CN110103204B - Curved rail linkage instrument board installation manipulator - Google Patents
Curved rail linkage instrument board installation manipulator Download PDFInfo
- Publication number
- CN110103204B CN110103204B CN201910435378.7A CN201910435378A CN110103204B CN 110103204 B CN110103204 B CN 110103204B CN 201910435378 A CN201910435378 A CN 201910435378A CN 110103204 B CN110103204 B CN 110103204B
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- 238000009434 installation Methods 0.000 title abstract description 11
- 239000000725 suspension Substances 0.000 claims description 18
- 239000000758 substrate Substances 0.000 claims description 15
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 3
- 230000000712 assembly Effects 0.000 abstract description 3
- 238000000429 assembly Methods 0.000 abstract description 3
- 206010063385 Intellectualisation Diseases 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
A curved track linkage instrument board mounting manipulator comprises a movable base, a movable seat and a Y-direction driving cylinder, wherein a cylinder body of the Y-direction driving cylinder is arranged along the outer side surface of a side frame of the movable seat, and the end part of a piston rod of the Y-direction driving cylinder is connected with the end part of the side frame of the movable base above the movable seat through a connecting piece; the telescopic joint comprises a telescopic joint, a fixed seat, two lifting cylinders, a curved rail linkage mechanism and two instrument panel clamping assemblies which are respectively arranged at two sides of the supporting beam; and a controller and an operation panel. The invention solves the problems of heavy manual handling and assembly, promotes the intellectualization of automobile instrument panel assembly, reduces consumption and enhances productivity; the problem that an automobile instrument board is difficult to install and an installation piece is damaged due to the fact that a built-in space of a hybrid electric automobile or a pure electric automobile is raised is solved; the automobile instrument panel clamp is driven to finely adjust and rotate by means of the curved track, linkage of the whole automobile instrument is effectively promoted, energy is saved, and consumption is reduced.
Description
Technical Field
The invention relates to the technical field of vehicle equipment installation, in particular to a curved track linkage instrument board installation manipulator.
Background
At present, the automobile sales are not as expected, the manual installation cost of the automobile assembly is not reduced, the traditional automobile assembly pattern is changed to different degrees in the field of large automobiles, the intelligent degree and the automation degree of the automobile assembly are continuously improved, the cost is reduced, the efficiency is improved, and the productivity is enhanced; the built-in space channel of the conventional automobile is lower, the automobile instrument board can be directly installed in the automobile body, and along with the development of the new energy automobile industry and the high-priced automobile, the height of the channel in the automobile is relatively improved, the volume of the instrument board is relatively increased, the traditional instrument board cannot be safely installed in or out, and the installation difficulty and the damage bottleneck of components are increased.
The existing 'curved track linkage instrument board mounting manipulator and clamp technology' utilizes an air cylinder to be directly in butt joint with an instrument board clamp, and the walking track of the existing 'curved track linkage instrument board mounting manipulator and clamp technology' swings or rotates according to a certain linear track, so that fine adjustment and curved track movement cannot be performed in an automobile mounting space, and the existing mounting of more automobile instrument boards cannot be met.
Disclosure of Invention
The invention aims to design a curved track linkage instrument board mounting manipulator, which solves the problems of heavy manual handling and assembly, promotes the intellectualization of automobile instrument board assembly, reduces consumption and enhances productivity; the problem that an automobile instrument board is difficult to install and an installation piece is damaged due to the fact that a built-in space of a hybrid electric automobile or a pure electric automobile is raised is solved; the automobile instrument panel clamp is driven to finely adjust and rotate by means of the curved track, linkage of the whole automobile instrument is effectively promoted, energy is saved, and consumption is reduced.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
A curved track linkage instrument board mounting manipulator comprises a movable base, a movable base and a movable base, wherein the movable base is a rectangular frame, and walking wheels capable of being arranged on a movable track in a sliding mode are convexly arranged on two sides of the top surface of the movable base; the two side frames of the rectangular frame of the movable base in the length direction are of a track structure, so that an X-direction track is formed; the movable base is a rectangular frame, and X-direction travelling wheels which can be slidably arranged on the X-direction tracks are convexly arranged on two sides of the top surface of the movable base; the two side frames of the rectangular frame of the movable base in the length direction are of a track structure, so that Y-direction tracks are formed; the movable seat is a frame, and Y-direction travelling wheels which can be slidably arranged on the Y-direction tracks are convexly arranged on two sides of the top surface of the movable seat; the cylinder body of the Y-direction driving cylinder is arranged along the outer side surface of one side frame of the movable seat, and the end part of a piston rod of the Y-direction driving cylinder is connected with the end part of one side frame of the movable base above the movable seat through a connecting piece; the sleeve type telescopic joint comprises a fixed sleeve and a movable sleeve movably arranged in the fixed sleeve, and two sides of the fixed sleeve are vertically arranged in a frame of the movable seat through two supporting plates; the fixed seat is arranged at the lower end of the movable sleeve of the sleeve type telescopic joint; the cylinder bodies of the two lifting cylinders are vertically arranged at two sides of the sleeve type telescopic joint fixing sleeve, and the end parts of the piston rods of the two lifting cylinders are connected to two sides of the fixing seat through first connecting plates; the rotary support consists of an inner support ring and an outer support ring, and the inner support ring and the outer support ring can rotate relatively; the fixed seat is connected with the inner support ring of the rotary support; a track linkage comprising: the top surface of the end part of one side edge of the movable suspension arm, which is positioned above the movable suspension arm, is connected with the outer support ring of the rotary support through a connecting ring, so that the movable suspension arm and the fixed seat realize rotation, and the other side edge of the movable suspension arm is bent downwards; one end of the supporting beam is bent to form a connecting part, and the end part of the connecting part is movably connected to the lower end of the other side edge of the movable suspension arm through a rotating shaft; the cylinder body of the rotary cylinder is connected below the bending part of the movable suspension arm, and the end part of the piston rod of the rotary cylinder is connected with the middle part of the supporting beam connecting part; the fixed frame is vertically arranged on one side of the movable base; the two curved rail lifting slide rails and the lifting slide blocks are respectively arranged on two sides of the outer side surface of the fixed frame; the two curved rail fixing bottom plates are respectively arranged on lifting sliding blocks on the two curved rail lifting sliding rails; the two curved rails are respectively arranged on the upper and lower parts of the two curved rail fixing bottom plates in parallel up and down; the cylinder body of the curved rail lifting adjusting cylinder is vertically arranged in the middle of the fixed frame, and the piston rod end of the curved rail lifting adjusting cylinder is connected with the curved rail; the upper ends of the two support rods are respectively provided with a roller, the two rollers are respectively arranged on the two curved rails in a sliding way, and the lower ends of the two support rods are respectively connected to one side edge of the movable suspension arm and the connecting part of the support beam; two instrument board clamping components set up respectively in a supporting beam both sides, instrument board clamping components includes: the base is arranged on the front side surface of the supporting beam and consists of a substrate and supporting plates vertically connected to the two sides of the back surface of the substrate; the support plate is connected with the support beam, and the substrate is parallel to the front side surface of the support beam; a through hole is arranged in the center of the upper part of the substrate; the two first sliding rails are arranged on two sides of the front surface of the substrate in parallel; a first sliding block is arranged on the first sliding rail; the first fixing plate is arranged on the upper end face of the first sliding block, a connecting rod is arranged in the center of the upper part of the back of the first fixing plate in a protruding mode, and the other end of the connecting rod penetrates through a through hole in the center of the upper part of the base plate; the cylinder body of the first cylinder is arranged at the lower part of the center of the back surface of the base plate, and the piston rod of the first cylinder is vertical to the connecting rod penetrating through the base plate and is connected with the end part of the connecting rod; the two second sliding rails are arranged in parallel on the upper and lower sides of the front surface of the first fixed plate; a second sliding block is arranged on the horizontal sliding rail; the second fixing plate is U-shaped and is arranged on the upper end surfaces of the second sliding blocks on the two second sliding rails, and a fixing part is convexly arranged on one side of the second fixing plate, which is close to the center of the supporting beam; the cylinder body of the second cylinder is arranged on the second fixed plate and is parallel to the second sliding rail, and the piston rod of the second cylinder is connected with the second fixed plate; the limiting block is convexly arranged at the middle part of one side of the front surface of the first fixing plate and corresponds to the U-shaped opening of the second fixing plate; the clamping piece is arranged at the upper part of one side surface of the second fixing plate fixing part, which is close to the center of the supporting beam; the positioning pin is arranged at the lower part of one side surface of the second fixing plate fixing part, which is close to the center of the supporting beam; the controller and the operation panel are arranged behind the supporting beam, and the lifting cylinder, the rotating cylinder, the curved track lifting adjusting cylinder, the first cylinder and the second cylinder are respectively and electrically connected with the controller.
Preferably, the device further comprises a lifting buffer limiting assembly, which comprises: the buffer rod is respectively penetrated with an upper limit part and a lower limit part from top to bottom, and the upper limit part and the lower limit part are respectively connected with the upper part and the lower part of the outer side surface of the fixed sleeve; the upper end of the buffer rod passes through the supporting plate, the lower end of the buffer rod is connected with the fixed seat, the upper part of the buffer rod is sleeved with a buffer spring, the upper end of the buffer spring is propped against the bottom surface of the supporting plate, and the lower end of the buffer spring corresponds to the upper limiting part; the limiting block is arranged in the middle of the outer side surface of the sleeve type telescopic joint fixing sleeve; the limiting cylinder is arranged in the middle of the buffer rod through a support, the end part of a piston rod of the limiting cylinder corresponds to the limiting block, two ends of the support penetrate through two guide rods, the upper ends of the two guide rods penetrate through the supporting plate, and the lower ends of the guide rods are connected to the lower end face of the fixing sleeve through a second connecting plate.
Further, a swivel lock apparatus is included, comprising: the cylinder body of the rotary locking cylinder is vertically arranged on one side of the fixed seat through the mounting plate; the locking pin is arranged at the end part of the piston rod of the rotary locking cylinder; the locking block is arranged below the movable boom connecting ring through the mounting ring, and a locking pin hole for inserting a locking pin is formed in the locking block.
The curved track linkage mechanism also comprises a curved track lifting limiting device, which comprises: the lifting limiting frame is arranged on one side of the outer side surface of the fixed frame through a support frame and is a limiting ring; and the lifting limiting rod is arranged on the lifting limiting frame in a penetrating way, and the lower end of the lifting limiting rod is connected with the two curved rails.
Preferably, the rotary support device further comprises a rotary limiting part which is arranged on the upper end face of the outer support ring of the rotary support and corresponds to the movable seat.
The invention has the beneficial effects that:
The instrument board mounting manipulator solves the problem that the instrument cannot be mounted due to high channel in a new energy automobile; the track of the robot runs, so that the situation that the installation space of a conventional manipulator is too long is broken, and the problem of high workpiece damage rate is effectively solved; compared with the installation by using a robot, the robot has the advantages of smaller occupied area, lower cost, more convenient and fast later maintenance, and difficult application of the robot in a continuous circulation automobile production line; plays a positive role in the development of new energy automobiles, plays a pushing role in environmental protection work, and provides a new thought for the installation or operation of other workpieces.
Drawings
Fig. 1 is a perspective view of fig. 1 according to an embodiment of the present invention.
Fig. 2 is a perspective view of fig. 2 according to an embodiment of the present invention.
Fig. 3 is a rear view of an embodiment of the present invention.
Fig. 4 is a perspective view of a telescopic joint and a lifting buffer stop assembly according to an embodiment of the present invention.
Fig. 5 is an exploded perspective view of a swing lock in accordance with an embodiment of the invention.
Fig. 6 is a perspective view of a telescopic joint and a lifting buffer stop assembly according to an embodiment of the present invention.
Fig. 7 is a perspective view of the track linkage in an embodiment of the present invention.
Fig. 8 is a perspective view of the track linkage in an embodiment of the present invention.
FIG. 9 is a perspective view of an instrument panel clamping assembly according to an embodiment of the present invention.
FIG. 10 is a perspective view of an instrument panel clamping assembly according to an embodiment of the present invention.
FIG. 11 is a perspective view of an instrument panel clamping assembly according to an embodiment of the present invention.
Detailed Description
Referring to fig. 1 to 11, the curved track linkage instrument panel mounting robot of the present invention includes,
The movable base 1 is a rectangular frame, and travelling wheels 101 and 101' capable of being arranged on a movable track in a sliding manner are convexly arranged on two sides of the top surface of the movable base; the two side frames of the rectangular frame of the movable base 1 in the length direction are of a track structure, so that an X-direction track is formed;
The movable base 2 is a rectangular frame, and two sides of the top surface of the movable base are convexly provided with X-direction travelling wheels 21 and 21' which can be slidably arranged on the X-direction track; the two side frames of the movable base 2 in the length direction of the rectangular frame are of a track structure, so that Y-direction tracks are formed;
the movable seat 3 is a frame, and two sides of the top surface of the movable seat are convexly provided with Y-direction travelling wheels 31 and 31' which can be slidably arranged on the Y-direction track;
A Y-direction driving cylinder 18, the cylinder body of which is arranged along the outer side surface of a frame of the movable seat 3, and the end part of a piston rod of which is connected with the end part of a frame of one side of the movable base 2 above the movable seat 3 through a connecting piece 181;
The telescopic joint 4 comprises a fixed sleeve 41 and a movable sleeve 42 movably arranged in the fixed sleeve, wherein two sides of the fixed sleeve 41 are vertically arranged in the frame of the movable seat 3 through two supporting plates 43 and 43';
the fixed seat 5 is arranged at the lower end of the movable sleeve 42 of the sleeve type telescopic joint 4;
The cylinder bodies of the two lifting cylinders 6 and 6' are vertically arranged at two sides of the fixed sleeve 41 of the telescopic expansion joint 4, and the end parts of the piston rods of the two lifting cylinders are connected to two sides of the fixed seat 5 through first connecting plates;
A slewing bearing 15 comprising an inner bearing ring 151 and an outer bearing ring 152, wherein the inner bearing ring 151 and the outer bearing ring 152 can rotate relatively; the fixed seat 5 is connected to an inner support ring 151 of the slewing bearing 15;
The curved track linkage 7 includes:
the top surface of the end part of one side 711 positioned above the movable suspension arm 71 is connected with the outer support ring 152 of the rotary support 15 through a connecting ring 713, so that the movable suspension arm 71 and the fixed seat 5 realize rotation, and the other side 712 of the movable suspension arm 71 is bent downwards;
a support beam 72, one end of which is bent to form a connection part 721, wherein the end of the connection part 721 is movably connected to the lower end of the other side 712 of the movable boom 71 through a rotation shaft;
A rotary cylinder 73, the cylinder body of which is connected to the lower part of the bending part of the movable boom 7, and the end part of the piston rod of which is connected to the middle part of the connecting part 721 of the support beam 72;
a fixed frame 74 vertically provided at one side of the movable base 2;
two curved rail lifting slide rails 75 and lifting slide blocks 751, wherein the two curved rail lifting slide rails 7 are respectively arranged at two sides of the outer side surface of the fixed frame 74;
Two curved rail fixing bottom plates 76, 76' respectively arranged on the lifting slide blocks 751 on the two curved rail lifting slide rails 75;
Two curved rails 77, 77 'are respectively arranged in parallel up and down on the two curved rail fixing bottom plates 76, 76';
A curved rail lifting adjusting cylinder 78, the cylinder body of which is vertically arranged in the middle of the fixed frame 74, and the piston rod end of which is connected with the curved rail 77;
The upper ends of the two supporting rods 79, 79' are respectively provided with rollers 791, 791', the two rollers 791, 791' are respectively and slidably arranged on the two curved rails 77, 77', and the lower ends of the two supporting rods 79, 79' are respectively connected to one side 711 of the movable suspension arm 71 and the connecting part 721 of the supporting beam 72;
Two instrument panel clamping assemblies 8, 8' are respectively disposed on both sides of the support beam 72, and the instrument panel clamping assemblies (for example, the instrument panel clamping assembly 8, the following are the same) include:
A base 81 provided on the front side of the support beam 72 and composed of a substrate 811 and support plates 812 vertically connected to both sides of the back surface of the substrate 811; the support plate 812 is connected to the support beam 72, and the substrate 811 is parallel to the front side surface of the support beam 72; a through hole 8111 is formed in the center of the upper portion of the substrate 811;
two first slide rails 82 disposed in parallel on two sides of the front surface of the substrate 811; a first sliding block is arranged on the first sliding rail 82;
a first fixing plate 83 provided on an upper end surface of the first slider, wherein a link 84 is protruded at a center of an upper portion of a rear surface of the first fixing plate 83, and the other end of the link 84 passes through a through hole 8111 at a center of an upper portion of the base plate 811;
A first cylinder 85 having a cylinder body provided at a lower portion of a rear center of the base plate 811, a piston rod of the first cylinder being perpendicular to the link 84 passing through the base plate 811 and connected to an end portion of the link 84;
two second slide rails 86 disposed in parallel on the upper and lower sides of the front surface of the first fixing plate 83; a second sliding block 81 is arranged on the horizontal sliding rail 8;
the second fixing plate 87 is U-shaped, and is arranged on the upper end surfaces of the second sliding blocks 81 on the two second sliding rails 86, and a fixing part 871 is convexly arranged on one side near the center of the supporting beam 72;
A second cylinder 88, the cylinder body of which is arranged on the second fixing plate 87 and parallel to the second slide rail 8, and the piston rod of which is connected to the second fixing plate 87;
A limiting block 89, which is convexly arranged at the middle part of one side of the front surface of the first fixing plate 83 and corresponds to the U-shaped opening of the second fixing plate 87;
a clamping member 9 provided on an upper portion of one side surface of the second fixing plate 87 near the center of the support beam 72;
a positioning pin 10 provided at a lower portion of one side surface of the second fixing plate 87 near the center of the support beam 72;
The controller and the operation panel 12 are arranged behind the supporting beam, and the lifting cylinder, the rotating cylinder, the curved track lifting adjusting cylinder, the first cylinder and the second cylinder are respectively and electrically connected with the controller.
Preferably, the lifting buffer limiting assembly 11 further comprises:
A buffer rod 111 having upper and lower stoppers 112 and 113 respectively inserted therein, the upper and lower stoppers 112 and 113 being respectively connected to upper and lower portions of the outer side surface of the fixing sleeve 41; the upper end of the buffer rod 111 passes through the support plate 43, the lower end of the buffer rod is connected with the fixing seat 5, a buffer spring 114 is sleeved on the upper part of the buffer rod 111, the upper end of the buffer spring 114 abuts against the bottom surface of the support plate 43, and the lower end of the buffer spring 114 corresponds to the upper limiting part 112;
The limiting block 115 is arranged in the middle of the outer side surface of the sleeve type telescopic joint 4 fixing sleeve 41;
The limiting cylinder 116 is disposed in the middle of the buffer rod 111 through a bracket 117, the end of the piston rod corresponds to the limiting block 115, two ends of the bracket 117 are disposed through two guide rods 118, the upper ends of the two guide rods 118 are disposed through the supporting plate 43, and the lower ends of the guide rods 118 are connected to the lower end surface of the fixing sleeve 41 through a second connecting plate 119.
Referring to fig. 5, a swivel lock apparatus 16 is also included, comprising:
A rotary locking cylinder 161, the cylinder body of which is vertically arranged at one side of the fixed seat 5 through a mounting plate;
A locking pin 162 provided at an end of a piston rod of the swing locking cylinder 161;
The locking block 163 is disposed under the connecting ring 713 of the movable boom 71 via the mounting ring 164, and the locking block 163 is provided with a locking pin hole into which the locking pin 162 is inserted.
Referring to fig. 8, the curved track linkage 7 further includes a curved track lifting and limiting device 17, which includes:
The lifting limiting frame 171 is arranged on one side of the outer side surface of the fixed frame 74 through a bracket and is a limiting ring;
The lifting limiting rod 172 is arranged on the lifting limiting frame 171 in a penetrating way, and the lower end of the lifting limiting rod 172 is connected with the two curved rails 77 and 77'.
Referring to fig. 4 and 6, the device further includes a rotation limiting member 19 disposed on an upper end surface of the outer support ring 152 of the rotation support 15, and corresponding to the moving seat 3.
Claims (5)
1. A curved track linkage instrument board mounting manipulator is characterized by comprising,
The movable base is a rectangular frame, and walking wheels capable of being arranged on the movable track in a sliding way are convexly arranged on two sides of the top surface of the movable base; the two side frames of the rectangular frame of the movable base in the length direction are of a track structure, so that an X-direction track is formed;
The movable base is a rectangular frame, and X-direction travelling wheels which can be slidably arranged on the X-direction tracks are convexly arranged on two sides of the top surface of the movable base; the two side frames of the rectangular frame of the movable base in the length direction are of a track structure, so that Y-direction tracks are formed;
The movable seat is a frame, and Y-direction travelling wheels which can be slidably arranged on the Y-direction tracks are convexly arranged on two sides of the top surface of the movable seat;
the cylinder body of the Y-direction driving cylinder is arranged along the outer side surface of one side frame of the movable seat, and the end part of a piston rod of the Y-direction driving cylinder is connected with the end part of one side frame of the movable base above the movable seat through a connecting piece;
The sleeve type telescopic joint comprises a fixed sleeve and a movable sleeve movably arranged in the fixed sleeve, and two sides of the fixed sleeve are vertically arranged in a frame of the movable seat through two supporting plates;
the fixed seat is arranged at the lower end of the movable sleeve of the sleeve type telescopic joint;
The cylinder bodies of the two lifting cylinders are vertically arranged at two sides of the sleeve type telescopic joint fixing sleeve, and the end parts of the piston rods of the two lifting cylinders are connected to two sides of the fixing seat through first connecting plates;
The rotary support consists of an inner support ring and an outer support ring, and the inner support ring and the outer support ring can rotate relatively; the fixed seat is connected with the inner support ring of the rotary support;
A track linkage comprising:
The top surface of the end part of one side edge of the movable suspension arm, which is positioned above the movable suspension arm, is connected with the outer support ring of the rotary support through a connecting ring, so that the movable suspension arm and the fixed seat realize rotation, and the other side edge of the movable suspension arm is bent downwards;
one end of the supporting beam is bent to form a connecting part, and the end part of the connecting part is movably connected to the lower end of the other side edge of the movable suspension arm through a rotating shaft;
the cylinder body of the rotary cylinder is connected below the bending part of the movable suspension arm, and the end part of the piston rod of the rotary cylinder is connected with the middle part of the supporting beam connecting part;
The fixed frame is vertically arranged on one side of the movable base;
The two curved rail lifting slide rails and the lifting slide blocks are respectively arranged on two sides of the outer side surface of the fixed frame;
the two curved rail fixing bottom plates are respectively arranged on lifting sliding blocks on the two curved rail lifting sliding rails;
the two curved rails are respectively arranged on the upper and lower parts of the two curved rail fixing bottom plates in parallel up and down;
the cylinder body of the curved rail lifting adjusting cylinder is vertically arranged in the middle of the fixed frame, and the piston rod end of the curved rail lifting adjusting cylinder is connected with the curved rail;
the upper ends of the two support rods are respectively provided with a roller wheel, the two rollers are respectively arranged on the two curved rails in a sliding way, and the lower ends of the two support rods are respectively connected to one side edge of the movable suspension arm and the connecting part of the support beam;
Two instrument board clamping components set up respectively in a supporting beam both sides, instrument board clamping components includes:
the base is arranged on the front side surface of the supporting beam and consists of a substrate and supporting plates vertically connected to the two sides of the back surface of the substrate; the support plate is connected with the support beam, and the substrate is parallel to the front side surface of the support beam; a through hole is arranged in the center of the upper part of the substrate;
The two first sliding rails are arranged on two sides of the front surface of the substrate in parallel; a first sliding block is arranged on the first sliding rail;
The first fixing plate is arranged on the upper end face of the first sliding block, a connecting rod is arranged in the center of the upper part of the back of the first fixing plate in a protruding mode, and the other end of the connecting rod penetrates through a through hole in the center of the upper part of the base plate;
The cylinder body of the first cylinder is arranged at the lower part of the center of the back surface of the base plate, and the piston rod of the first cylinder is vertical to the connecting rod penetrating through the base plate and is connected with the end part of the connecting rod;
The two second sliding rails are arranged in parallel on the upper and lower sides of the front surface of the first fixed plate; a second sliding block is arranged on the horizontal sliding rail;
The second fixing plate is U-shaped and is arranged on the upper end surfaces of the second sliding blocks on the two second sliding rails, and a fixing part is convexly arranged on one side of the second fixing plate, which is close to the center of the supporting beam;
The cylinder body of the second cylinder is arranged on the second fixed plate and is parallel to the second sliding rail, and the piston rod of the second cylinder is connected with the second fixed plate;
the limiting block is convexly arranged at the middle part of one side of the front surface of the first fixing plate and corresponds to the U-shaped opening of the second fixing plate;
The clamping piece is arranged at the upper part of one side surface of the second fixing plate fixing part, which is close to the center of the supporting beam;
the positioning pin is arranged at the lower part of one side surface of the second fixing plate fixing part, which is close to the center of the supporting beam;
the controller and the operation panel are arranged behind the supporting beam, and the lifting cylinder, the rotating cylinder, the curved track lifting adjusting cylinder, the first cylinder and the second cylinder are respectively and electrically connected with the controller.
2. The track linkage instrument panel mounting manipulator of claim 1, further comprising a lift buffer stop assembly comprising:
The buffer rod is respectively penetrated with an upper limit part and a lower limit part from top to bottom, and the upper limit part and the lower limit part are respectively connected with the upper part and the lower part of the outer side surface of the fixed sleeve; the upper end of the buffer rod passes through the supporting plate, the lower end of the buffer rod is connected with the fixed seat, the upper part of the buffer rod is sleeved with a buffer spring, the upper end of the buffer spring is propped against the bottom surface of the supporting plate, and the lower end of the buffer spring corresponds to the upper limiting part;
The limiting block is arranged in the middle of the outer side surface of the sleeve type telescopic joint fixing sleeve;
The limiting cylinder is arranged in the middle of the buffer rod through a support, the end part of a piston rod of the limiting cylinder corresponds to the limiting block, two ends of the support penetrate through two guide rods, the upper ends of the two guide rods penetrate through the supporting plate, and the lower ends of the guide rods are connected to the lower end face of the fixing sleeve through a second connecting plate.
3. The track linkage instrument panel mounting manipulator of claim 1, further comprising a swivel lock apparatus comprising: the cylinder body of the rotary locking cylinder is vertically arranged on one side of the fixed seat through the mounting plate; the locking pin is arranged at the end part of the piston rod of the rotary locking cylinder; the locking block is arranged below the movable boom connecting ring through the mounting ring, and a locking pin hole for inserting a locking pin is formed in the locking block.
4. The track linkage instrument panel mounting manipulator of claim 1, wherein the track linkage mechanism further comprises a track lifting stop device comprising: the lifting limiting frame is arranged on one side of the outer side surface of the fixed frame through a support frame and is a limiting ring; and the lifting limiting rod is arranged on the lifting limiting frame in a penetrating way, and the lower end of the lifting limiting rod is connected with the two curved rails.
5. The flexure linkage instrument panel mounting manipulator of claim 1, further comprising a swivel stop member disposed on an upper end surface of the outer support ring of the swivel support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910435378.7A CN110103204B (en) | 2019-05-23 | 2019-05-23 | Curved rail linkage instrument board installation manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| WO2002051694A1 (en) * | 2000-12-23 | 2002-07-04 | Thyssenkrupp Technologies Ag | Device for connecting support pipes and modular gripper system which uses this device |
| KR101688890B1 (en) * | 2015-10-02 | 2017-01-02 | 유도스타자동화 주식회사 | Universal gripper for pick-up vehicle bumper |
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
| CN207223986U (en) * | 2017-07-14 | 2018-04-13 | 上海永乾机电有限公司 | One kind moves horizontally control machinery hand |
| CN108724154A (en) * | 2018-07-06 | 2018-11-02 | 芜湖博康汽车饰件有限公司 | A kind of more clamping jaw inside gadget manipulators |
| CN210189778U (en) * | 2019-05-23 | 2020-03-27 | 上海永乾机电有限公司 | Curved rail linkage instrument board installation manipulator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2684971C (en) * | 2007-05-01 | 2016-07-26 | Queen's University At Kingston | Robotic exoskeleton for limb movement |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002051694A1 (en) * | 2000-12-23 | 2002-07-04 | Thyssenkrupp Technologies Ag | Device for connecting support pipes and modular gripper system which uses this device |
| KR101688890B1 (en) * | 2015-10-02 | 2017-01-02 | 유도스타자동화 주식회사 | Universal gripper for pick-up vehicle bumper |
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
| CN207223986U (en) * | 2017-07-14 | 2018-04-13 | 上海永乾机电有限公司 | One kind moves horizontally control machinery hand |
| CN108724154A (en) * | 2018-07-06 | 2018-11-02 | 芜湖博康汽车饰件有限公司 | A kind of more clamping jaw inside gadget manipulators |
| CN210189778U (en) * | 2019-05-23 | 2020-03-27 | 上海永乾机电有限公司 | Curved rail linkage instrument board installation manipulator |
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| CN110103204A (en) | 2019-08-09 |
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