim 3, wherein the first alignment pin (111), the second alignment pin (121) and the third alignment pin (131) are configured with a tapered guide structure.
5. The manipulator assembly (100) of claim 4, wherein the first alignment pin (111) is configured to have a circular cross-section.
6. The manipulator assembly (100) according to any of claims 3-5, further comprising an operation panel (140) attached to the body (101), the operation panel (140) being provided with a first button (141), a second button (142), a third button (143) and a withdrawal button;
wherein the first button (141) is configured to operate the first positioning arm (110), the second button (142) is configured to operate the second positioning arm (120), the third button (143) is configured to operate the third positioning arm (130), and the withdrawal button is configured to operate all three positioning arms.
7. The manipulator assembly (100) of claim 6, wherein the manipulator assembly (100) is configured to have a first position, wherein upon depression of the first button (141), the first dowel pin (111) fits into the first dowel hole such that an instrument panel cannot be moved in and is rotatable about the first direction.
8. The manipulator assembly (100) of claim 7, wherein the manipulator assembly (100) is configured to have a second position, wherein upon pressing the third button (143), the third dowel pin (131) fits into the third dowel hole such that an instrument panel cannot be moved in the second direction.
9. The manipulator assembly (100) of claim 8, wherein the manipulator assembly (100) is configured to have a third position, wherein the second locating pin (121) fits into the second locating hole upon depression of the second button (142) to provide localized support to an instrument panel.
10. The manipulator assembly (100) of claim 9, wherein the manipulator assembly (100) is configured to have a fourth position, wherein upon pressing the withdrawal button, the second locating pin (121) is first out of contact with the second locating hole, and then the first locating pin (111) and the third locating pin (131) are simultaneously out of contact with the first locating hole and the third locating hole.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710095465.3A CN106737787B (en) | 2017-02-22 | 2017-02-22 | Manipulator assembly |
| PCT/CN2018/075312 WO2018153239A1 (en) | 2017-02-22 | 2018-02-05 | Mechanical arm assembly |
| TW107104491A TW201831289A (en) | 2017-02-22 | 2018-02-08 | Manipulator assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710095465.3A CN106737787B (en) | 2017-02-22 | 2017-02-22 | Manipulator assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737787A CN106737787A (en) | 2017-05-31 |
| CN106737787B true CN106737787B (en) | 2023-12-01 |
Family
ID=58958412
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710095465.3A Active CN106737787B (en) | 2017-02-22 | 2017-02-22 | Manipulator assembly |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN106737787B (en) |
| TW (1) | TW201831289A (en) |
| WO (1) | WO2018153239A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737787B (en) * | 2017-02-22 | 2023-12-01 | 上海蔚来汽车有限公司 | Manipulator assembly |
| CN117465973B (en) * | 2023-12-27 | 2024-03-15 | 常州长盛机械有限公司 | Conveying equipment for cutting and forming metal cross beam for excavator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1067354A (en) * | 1996-08-29 | 1998-03-10 | Honda Motor Co Ltd | Conveyance device for automobile instrument panel |
| CN203173765U (en) * | 2013-01-17 | 2013-09-04 | 吴家滨 | Smoke box clamp with anti-sliding friction mat |
| CN204399020U (en) * | 2015-01-19 | 2015-06-17 | 张月 | A kind of vehicle carried mobile phone support |
| CN204449971U (en) * | 2014-12-31 | 2015-07-08 | 天津正天医疗器械有限公司 | Frock clamp |
| CN205343109U (en) * | 2015-11-03 | 2016-06-29 | 东风汽车股份有限公司 | Power-assisted manipulator clamping arm suitable for light truck mixed flow production |
| CN206982698U (en) * | 2017-02-22 | 2018-02-09 | 上海蔚来汽车有限公司 | Mechanical arm assembly |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07290388A (en) * | 1994-04-22 | 1995-11-07 | Suzuki Motor Corp | Chuck jig |
| JP3793406B2 (en) * | 2000-09-05 | 2006-07-05 | 本田技研工業株式会社 | Instrument panel input support device |
| CN1846950A (en) * | 2006-04-29 | 2006-10-18 | 江苏天奇物流系统工程股份有限公司 | Instrument panel assembling manipulator unit |
| CN205129873U (en) * | 2015-11-30 | 2016-04-06 | 安徽江淮汽车股份有限公司 | Manipulator trailing arm and manipulator |
| CN105382829A (en) * | 2015-12-14 | 2016-03-09 | 安徽江淮汽车股份有限公司 | Passenger car assembling production line and instrument desk assembly manipulator thereof |
| CN205685247U (en) * | 2016-06-21 | 2016-11-16 | 安徽江淮汽车股份有限公司 | A kind of instrument desk manipulator fixture |
| CN106737787B (en) * | 2017-02-22 | 2023-12-01 | 上海蔚来汽车有限公司 | Manipulator assembly |
-
2017
- 2017-02-22 CN CN201710095465.3A patent/CN106737787B/en active Active
-
2018
- 2018-02-05 WO PCT/CN2018/075312 patent/WO2018153239A1/en active Application Filing
- 2018-02-08 TW TW107104491A patent/TW201831289A/en unknown
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1067354A (en) * | 1996-08-29 | 1998-03-10 | Honda Motor Co Ltd | Conveyance device for automobile instrument panel |
| CN203173765U (en) * | 2013-01-17 | 2013-09-04 | 吴家滨 | Smoke box clamp with anti-sliding friction mat |
| CN204449971U (en) * | 2014-12-31 | 2015-07-08 | 天津正天医疗器械有限公司 | Frock clamp |
| CN204399020U (en) * | 2015-01-19 | 2015-06-17 | 张月 | A kind of vehicle carried mobile phone support |
| CN205343109U (en) * | 2015-11-03 | 2016-06-29 | 东风汽车股份有限公司 | Power-assisted manipulator clamping arm suitable for light truck mixed flow production |
| CN206982698U (en) * | 2017-02-22 | 2018-02-09 | 上海蔚来汽车有限公司 | Mechanical arm assembly |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018153239A1 (en) | 2018-08-30 |
| CN106737787A (en) | 2017-05-31 |
| TW201831289A (en) | 2018-09-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106737787B (en) | Manipulator assembly | |
| US11260442B2 (en) | Bending tool and gripping device for manipulating the bending tool | |
| US10372153B2 (en) | Lever device | |
| US20130345848A1 (en) | Robot system and method for manufacturing fitting | |
| EP3546254A1 (en) | Automated guided vehicle | |
| KR102282819B1 (en) | Output device and output system | |
| US20210008731A1 (en) | Gripper | |
| US10641416B2 (en) | Fixing cable tie | |
| TWM567688U (en) | Manipulator assembly | |
| US20090056597A1 (en) | Movable table | |
| CN210500337U (en) | Mechanical arm | |
| CN214393096U (en) | Framework grabbing mechanism | |
| WO2017073449A1 (en) | Wire harness and method for manufacturing same | |
| KR102195287B1 (en) | Mounting bracket for shift lever and shift lever unit | |
| CN221727186U (en) | Battery cell jig | |
| CN217371131U (en) | Positioning tool switching device | |
| CN216780754U (en) | Vehicle threshold inner plate fixing device and vehicle production line | |
| CN216882163U (en) | Batch soldering tin mechanism for processing chip inductors | |
| EP3214631A1 (en) | Operation device | |
| EP2589514B1 (en) | Clip for construction machinery, having a latch that moves in multiple directions | |
| CN215201532U (en) | Hand-held fingertip translational flexible micro-clamp | |
| EP4290535A2 (en) | A cable harness manufacturing system, and a kit of parts and tooling components for use with an assembly board in cable harness manufacturing applications | |
| CN202949090U (en) | Locking electrical joint | |
| CN218024120U (en) | Push rod type clamping mechanism | |
| WO2022059047A1 (en) | Composite component and method for producing composite component |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |