CN107186746B

CN107186746B - Mechanical arm

Info

Publication number: CN107186746B
Application number: CN201710519785.7A
Authority: CN
Inventors: 刘海金; 陆风雷
Original assignee: Jiangsu Jupu Automotive Parts Co ltd
Current assignee: Jiangsu Jupu Automotive Parts Co ltd
Priority date: 2017-06-30
Filing date: 2017-06-30
Publication date: 2024-01-09
Anticipated expiration: 2037-06-30
Also published as: CN107186746A

Abstract

The invention discloses a mechanical arm, which comprises a longitudinal arm body, wherein a plurality of grabbing pieces which are parallel to each other and perpendicular to the arm body are arranged on the arm body along the length direction of the arm body; the lifters are distributed along the length direction of the arm body, and each lifter supports the arm body and synchronously drives the arm body to longitudinally move; and the driving mechanism is used for driving the arm body to move horizontally relative to the lifters and synchronously driving the arm body to move longitudinally simultaneously with the lifters. When the mechanical arm works, the operations of descending, grabbing, lifting and translating the carried workpiece to the corresponding processing station, placing the workpiece and the like can be realized according to the required action flow, so that the manual operation is completely replaced, the cost of a person is greatly reduced, and the manual labor intensity is reduced.

Description

Mechanical arm

Technical Field

The invention relates to the technical field of automobile door frame inner and outer plate processing, in particular to a mechanical arm capable of automatically grabbing the automobile door frame inner and outer plates to replace manual carrying.

Background

The door pillar plate of the car comprises a front door A pillar outer plate, a front door A pillar inner plate, a front door B pillar outer plate, a front door B pillar inner plate, a rear door B pillar outer plate, a rear door B pillar inner plate, a rear door C pillar outer plate and a rear door C pillar inner plate which are generally arc-shaped along with side walls, are generally formed by continuously rolling metal strips at present, and are also formed when rolling; and the workpiece to be punched is cut off before rolling and offline, and then the workpiece is subjected to a plurality of punching procedures to form parts capable of being assembled into door frames on the front side and the rear side of the car. The outer plate and the inner plate of the 4 kinds of door pillar plates are all combined together to be used as components capable of being assembled into a car door frame. In addition, due to the requirement of the structure of certain door pillar structures, certain parts need to be punched with the arc concave surface upwards, and other parts need to be punched with the arc concave surface downwards.

At present, the outer plate and the inner plate of the 4 car door column plates are subjected to stamping processing through a plurality of working procedures respectively, the number of stamping dies to be developed is large, a large number of presses and stamping operators are arranged, and the operation automation degree, the production efficiency and the stamping quality are difficult to break through effectively; moreover, the stamping operation adopts a traditional operation mode of manually completing the work piece feeding and taking work in the press, so that the personal safety of operators is difficult to control, and frequent accidents are often caused.

In view of the above-mentioned drawbacks, the present designer is actively researched and innovated to create a mechanical arm for automatically grabbing the inner and outer plates of the door frame of the automobile to replace manual transportation, so that the mechanical arm has more industrial utilization value.

Disclosure of Invention

The invention aims to provide a mechanical arm which can automatically grasp the inner and outer plates of an automobile door frame to replace manual transportation.

To achieve the purpose, the invention adopts the following technical scheme:

a robotic arm, comprising:

the device comprises a longitudinal arm body, wherein a plurality of grabbing pieces which are parallel to each other and perpendicular to the arm body are arranged on the arm body along the length direction of the arm body;

the lifters are distributed along the length direction of the arm body, and each lifter supports the arm body and synchronously drives the arm body to longitudinally move; a kind of electronic device with high-pressure air-conditioning system

And the driving mechanism is used for driving the arm body to move horizontally relative to the lifters and synchronously driving the arm body to move longitudinally simultaneously with the lifters.

Further, the grabbing piece comprises a cross arm vertically connected with the arm body, a plurality of sucker columns which are parallel to each other and are perpendicular to the cross arm and a plurality of inclined slots for respectively moving the sucker columns are arranged on the cross arm, and a vacuum sucker is arranged on the sucker columns.

Further, the arm body is further provided with at least one adjusting device for adjusting the lateral position of the gripping member connected with the adjusting device on the arm body, and the adjusting device comprises:

the sliding rail is connected with the arm body and the grabbing piece;

and one end of the first cylinder is connected with the sliding rail, and the other end of the first cylinder is connected with the grabbing piece through a connecting rod.

Further, the lifter comprises a machine body and a second air cylinder longitudinally arranged on the machine body, a support for supporting the arm body is connected to a telescopic arm of the second air cylinder, and at least two opposite pulleys for clamping the arm body are detachably connected to the support.

Further, two opposite supporting plates which can move oppositely or back along the support are detachably connected to the support, and the two opposite pulleys are respectively arranged on the two supporting plates.

Further, the elevator car further comprises a connecting pipe for connecting the driving mechanism and each elevator in series.

Further, the driving mechanism comprises a frame, a support is arranged on the frame, a support frame which moves longitudinally along the support frame and is connected with the arm body in a sliding way, a first component which drives the arm body to move horizontally relative to the support frame, and a second component which drives the support frame to drive the arm body to move longitudinally are arranged on the support frame,

the first component comprises a longitudinal rotating shaft and a first motor, the longitudinal rotating shaft is rotatably connected with the supporting frame, the first motor drives the rotating shaft to rotate, a gear is sleeved on the rotating shaft, and the gear is in meshed connection with a rack with both ends connected to the arm body;

-said second assembly comprises a lifting rack shaft connected to said support frame, a timing belt drivingly connected to said lifting rack shaft, a second motor driving the pulleys of said timing belt in rotation.

Further, guide rollers which are connected with the rack in a tensioning mode are further respectively and rotatably arranged on two sides of the gear on the supporting frame.

Further, the support is vertically provided with a guide post which is in sliding connection with the support frame.

Further, a tank chain for wiring is further arranged on the frame.

The beneficial effects of the invention are as follows: when the mechanical arm works, the operations of descending, grabbing, lifting and translating the carried workpiece to the corresponding processing station, placing the workpiece and the like can be realized according to the required action flow, so that the manual operation is completely replaced, the cost of a person is greatly reduced, and the manual labor intensity is reduced.

Drawings

FIG. 1 is a schematic view of a mechanical arm according to a preferred embodiment of the present invention;

FIG. 2 is a schematic view of the structure of the gripping member of the present invention;

FIG. 3 is a schematic view of the connection structure of the adjusting device and the gripping member in the present invention;

FIG. 4 is a schematic view of the structure of the elevator of the present invention;

FIG. 5 is a schematic view of the driving mechanism of the present invention;

fig. 6 is a schematic view of another angle structure of the driving mechanism in the present invention.

In the figure: 501-arm body, 510-grabbing piece, 511-cross arm, 512-sucking disc column, 513-chute, 514-vacuum sucking disc, 520-adjusting device, 521-slide rail, 522-first cylinder, 523-connecting rod, 530-lifter, 531-machine body, 532-second cylinder, 533-bracket, 534-pulley, 535-supporting plate, 540-connecting pipe, 550-driving mechanism, 551-rack, 552-support, 553-supporting frame, 554-rotating shaft, 555-first motor, 556-gear, 557-rack, 558-lifting gear shaft, 559-synchronous belt, 560-pulley, 561-second motor, 562-guide roller, 567-guide pillar, 570-tank chain.

Detailed Description

The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.

The mechanical arm provided by the invention is used for automatically grabbing the inner and outer plates of an automobile door frame to replace manual transportation, and has the specific structure shown in fig. 1 to 6, and comprises a longitudinal arm body 501, a plurality of lifters 530 and a driving mechanism 550, wherein the driving mechanism 550 and each lifter 530 are connected in series by a connecting pipe 540. Wherein, the arm 501 is provided with a plurality of gripping members 510 parallel to each other and perpendicular to the arm 501 along the length direction thereof; each lifter 530 is distributed along the length direction of the arm body 501, and is used for supporting the arm body 501 and synchronously driving the arm body 501 to longitudinally move; the driving mechanism 550 is used to drive the arm 501 to move horizontally with respect to each of the lifters 530 and to synchronize with each of the lifters 530 while driving the arm 501 to move longitudinally.

Specifically, as shown in fig. 2, the gripping member 510 includes a cross arm 511 vertically connected to the arm 501, the cross arm 511 is provided with a plurality of suction cup columns 512 parallel to each other and perpendicular to the cross arm 511, a plurality of inclined slots 513 for moving each suction cup column 512, and the suction cup columns 513 are provided with vacuum suction cups 514. The inner and outer plates of the automobile door frame are sucked by the vacuum chuck 514 to realize the grabbing action. By arranging the chute 513 on the cross arm 511, the position of the sucker column 512 on the cross arm 511 can be adjusted, so that the inner and outer plates of the automobile door frame with different lengths can be grabbed.

Of course, in order to further grasp the inner and outer door frames of automobiles with different lengths, the invention is further provided with at least one adjusting device 520 on the arm body 501, and as shown in fig. 3, the adjusting device 520 is used for adjusting the position of the grasped piece 510 connected with the adjusting device on the arm body 501. Specifically, the adjusting device includes a slide rail 521 and a first cylinder 522, where the slide rail 521 connects the arm 501 and the cross arm 511 of the gripping member 510; one end of the first cylinder 522 is connected to the slide rail 521, and the other end is connected to the cross arm 511 of the gripping member 510 through the link 523. When the first cylinder 522 stretches and contracts, the cross arm 511 is driven to slide along the slide rail 521, so as to adjust the position of the grabbing piece 510 on the arm body 501.

As shown in fig. 4, the lifter 530 includes a body 531, a second cylinder 532 longitudinally disposed on the body 531, a support 533 for supporting the arm 501 is connected to a telescopic arm of the second cylinder 532, and at least two pulleys 534 for clamping the arm 501 are detachably connected to the support 533. The arm 501 is held between two opposing pulleys 534, and the arm 501 can be smoothly moved horizontally while supporting the arm 501.

In order to enable two opposite pulleys 534 to clamp arm bodies 501 with different widths, two opposite support plates 535 which can move along the support 533 in opposite directions or back to back are detachably connected to the support 533, and the two opposite pulleys 534 are respectively mounted on the two support plates 535. The distance between the two support plates 535 can be adjusted to accommodate the arms 501 of different widths by adjusting the distance between the two opposing pulleys 534, and also facilitate assembly of the pulleys 534 with the arms 501.

As shown in fig. 5 and 6, the driving mechanism 550 of the present invention includes a frame 551, a support 552 is disposed on the frame 551, and a support frame 553 moving longitudinally along the support 552 and slidably connected to the arm 501, a first component driving the arm 501 to move horizontally relative to the support frame 553, and a second component driving the support frame 553 to drive the arm 501 to move longitudinally.

The specific first component comprises a longitudinal rotating shaft 554 which is rotationally connected with a supporting frame 553, and a first motor 555 which drives the rotating shaft 554 to rotate, wherein a gear 556 is sleeved on the rotating shaft 554, and the gear 556 is in meshed connection with a rack 557 of which both ends are connected with the arm body 501; the second assembly includes a lifting rack shaft 558 connected to the support frame 553, a timing belt 559 drivingly connected to the lifting rack shaft 558, and a second motor 561 for driving a pulley 560 of the timing belt 559 to rotate. As can be seen, when the first motor 555 rotates, the rotating shaft 554 rotates in the vertical direction, so as to drive the gear 556 to rotate, the gear 556 drives the rack 557 to translate, and the translating rack 557 drives the arm 501 to move horizontally; when the second motor 561 rotates, the synchronous belt 559 drives the belt wheel 560 connected with the lifting rack shaft 558 to rotate, the belt wheel 560 drives the worm wheel of the lifting rack shaft 558 to rotate, so that the lifting rack shaft 558 lifts, the lifting rack shaft 558 drives the support frame 553 to longitudinally move, and the support frame 553 drives the arm body 501 to longitudinally move.

In order to ensure that the rack 557 can effectively drive the arm 501 to move horizontally, the invention also rotates the guide rollers 562 connected with the tensioning rack 557 on the two sides of the gear 556 on the supporting frame 553. The rack 557 is tensioned to avoid slackening of the rack 557 and inability to precisely translate the arm 501.

In the present invention, the support frame 553 is slidably connected to the arm 501, that is, a plurality of sets of two pulleys 534 are provided on the support frame 553, and the arm 501 is clamped between the two pulleys 534, so that the arm 501 can translate relative to the support frame 553.

In order to ensure that the support frame 553 is lifted and lowered stably in the longitudinal direction, a guide post 567 in sliding connection with the support frame 553 is vertically arranged on the support seat 552, and the guide post 567 plays a guiding role.

In order to facilitate the wiring of the mechanical arm, the invention is also provided with a tank chain 570 for wiring on the frame 551, and the electric wires to be connected are all bundled in the tank chain 570, so that the whole is tidy and beautiful.

When the mechanical arm works, the operations of descending, grabbing, lifting and translating the workpiece to the corresponding processing station, placing the workpiece and the like can be realized according to the required action flow, so that the manual operation is completely replaced.

The technical principle of the present invention is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the invention and should not be taken in any way as limiting the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.

Claims

1. A robotic arm, comprising:

The driving mechanism is used for driving the arm body to horizontally move relative to the lifters and synchronously driving the arm body to longitudinally move simultaneously with the lifters;

the arm body is also provided with at least one adjusting device, the adjusting device is used for adjusting the transverse position of the grabbing piece connected with the adjusting device on the arm body, and the adjusting device comprises:

the sliding rail is connected with the arm body and the grabbing piece;

one end of the first cylinder is connected with the sliding rail, and the other end of the first cylinder is connected with the grabbing piece through a connecting rod;

the lifter comprises a machine body and a second air cylinder longitudinally arranged on the machine body, a telescopic arm of the second air cylinder is connected with a bracket for supporting the arm body, and at least two opposite pulleys for clamping the arm body are detachably connected to the bracket;

the grabbing piece comprises a cross arm vertically connected with the arm body, a plurality of sucker columns which are parallel to each other and are vertical to the cross arm and a plurality of inclined slots for respectively moving the sucker columns are arranged on the cross arm, and a vacuum sucker is arranged on the sucker columns;

the support is detachably connected with two opposite support plates which can move oppositely or back to back along the support, and the two opposite pulleys are respectively arranged on the two support plates;

the mechanical arm also comprises a connecting pipe for connecting the driving mechanism and each lifter in series;

the driving mechanism comprises a frame, a support is arranged on the frame, a support frame which longitudinally moves along the support frame and is in sliding connection with the arm body, a first component which drives the arm body to horizontally move relative to the support frame, and a second component which drives the support frame to drive the arm body to longitudinally move are arranged on the support frame,

the first component comprises a longitudinal rotating shaft and a first motor, the longitudinal rotating shaft is rotatably connected with the supporting frame, the first motor drives the rotating shaft to rotate, a gear is sleeved on the rotating shaft, and the gear is in meshed connection with racks with both ends connected to the arm body;

the second assembly comprises a lifting rack shaft connected with the supporting frame, a synchronous belt in transmission connection with the lifting rack shaft, and a second motor for driving a belt wheel of the synchronous belt to rotate;

guide rollers which are used for tensioning the racks are also respectively and rotatably connected to the two sides of the gear on the support frame;

the support is vertically provided with a guide post which is in sliding connection with the support frame.

2. The mechanical arm of claim 1, wherein the frame is further provided with a tank chain for routing.