CN113385909A - Manipulator for assembling V-shaped thrust rod - Google Patents
Manipulator for assembling V-shaped thrust rod Download PDFInfo
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- CN113385909A CN113385909A CN202110628343.2A CN202110628343A CN113385909A CN 113385909 A CN113385909 A CN 113385909A CN 202110628343 A CN202110628343 A CN 202110628343A CN 113385909 A CN113385909 A CN 113385909A
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- thrust rod
- shaped thrust
- grabbing
- gripping
- assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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Abstract
The invention relates to the technical field of automobile assembly, and discloses a manipulator for assembling a V-shaped thrust rod, which comprises a grabbing device, a turning device and a control device, wherein the grabbing device is used for grabbing the V-shaped thrust rod; the overturning device is connected with the grabbing device and is used for overturning the grabbing device; the control device is connected with the grabbing device and used for controlling the grabbing device. The manipulator provided by the invention has the advantages that the existing material rack form of vertical hanging V-shaped pushing is not changed, the material loading convenience and high delivery efficiency are maintained, the V-shaped thrust rod is vertically grabbed under the condition that the material rack has high space utilization rate, then the posture is automatically adjusted in the moving process, the V-shaped thrust rod is adjusted to be a horizontal posture required by assembly, the manual hoisting posture adjustment is completely replaced, the assembly efficiency is improved, and the labor intensity of workers is greatly reduced.
Description
Technical Field
The invention relates to the technical field of automobile assembly, in particular to a manipulator for assembling a V-shaped thrust rod.
Background
In the prior art, the material distribution postures of the V-shaped thrust rod (hereinafter referred to as V push) of a heavy truck are divided into two types, one type is horizontal placement and the other type is vertical suspension, but the final assembly orientation is horizontal posture no matter what material distribution posture is adopted. The two ingredient postures respectively have advantages and disadvantages: the material rack is horizontally placed, has the advantages of good material taking posture during hoisting, no need of posture adjustment, better man-machine operability and lower material rack space utilization rate, namely, the quantity of stored materials in a unit volume space is less, the quantity of delivered materials in unit time is less, the V pushing efficiency from the packaging posture to the material rack is lower, and the operation convenience is poor. Vertical hanging is just in time placed with the level opposite, and the advantage lies in, and the material loading is simple and convenient quick, and work or material rest space utilization is high, and the unit interval distribution material number is more, and logistics efficiency is high, and the shortcoming lies in getting the material gesture poor, need carry out V after getting the material and push away the gesture adjustment, and hoist and mount inefficiency, man-machine evaluation is poor. I department adopts the form that the second is vertical to be hung at present, and current assembly methods assembly efficiency is low, and the material is taken and the gesture adjustment is manual operation, and intensity of labour is big, belongs to the difficult operation.
For example, chinese patent CN203602226U discloses a V-shaped thrust rod assembly hanger, which comprises two connecting plates with equal length, the connecting plates are connected by screws, one end of the connecting plate is provided with a straight plate, and the straight plate is provided with a hook capable of hooking the column tube of the thrust rod; one of the straight plates is also connected with a supporting rod, the supporting rod is horizontally arranged, and the end part of the supporting rod is bent downwards to form a hook shape and is used for hooking the V-shaped end; the upper end of the connecting plate is connected with a lifting device. The V-shaped thrust rod is assembled by adopting the lifting appliance designed by the utility model, the V-shaped thrust rod can be ensured to horizontally fall into the space of the frame and be close to the left upper bracket and the right upper bracket on the frame, the problem that the V-shaped thrust rod can not be assembled when the V-shaped thrust rod inclines due to the fact that the V-shaped thrust rod is manually lifted and is difficult to keep a horizontal state is solved; the pipe hook of the lifting appliance can rotate around the middle screw rod of the connecting plate, can ensure that V-shaped thrust rods with different angles and different lengths are lifted, and has the characteristics of simple structure and convenient and quick operation. But it can not carry out accurate centre gripping and location to V, and the assembly precision is low.
Disclosure of Invention
The invention aims to provide a manipulator for assembling a V-shaped thrust rod, which is simple and compact in structure and convenient to feed, improves the assembling efficiency and accuracy, and also reduces the labor cost and labor intensity.
In order to solve the technical problem, the invention provides a manipulator for assembling a V-shaped thrust rod, which comprises a grabbing device, a turning device and a control device, wherein the grabbing device is used for grabbing the V-shaped thrust rod; the overturning device is connected with the grabbing device and is used for overturning the grabbing device; the control device is connected with the grabbing device and used for controlling the grabbing device.
Preferably, the gripping device comprises a gripper for gripping the V-shaped thrust rod and a first cylinder for driving the gripper to be tightened or loosened, and a telescopic rod of the first cylinder is connected with the gripper.
Preferably, the gripper comprises a first gripping block and a second gripping block, the second gripping block is rotatably connected with the first gripping block, and the second gripping block is connected with an expansion rod of the first cylinder; the telescopic rod of the first air cylinder extends out to push the second grabbing block to rotate towards the first grabbing block, and grabbing of the V-shaped thrust rod is achieved.
Preferably, the number of the hand grips is two, and the two hand grips are arranged oppositely.
Preferably, the turnover device comprises a support frame which is rotatably connected with the gripping device and a second cylinder which drives the gripping device to rotate, the second cylinder is mounted on the support frame, and a telescopic rod of the second cylinder is connected with the gripping device; and the telescopic rod of the second cylinder contracts to drive the gripping device to rotate, so that the gripping device is turned over.
Preferably, the control device comprises a first reversing valve for controlling the tightness of the gripping device, a first speed regulating valve for ensuring the stability of the gripping device, a second reversing valve for controlling the turnover device to turn over and a second speed regulating valve for ensuring the stability of the turnover device.
Preferably, the reversing valve is a two-position five-way selective manual valve.
Preferably, the control device further comprises a gas storage tank connected with an external gas source and a filter for filtering the gas.
The invention has the following beneficial effects:
the manipulator provided by the invention has the advantages that the existing material rack form of vertical hanging V-shaped pushing is not changed, the material loading convenience and high delivery efficiency are maintained, the V-shaped thrust rod is vertically grabbed under the condition that the material rack has high space utilization rate, then the posture is adjusted in the moving process, the V-shaped thrust rod is adjusted to be the horizontal posture required by assembly by using the turnover device, the manual hoisting posture adjustment is completely replaced, the assembly efficiency is improved, and the labor intensity of workers is greatly reduced.
Drawings
FIG. 1 is a schematic structural diagram of a robot for assembling V-shaped thrust rods according to an embodiment of the present invention;
FIG. 2 is a schematic view of another angle structure of a robot for assembling V-shaped thrust rods according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a robot vertical grip for V-shaped thrust bar assembly provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a robot horizontal grab for V-shaped thrust bar assembly provided by an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a grasping device according to an embodiment of the present invention;
fig. 6 is a schematic gas circuit diagram of the control device according to the embodiment of the present invention.
Reference numerals:
1. a gripping device; 11. a gripper; 111. a first grabbing block; 112. a second grabbing block; 12. a first cylinder; 13. a mounting frame;
2. a turning device; 21. a support frame; 22. a second cylinder;
3. a control device; 31. a first direction changing valve; 32. a first speed regulating valve; 33. a second directional control valve; 34. a second speed regulating valve; 35. a first check valve; 36. a second check valve; 37. a gas storage tank; 38. a filter; 39. an external gas source;
4. and V pushing.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Referring to fig. 1 to 4, a manipulator for assembling a V-shaped thrust rod according to a preferred embodiment of the present invention includes a gripping device 1, a turning device 2, and a control device 3, where the gripping device 1 is used for gripping the V-shaped thrust rod; the overturning device 2 is connected with the grabbing device 1 and is used for overturning the grabbing device 1; the control device 3 is connected with the gripping device 1 and is used for controlling the gripping device 1.
Based on the scheme, the working principle of the mechanical arm for assembling the V-shaped thrust rod is as follows: during grabbing, the grabbing device 1 of the manipulator is ensured to be in a vertical state, the manipulator is moved, the manipulator is pushed into the corresponding position of an external tool, the manipulator is clamped into two arms of the V push 4, then the grabbing device 1 clamps the two arms of the V push 4, the manipulator is moved, the manipulator drives the V push 4 to move out of the material rack, and grabbing operation of the V push 4 is completed; when turning over, the turning device 2 is operated, and the whole gripping device 1 and the V-shaped push device 4 are turned over from the vertical state to the horizontal state together.
Referring to fig. 5, in some embodiments of the present invention, the gripping device 1 includes a gripper 11 for gripping a V-shaped thrust rod and a first cylinder 12 for driving the gripper 11 to be loose, and a telescopic rod of the first cylinder 12 is connected to the gripper 11.
In some embodiments of the present invention, the hand grip 11 comprises a first gripping block 111 and a second gripping block 112, the second gripping block 112 is rotatably connected to the first gripping block 111, and the second gripping block 112 is connected to the telescopic rod of the first cylinder 12; the telescopic rod of the first cylinder 12 extends out to push the second grabbing block 112 to rotate towards the first grabbing block 111, so that the V-shaped thrust rod is grabbed. Specifically, grabbing device 1 is still including mounting bracket 13, first piece 111 and the first cylinder 12 of snatching is fixed on mounting bracket 13, first piece 111 of snatching is L type structure, the second snatch the piece 112 with rotatable coupling is realized through the pivot to a side edge of first piece 111 of snatching, when the telescopic link of first cylinder 12 stretches out, promotes the second and snatchs piece 112, and the second snatchs piece 112 and uses its junction with first piece 111 of snatching as the rotation of axle, realizes that the second snatchs piece 112 and is close to first piece 111 of snatching to the realization snatchs the action. On the contrary, when the telescopic rod of the first cylinder 12 is contracted, the second grabbing block 112 is pulled to rotate away from the first grabbing block 111, so that the grabbing hand 11 is loosened.
In some embodiments of the present invention, two of the hand grips 11 are provided, and the two hand grips 11 are oppositely provided. Specifically, two grippers 11 are adopted, so that two rods of the V pushing device 4 can be grabbed, and the grabbing stability is guaranteed.
In some embodiments of the present invention, the turning device 2 includes a supporting frame 21 rotatably connected to the gripping device 1 and a second cylinder 22 for driving the gripping device 1 to rotate, the second cylinder 22 is mounted on the supporting frame 21, and an expansion rod of the second cylinder 22 is connected to the gripping device 1; the telescopic rod of the second cylinder 22 contracts to drive the gripping device 1 to rotate, so that the gripping device 1 can be turned over. Specifically, support frame 21 is for fixed, and grabbing device 1 through the pivot with support frame 21 rotates and is connected, the tie point of second cylinder 22 and grabbing device 1 is located grabbing device 1 and support frame 21's tie point below, when the telescopic link of second cylinder 22 contracts, can upwards stimulate grabbing device 1, and grabbing device 1 then can use its tie point with support frame 21 as the axle center rotation, realizes changing into horizontal gesture from vertical gesture, otherwise, the telescopic link of second cylinder 22 stretches out, realizes that grabbing device 1 changes into vertical gesture from horizontal gesture.
Referring to fig. 6, in some embodiments of the invention, the control device 3 comprises a first directional control valve 31 for controlling the tightness of the gripping device 1, a first speed control valve 32 for ensuring the stability of the gripping device 1, a second directional control valve 33 for controlling the turning over of the turning device 2, and a second speed control valve 34 for ensuring the stability of the turning device 2. Specifically, the first reversing valve 31 is respectively connected with the rod cavity and the rodless cavity of the first cylinder 12, the first reversing valve 31 controls the telescopic rod of the first cylinder 12 to move by switching the flow direction of the gas path, and the second reversing valve 33 controls the second cylinder 22 in the same way; the first speed regulating valve 32 and the second speed regulating valve 34 eliminate the influence of the load change of the corresponding gas circuit on the flow, so as to ensure the stability and reliability of the stress and the motion process and ensure the stability of the gas circuit.
In some embodiments of the invention, the directional valve is a two-position, five-way, selective type manual valve.
In some embodiments of the invention, the control device 3 further comprises a gas tank 37 connected to an external gas source 39 and a filter 38 for filtering the gas. Specifically, the air tank 37 is connected to the first direction valve 31 and the second direction valve 33, respectively, and the filter 38 is installed on an air path of the air tank 37 connected to the first direction valve 31 and the second direction valve 33. A first check valve 35 is arranged on a connecting air path of the first reversing valve 31 and the rodless cavity of the first cylinder 12, and a second check valve 36 is arranged on a connecting air path of the second reversing valve 33 and the rodless cavity of the second cylinder 22. The check valve ensures that the manipulator can keep the posture when the air circuit is broken or the air pressure is insufficient, and prevents the parts from falling.
In summary, the preferred embodiment of the present invention provides a robot for V-shaped thrust rod assembly, which is compared with the prior art:
the manipulator provided by the invention has the advantages that the existing material rack form of the vertical hanging V-shaped push rod 4 is not changed, the material loading convenience and the high delivery efficiency are maintained, the V-shaped thrust rod is vertically grabbed under the condition that the material rack has a high space utilization rate, then the posture is adjusted in the moving process, the V-shaped thrust rod is adjusted to be the horizontal posture required by assembly by using the turnover device 2, the manual hanging posture adjustment is completely replaced, the assembly efficiency is improved, and the labor intensity of workers is greatly reduced.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (8)
1. A manipulator for V-shaped thrust rod assembly, the manipulator being used for assembly of a thrust rod, characterized in that: the method comprises the following steps:
the grabbing device is used for grabbing the V-shaped thrust rod;
the overturning device is connected with the grabbing device and is used for overturning the grabbing device;
and the control device is connected with the grabbing device and used for controlling the grabbing device.
2. The robot arm for V-shaped thrust rod assembly of claim 1, wherein: the gripping device comprises a gripper for gripping the V-shaped thrust rod and a first air cylinder for driving the gripper to be loose or tight, and a telescopic rod of the first air cylinder is connected with the gripper.
3. The robot arm for V-shaped thrust rod assembly of claim 2, wherein: the gripper comprises a first gripping block and a second gripping block, the second gripping block is rotatably connected with the first gripping block, and the second gripping block is connected with an expansion link of the first cylinder; the telescopic rod of the first air cylinder extends out to push the second grabbing block to rotate towards the first grabbing block, and grabbing of the V-shaped thrust rod is achieved.
4. The robot arm for V-shaped thrust rod assembly of claim 2, wherein: the number of the grippers is two, and the two grippers are arranged oppositely.
5. The robot arm for V-shaped thrust rod assembly of claim 1, wherein: the turnover device comprises a support frame which is rotatably connected with the gripping device and a second air cylinder which drives the gripping device to rotate, the second air cylinder is arranged on the support frame, and a telescopic rod of the second air cylinder is connected with the gripping device; and the telescopic rod of the second cylinder contracts to drive the gripping device to rotate, so that the gripping device is turned over.
6. The robot arm for V-shaped thrust rod assembly of claim 1, wherein: the control device comprises a first reversing valve for controlling the tightness of the gripping device, a first speed regulating valve for ensuring the stability of the gripping device, a second reversing valve for controlling the turnover device to turn over and a second speed regulating valve for ensuring the stability of the turnover device.
7. The robot arm for V-shaped thrust rod assembly of claim 6, wherein: the reversing valve is a two-position five-way selective manual valve.
8. The robot arm for V-shaped thrust rod assembly of claim 6, wherein: the control device also comprises an air storage tank connected with an external air source and a filter for filtering air.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110628343.2A CN113385909A (en) | 2021-06-04 | 2021-06-04 | Manipulator for assembling V-shaped thrust rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110628343.2A CN113385909A (en) | 2021-06-04 | 2021-06-04 | Manipulator for assembling V-shaped thrust rod |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113385909A true CN113385909A (en) | 2021-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110628343.2A Pending CN113385909A (en) | 2021-06-04 | 2021-06-04 | Manipulator for assembling V-shaped thrust rod |
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| CN (1) | CN113385909A (en) |
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| CN210939261U (en) * | 2019-10-28 | 2020-07-07 | 吉林省计算中心 | Automatic grabbing device of manipulator shifts and overturns |
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2021
- 2021-06-04 CN CN202110628343.2A patent/CN113385909A/en active Pending
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Application publication date: 20210914 |