CN114274127A - A track manipulator for automobile manufacturing - Google Patents

Abstract

The invention discloses a track manipulator for automobile manufacturing, which comprises a base, a driving unit and a clamping unit, wherein the base is provided with a clamping groove; base: the number of the guide rails is two, arc guide rail pipes are longitudinally and symmetrically distributed between the upper surfaces of the two bases, a sliding seat is connected between the two arc guide rail pipes in a sliding mode through a sliding block, and a multi-shaft mechanical arm is arranged on the lower surface of the sliding seat; a drive unit: the rack device comprises an arc rack plate, a first motor and a gear, wherein the arc rack plate is arranged between the upper surfaces of two bases, the rear end of the upper surface of a sliding seat is provided with the first motor through a mounting seat, the front end of an output shaft of the first motor is provided with the gear, and the gear is meshed with the arc rack plate; a clamping unit: the lower end of the multi-shaft mechanical arm is provided with a front side; wherein: still include the PLC controller, the PLC controller sets up in the upper surface front end of the base on right side, this a track manipulator for automobile manufacturing, greatly increased track manipulator's application range, improved the suitability of manipulator.

Description

An orbital manipulator for automobile manufacturing

technical field

The invention relates to the technical field of automobile manufacturing, in particular to a rail manipulator for automobile manufacturing.

Background technique

With the continuous improvement of the quality of life, automobiles, as emerging products, have gradually become the travel choice of the majority of users. Therefore, manipulators are usually used instead of manual operations in the production of automobiles. A kind of special auto parts manufacturing manipulator, including workbench, manipulator rotating shaft, manipulator fixed horizontal axis, manipulator movable sleeve cylinder, lighting board, manipulator, maintenance mechanism, fixing mechanism and protective mechanism, but this kind of manipulator is often It is fixed in one position for use, which results in the use of the orbital manipulator is not large enough, the applicability is not good, it is cumbersome to quickly adjust different positions, the work efficiency is low, and the stability of the gripping object is not good. To this end, we propose an orbital manipulator for automobile manufacturing.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the existing defects and provide a rail manipulator for automobile manufacturing, which greatly increases the use range of the rail manipulator and can effectively solve the problems in the background technology.

In order to achieve the above object, the present invention provides the following technical solutions: a rail manipulator for automobile manufacturing, comprising a base, a driving unit and a clamping unit;

Base: the number is two. There are longitudinally symmetrical arc guide tubes between the upper surfaces of the two bases. A sliding seat is slidably connected between the two arc guide tubes through a slider. The lower surface of the sliding seat Equipped with a multi-axis robotic arm;

Drive unit: including an arc-shaped rack plate, a motor 1 and a gear, the arc-shaped rack plate is arranged between the upper surfaces of the two bases, and the rear end of the upper surface of the sliding seat is provided with a motor 1 and a motor 1 through the mounting seat. The front end of the output shaft is provided with a gear, and the gear is meshed with the arc-shaped rack plate;

Clamping unit: set on the front side of the lower end of the multi-axis manipulator;

Wherein: it also includes a PLC controller, the PLC controller is arranged at the front end of the upper surface of the base on the right side, the input end of the PLC controller is electrically connected to the external power supply, and the input ends of the multi-axis robotic arm and the motor one are electrically connected to the PLC control The output end of the device greatly increases the use range of the orbital manipulator, improves the applicability of the manipulator, meets the needs of rapid adjustment and use in different positions, improves the work efficiency and improves the stability of the gripping object.

Further, the clamping unit includes a protective box, a movable splint and a drive assembly, the protective box is arranged on the front side of the lower end of the multi-axis mechanical arm, and the front surface of the protective box is slidably connected with laterally symmetrically distributed movable splints through the chute. , the rear end of the movable splint penetrates the rear wall of the inner cavity of the protective box and extends to the interior of the protective box. The interior of the protective box is provided with driving components, and the driving components are respectively connected with the rear end surface of the corresponding movable splint on the same side, which is convenient for the next process. proceeded smoothly.

Further, the drive assembly includes a second motor, a two-way worm, a worm wheel, a strip, a connecting column and a connecting plate, the second motor is arranged on the left surface of the protective box through a fixing seat, and the output shaft of the second motor penetrates the inner surface of the protective box. The left wall of the cavity is provided with a two-way worm at the end, the right end of the two-way worm is rotatably connected to the right wall of the inner cavity of the protective box through the rotating shaft, and the rear wall of the inner cavity of the protective box is connected by the rotating shaft. The two-way worm is meshed and connected, the front end surface of the worm gear is provided with strips, the outer ends of the front surface of the strips are provided with connecting columns, and the rear end surface of the movable splint is provided with connecting plates. The rear surface of the connecting plate on the side is correspondingly provided with a rectangular chute for sliding connection, and the input end of the second motor is electrically connected to the output end of the PLC controller, which improves the work efficiency and also improves the stability of the clamping object.

Further, the inner sides of the movable splint are provided with anti-skid pads to increase the frictional force when contacting the workpiece.

Further, the front surface of the movable splint is provided with elastic pieces that are evenly distributed vertically, and the firmness effect when clamping the workpiece is further improved by using its own elastic characteristics.

Further, evenly distributed triangular support seats are arranged at the vertical intersection between the lower surface of the sliding seat and the outer arc surface of the multi-axis manipulator, and the multi-axis manipulator can be fixedly supported by the stable triangular feature.

Further, the lower surface of the base is provided with symmetrically distributed installation holes, and the staff can fix the base and its subsidiary mechanism in the designated work area through the installation holes, which makes the installation more convenient for the staff.

Compared with the prior art, the beneficial effects of the present invention are: the rail manipulator used for automobile manufacturing has the following advantages:

1. First, the staff installs the base and its affiliates in the designated working area through the installation hole, and then controls the motor 1 through the PLC controller. The rotation of the output shaft of the motor 1 drives the gear to rotate. Since the gear is meshed with the arc-shaped rack plate , and the arc-shaped rack plate is fixed, when the gear rotates, it drives the sliding seat and its auxiliary mechanism to move along the central axis of the arc-shaped guide rail tube, thereby greatly increasing the use range of the orbital manipulator and improving the applicability of the manipulator. It meets the needs of rapid adjustment and use in different positions.

2. After moving to the designated position, the operation of the second motor is regulated by the PLC controller. The rotation of the output shaft of the second motor drives the two-way worm to rotate. Since the worm wheel is meshed with the two-way worm, and the two ends of the two-way worm are worm patterns in opposite directions, when the two-way worm is engaged with the two-way worm. When the worm rotates, it drives the four worm gears to rotate synchronously. At this time, the rotation directions of the vertically adjacent worm gears and the horizontally adjacent worm gears rotate in the opposite direction synchronously, and the rotation of the worm gear drives the corresponding strips and connecting columns to rotate synchronously, and Since the vertically adjacent connecting columns are respectively connected with the rectangular sliding holes on the back surface of the connecting plates corresponding to the same side, the connecting columns are connected by sliding and rotating, and the connecting columns continuously rotate around the corresponding worm gear circle center with the drive of the strips, so that the connecting columns push against the horizontal The two adjacent connecting plates move synchronously close to each other, so as to clamp the workpiece, which improves the work efficiency and improves the stability of the clamping object, which is convenient for the smooth progress of the next process. The friction force when contacting, and the spring piece further enhances the firm effect when clamping the workpiece by using its own elastic characteristics.

3. The setting of the triangular support seat uses the stable characteristics of the triangle to play a fixed support role for the multi-axis manipulator.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the structural schematic diagram of the clamping unit of the present invention;

FIG. 3 is an enlarged view of A in FIG. 1 .

In the picture: 1 base, 2 arc guide tube, 3 sliding seat, 4 multi-axis manipulator, 5 drive unit, 51 arc rack plate, 52 motor 1, 53 gear, 6 clamping unit, 61 protective box, 62 Movable splint, 63 drive components, 631 motor two, 632 two-way worm, 633 worm gear, 634 strip, 635 connecting column, 636 connecting plate, 7PLC controller, 8 anti-skid pads, 9 shrapnel, 10 triangle support seat, 11 mounting holes.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Please refer to Figures 1-3, the present invention provides the following technical solutions:

Embodiment 1: A rail manipulator for automobile manufacturing, comprising a base 1, a driving unit 5 and a clamping unit 6;

Base 1: The base 1 provides installation and support places for its affiliates, the number of which is two, and the upper surfaces of the two bases 1 are provided with longitudinally symmetrically distributed arc guide tubes 2, and the arc guide tubes 2 play the role of For the function of sliding guide support, a sliding seat 3 is slidably connected between the two arc-shaped guide rail tubes 2 through a sliding block. The sliding seat 3 plays the role of fixed installation. The axis manipulator 4 plays the role of multi-angle movement;

Drive unit 5: including arc-shaped rack plate 51, motor one 52 and gear 53, arc-shaped rack plate 51 is arranged between the upper surfaces of the two bases 1, and the rear end of the upper surface of the sliding seat 3 is provided with a mounting seat. The motor one 52, the front end of the output shaft of the motor one 52 is provided with a gear 53, and the gear 53 is meshed with the arc-shaped rack plate 51;

Clamping unit 6: arranged on the front side of the lower end of the multi-axis mechanical arm 4;

Wherein: also includes a PLC controller 7, the PLC controller 7 is arranged at the front end of the upper surface of the base 1 on the right side, the input end of the PLC controller 7 is electrically connected to an external power supply, and the input ends of the multi-axis robotic arm 4 and the motor one 52 are both The output end of the PLC controller 7 is electrically connected, and the lower surface of the base 1 is provided with symmetrically distributed mounting holes 11 .

Specifically, in this setting, firstly, the staff fixedly installs the base 1 and its subsidiary mechanism in the designated working area through the installation hole 11, and then controls the motor one 52 through the PLC controller 7, and the output shaft of the motor one 52 rotates to drive the gear 53 to rotate, Since the gear 53 is meshed with the arc-shaped rack plate 51 and the arc-shaped rack plate 51 is fixed, when the gear 53 rotates, it drives the sliding seat 3 and its auxiliary mechanism to move along the central axis of the arc-shaped guide tube 2 , thereby greatly increasing the use range of the orbital manipulator, improving the applicability of the manipulator, and meeting the needs of rapid adjustment in different positions.

Embodiment 2:

The difference between this embodiment and the first embodiment is that:

In this embodiment, the clamping unit 6 includes a protective box 61 , a movable splint 62 and a drive assembly 63 . The protective box 61 is arranged on the front side of the lower end of the multi-axis manipulator 4 , and the front surface of the protective box 61 is slidably connected with a transverse The movable splint 62 is symmetrically distributed. The rear end of the movable splint 62 penetrates the rear wall of the inner cavity of the protective box 61 and extends to the interior of the protective box 61. The interior of the protective box 61 is provided with a drive assembly 63. The drive assemblies 63 correspond to the same side respectively. The rear end surface of the movable splint 62 is fixedly connected, and the drive assembly 63 includes a second motor 631, a two-way worm 632, a worm wheel 633, a strip 634, a connecting column 635 and a connecting plate 636, and the second motor 631 is arranged on the left surface of the protective box 61 through the fixing seat. , the output shaft of the second motor 631 penetrates the left wall of the inner cavity of the protective box 61 and is provided with a bidirectional worm 632 at the end. The rear wall surface of the inner cavity is connected with uniformly distributed worm gears 633 through the rotation of the rotating shaft. The worm gears 633 are meshed and connected with the bidirectional worm 632. The column 635 and the rear end surface of the movable splint 62 are all provided with a connecting plate 636, and the vertically adjacent connecting columns 635 are respectively connected to the rectangular chute correspondingly provided on the rear surface of the connecting plate 636 on the same side. Connecting to the output end of the PLC controller 7, the inner side of the movable splint 62 is provided with anti-skid pads 8, and the front surface of the movable splint 62 is provided with elastic pieces 9 evenly distributed vertically.

Specifically, after moving to the designated position, the operation of the second motor 631 is regulated and controlled by the PLC controller 7, and the rotation of the output shaft of the second motor 631 drives the two-way worm 632 to rotate. Both ends of 632 are worm patterns in opposite directions. When the two-way worm 632 rotates, it drives four worm gears 633 to rotate synchronously. At this time, the rotation directions of the vertically adjacent worm gears 633 and the horizontally adjacent worm gears 633 are synchronously rotated in the opposite direction. The rotation of 633 drives the corresponding strip 634 and the connecting column 635 to rotate synchronously, and since the vertically adjacent connecting columns 635 are respectively connected with the rectangular sliding holes on the rear surface of the corresponding connecting plate 636 on the same side, the connecting column 635 is connected by sliding and rotating. With the transmission of the strip 634, it continuously rotates around the center of the corresponding worm gear 633, so that the connecting column 635 pushes against the two horizontally adjacent connecting plates 636 and moves close to each other synchronously, so as to clamp the workpiece, improve the work efficiency, and facilitate the The next process is carried out smoothly, and the friction force when contacting the workpiece is increased by the anti-skid pad 8, and the elastic sheet 9 uses its own elastic characteristics to further enhance the firm effect when clamping the workpiece.

Embodiment three:

The difference between this embodiment and the first embodiment is that:

In this embodiment, evenly distributed triangular support seats 10 are arranged at the vertical intersection of the lower surface of the sliding seat 3 and the outer arc surface of the multi-axis mechanical arm 4 .

Specifically, in this way, the setting of the triangular support base 10 utilizes the stable characteristic of the triangle to play a fixed supporting role for the multi-axis robotic arm 4 .

The working principle of a rail manipulator for automobile manufacturing provided by the present invention is as follows: firstly, the staff fixedly install the base 1 and its subsidiary mechanism in the designated working area through the installation hole 11, and then control the motor-52 through the PLC controller 7 , the rotation of the output shaft of the motor one 52 drives the gear 53 to rotate. Since the gear 53 is meshed with the arc-shaped rack plate 51, and the arc-shaped rack plate 51 is fixed, when the gear 53 rotates, it drives the sliding seat 3 and its auxiliary mechanisms. It moves along the central axis of the arc guide tube 2, which greatly increases the use range of the orbital manipulator, improves the applicability of the manipulator, and meets the needs of rapid adjustment in different positions. After moving to the designated position, it is controlled by PLC. The device 7 regulates the operation of the second motor 631, and the rotation of the output shaft of the motor two 631 drives the two-way worm 632 to rotate. Since the worm wheel 633 is meshed with the two-way worm 632, and the two ends of the two-way worm 632 have worm patterns in opposite directions, when the two-way worm 632 rotates, the two-way worm 632 rotates. The four worm gears 633 are driven to rotate synchronously. At this time, the rotation directions of the vertically adjacent worm gears 633 and the horizontally adjacent worm gears 633 are synchronously rotated in opposite directions, and the rotation of the worm gears 633 drives the corresponding strips 634 and the connecting columns 635 to rotate synchronously. , and because the vertically adjacent connecting columns 635 are respectively connected with the rectangular sliding holes on the rear surface of the connecting plates 636 corresponding to the same side, the connecting columns 635 are continuously rotated around the center of the corresponding worm wheel 633 with the transmission of the strips 634, thereby The workpiece is clamped by the connecting column 635 against the two horizontally adjacent connecting plates 636 and moved close to each other synchronously, which improves the work efficiency and also improves the stability of the clamped object, which facilitates the smooth operation of the next process. And the friction force when contacting the workpiece is increased through the anti-skid pad 8, and the elastic piece 9 further enhances the firm effect when clamping the workpiece by using its own elastic characteristics. The arm 4 acts as a fixed support.

It is worth noting that the core chip of the PLC controller 7 disclosed in this embodiment is a PLC single-chip microcomputer, and the specific model is S7-200. Free configuration, multi-axis manipulator 4 can choose the manipulator model GC-4FMA4V5/FS3-SMP4S4, motor one 52 can choose the motor model 180M-21520C5-E, motor two 631 can choose the model 130M-09520C5-E The motor, the PLC controller 7 controls the multi-axis mechanical arm 4, the motor one 52 and the motor two 631 to work by using the methods commonly used in the prior art.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (7)

1. A track manipulator for automobile manufacturing, its characterized in that: comprises a base (1), a driving unit (5) and a clamping unit (6);

base (1): the number of the guide rails is two, arc guide rail pipes (2) are longitudinally and symmetrically distributed between the upper surfaces of the two bases (1), a sliding seat (3) is connected between the two arc guide rail pipes (2) in a sliding mode through a sliding block, and a multi-shaft mechanical arm (4) is arranged on the lower surface of the sliding seat (3);

drive unit (5): the rack device comprises arc rack plates (51), a first motor (52) and gears (53), wherein the arc rack plates (51) are arranged between the upper surfaces of two bases (1), the rear end of the upper surface of a sliding seat (3) is provided with the first motor (52) through a mounting seat, the front end of an output shaft of the first motor (52) is provided with the gears (53), and the gears (53) are meshed with the arc rack plates (51);

clamping unit (6): is arranged on the front side of the lower end of the multi-axis mechanical arm (4);

wherein: still include PLC controller (7), PLC controller (7) set up in the upper surface front end of base (1) on right side, and external power source is connected to the input electricity of PLC controller (7), and the output of PLC controller (7) is all connected to the input electricity of multiaxis arm (4) and motor (52).

2. The orbital robot for automobile manufacturing according to claim 1, characterized in that: the clamping unit (6) comprises a protection box (61), a movable clamping plate (62) and a driving assembly (63), the protection box (61) is arranged on the front side of the lower end of the multi-axis mechanical arm (4), the front surface of the protection box (61) is connected with the movable clamping plate (62) which is transversely and symmetrically distributed through a sliding groove in a sliding mode, the rear end of the movable clamping plate (62) penetrates through the inner cavity rear wall face of the protection box (61) and extends to the inside of the protection box (61), the driving assembly (63) is arranged inside the protection box (61), and the driving assembly (63) is fixedly connected with the rear end face of the movable clamping plate (62) corresponding to the same side respectively.

3. The orbital robot for automobile manufacturing according to claim 2, characterized in that: the driving assembly (63) comprises a second motor (631), a two-way worm (632), a worm wheel (633), a slat (634), a connecting column (635) and a connecting plate (636), the second motor (631) is arranged on the left surface of the protection box (61) through a fixed seat, an output shaft of the second motor (631) penetrates through the left wall surface of an inner cavity of the protection box (61) and is provided with the two-way worm (632) at the end, the right end of the two-way worm (632) is rotatably connected with the right wall surface of the inner cavity of the protection box (61) through a rotating shaft, the rear wall surface of the inner cavity of the protection box (61) is rotatably connected with the worm wheel (633) which is uniformly distributed through the rotating shaft, the worm wheel (633) is respectively meshed with the two-way worm (632), the slat (634) is respectively arranged on the front end surface of the worm wheel (633), the connecting column (636) is respectively arranged at the end of the outer side of the front surface 635 of the slat (634), and the connecting plate (62) is respectively arranged on the rear end surface of the connecting plate, the vertical adjacent connecting column (635) is respectively connected with the rectangular sliding groove in sliding mode, which is correspondingly arranged on the rear surface of the connecting plate (636) on the same side, and the input end of the second motor (631) is electrically connected with the output end of the PLC (7).

4. The orbital robot for automobile manufacturing according to claim 2, characterized in that: the inner side surfaces of the movable clamping plates (62) are provided with anti-slip pads (8).

5. The orbital robot for automobile manufacturing according to claim 2, characterized in that: the front surfaces of the movable clamping plates (62) are provided with elastic sheets (9) which are vertically and uniformly distributed.

6. The orbital robot for automobile manufacturing according to claim 1, characterized in that: and triangular supporting seats (10) which are uniformly distributed are arranged at the vertical joint of the lower surface of the sliding seat (3) and the outer arc surface of the multi-axis mechanical arm (4).

7. The orbital robot for automobile manufacturing according to claim 1, characterized in that: the lower surface of the base (1) is provided with symmetrically distributed mounting holes (11).

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