CN115195911B - Movable automobile door assembling manipulator for automobile trial production - Google Patents
Movable automobile door assembling manipulator for automobile trial production Download PDFInfo
- Publication number
- CN115195911B CN115195911B CN202110410692.7A CN202110410692A CN115195911B CN 115195911 B CN115195911 B CN 115195911B CN 202110410692 A CN202110410692 A CN 202110410692A CN 115195911 B CN115195911 B CN 115195911B
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- vehicle door
- bottom frame
- door
- manipulator
- support column
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 10
- 238000009434 installation Methods 0.000 description 4
- 238000012795 verification Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012356 Product development Methods 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
- B62D65/06—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 doors, windows, openable roofs, lids, bonnets, or weather strips or seals therefor
-
- 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
- B62D65/18—Transportation, conveyor or haulage systems specially adapted for motor vehicle or trailer assembly lines
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The invention discloses an automobile trial-manufacture movable type automobile door assembly manipulator which comprises a bottom frame, wherein universal wheels are arranged below the bottom frame, and a mechanical hand pushing rod is arranged at the rear side of the bottom frame; the bottom frame is provided with a manipulator rocker arm, the manipulator rocker arm comprises a vertical support column and a transverse cantilever extending forwards from the upper end of the vertical support column, the lower end of the vertical support column is rotationally connected with the bottom frame at a central position close to the rear side, and the bottom frame is provided with a main rotating mechanism for driving the vertical support column to rotate relative to the bottom frame; the front end of the transverse cantilever is provided with a vehicle door supporting base, the vehicle door supporting base comprises a vehicle door backrest part and a vehicle door bottom support part, and the vehicle door bottom support part extends forwards from the bottom of the vehicle door backrest part and is provided with a lifting groove for placing the lower edge of the vehicle door at the front edge. The manipulator can realize free movement, is not limited by stations, and is simple and convenient to operate in the assembly process.
Description
Technical Field
The invention relates to the technical field of automobile manufacturing, in particular to a movable four-door assembly manipulator used in the automobile trial-manufacture process.
Background
In recent years, with the development of the automotive industry, trial-and-verification work is an important and indispensable work in the product development process.
In the process of automobile trial production verification, modularization and integration assembly become more and more important, and early modularization verification directly saves time for later production line verification, can save a large amount of assembly time and improve assembly beat. In the vehicle trial-manufacturing stage, especially in the commercial vehicle field, because the vehicle type spectrums are not similar, the automobile four-door assembly can not realize fixed station assembly, and the cost of the large manipulator is higher in the trial-manufacturing stage.
At present, the existing four-door assembly of automobile main engine factory and trial production center is basically carried out before the vehicle is transported by a transport trolley, and is carried out by 2-3 persons, the centering installation of a hinge is difficult to match in the assembly process, the hinge is required to move up and down and left and right to match, the four-door assembly of a relatively large vehicle is carried out, the weight of the door is very heavy, great potential safety hazards exist in the process of long-time door lifting in the assembly process of staff, and damage to the door body is also easy to cause.
Disclosure of Invention
The invention aims to provide a movable automobile door assembling manipulator for automobile trial production. The manipulator can realize free movement, is not limited by stations, and is simple and convenient to operate in the assembly process.
In order to achieve the above purpose, the invention provides an automobile trial-manufacture movable door assembly manipulator which comprises a bottom frame, wherein universal wheels positioned at four corners are arranged below the bottom frame, and a mechanical hand push rod is arranged at the rear side of the bottom frame; the bottom frame is provided with a manipulator rocker arm, the manipulator rocker arm comprises a vertical support column and a transverse cantilever extending forwards from the upper end of the vertical support column, the lower end of the vertical support column is rotationally connected with the bottom frame at a central position close to the rear side, and the bottom frame is provided with a main rotating mechanism for driving the vertical support column to rotate relative to the bottom frame; the front end of the transverse cantilever is provided with a vehicle door supporting base, the vehicle door supporting base comprises a vehicle door backrest part and a vehicle door bottom support part, and the vehicle door bottom support part extends forwards from the bottom of the vehicle door backrest part and is provided with a lifting groove for placing the lower edge of the vehicle door at the front edge.
Preferably, the upper half part and the lower half part of the back part of the vehicle door are a fixed part and a movable part respectively, the upper half part and the lower half part are connected through a lifting mechanism, and the bottom bracket part of the vehicle door is connected to the lower half part and can move up and down relative to the upper half part through the lifting mechanism.
Preferably, the lifting mechanism comprises two lifting slide rails which are vertically arranged and parallel to each other, a motor which is symmetrically arranged left and right and horizontally arranged is arranged between the lifting slide rails, and a power output shaft of the motor is connected with the lifting slide rails in an up-and-down sliding manner through a transmission part.
Preferably, the door back part is rotatably connected with the transverse cantilever at the front end through a rotating shaft, and the door back part is provided with a secondary rotating mechanism for driving the door back part to swing left and right relative to the transverse cantilever.
Preferably, a direction adjustment grip is provided on the top of the door back.
Preferably, an oblique supporting beam is arranged between the vertical supporting column and the transverse cantilever.
Preferably, the lifting groove is U-shaped with an opening facing upwards, and the height of the front edge of the lifting groove is lower than that of the rear edge of the lifting groove.
Preferably, the driving motors of the main rotating mechanism, the auxiliary rotating mechanism and the lifting mechanism are all connected to a main controller, and the main controller is connected with a tool direction adjusting controller through a wire.
Preferably, the bottom frame is provided with power supply means for supplying power to the main rotation mechanism, the sub rotation mechanism, and the lifting mechanism.
Preferably, the power supply device is a charging power supply having a charging function.
The automobile trial-manufacture movable type automobile door assembling manipulator provided by the invention is provided with the manipulator rocker arm and the automobile door supporting base, can replace manual lifting of an automobile door, is provided with the universal wheels below the bottom frame, can realize random movement of the manipulator and the automobile door after bearing the automobile door, and can drive the automobile door to move left and right to a larger extent under the drive of the main rotating mechanism during operation, so that the installation position is freely adjusted, and only one person can operate, so that the hinge can accurately center and match, the configuration of automobile door installation personnel is greatly reduced, the assembling efficiency is improved, the development cost is saved, the automobile door installation requirement of each automobile type can be met, the automobile door assembling manipulator is safe and reliable, the risk of automobile door damage can be effectively avoided in the installation process, and the assembling quality is ensured.
Drawings
FIG. 1 is an isometric view of a vehicle pre-manufactured mobile door assembly robot in accordance with an embodiment of the present invention;
FIG. 2 is a side view of the automotive test-run mobile door assembly robot of FIG. 1;
Fig. 3 is a top view of the automotive test-run mobile door assembly robot of fig. 1.
In the figure:
1. The vehicle door assembly comprises a bottom frame 2, a manipulator rocker 21, a vertical support column 22, a transverse cantilever 23, a support beam 3, a door support base 32, a door back rest 321, a lifting groove 33, a direction adjustment grip rod 34, a lifting slide rail 35, a motor 4, a universal wheel 5, a manipulator tool push rod 6, a main rotating mechanism 7, a rotary shaft 8, a secondary rotating mechanism 9, a tool direction adjustment controller 10, a power supply device 11 and a lead
Detailed Description
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.
In the present specification, the terms "upper, lower, inner, outer" and the like are established based on the positional relationship shown in the drawings, and the corresponding positional relationship may be changed according to the drawings, so that the terms are not to be construed as absolute limitation of the protection scope; moreover, relational terms such as "first" and "second", and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
Referring to fig. 1, 2 and 3, fig. 1 is an axial side view of a mobile door assembly manipulator for automobile trial production according to an embodiment of the present invention; FIG. 2 is a side view of the automotive test-run mobile door assembly robot of FIG. 1; fig. 3 is a top view of the automotive test-run mobile door assembly robot of fig. 1.
As shown in the figure, in a specific embodiment, the automobile trial-manufacture movable type automobile door assembly manipulator provided by the invention mainly comprises a bottom frame 1, a manipulator rocker arm 2, an automobile door supporting base 3 and the like.
Wherein, the universal wheel 4 is installed respectively in the below of bottom frame 1 in four corners department, can realize the holistic removal of frock through universal wheel 4, and the rear side of bottom frame 1 is equipped with the manipulator frock push rod 5 that is the door font, makes the frock remove through artificial mode with the help of manipulator dress push rod 5 to transfer or adjust the door position.
The manipulator rocker arm 2 on the bottom frame 1 mainly comprises a vertical support column 21 and a transverse cantilever 22, the transverse cantilever 22 extends forwards from the upper end of the vertical support column 21, an oblique support beam 23 is arranged between the vertical support column 21 and the transverse cantilever 22, the lower end of the vertical support column 21 is rotationally connected with the bottom frame 1 at a central position close to the rear side, the bottom frame 1 is provided with a main rotating mechanism 6, the main rotating mechanism 6 can be driven in a mode similar to an automobile windshield wiper motor, and the main rotating mechanism 6 is used for driving the vertical support column 21 to rotate relative to the bottom frame 1 so as to drive a vehicle door to move left and right; the front end of the transverse cantilever 22 is provided with a door supporting base 3, the door supporting base 3 mainly comprises a door backrest part 31 and a door collet part 32, the top of the door backrest part 31 is provided with a direction adjusting holding rod 33, the door collet part 32 extends forwards from the bottom of the door backrest part 31, the front edge is provided with a lifting groove 321 for placing the lower edge of the door, the lifting groove 321 is in a U shape with an upward opening, the front edge is lower than the rear edge, and the contact part of the door supporting base 3 and the door can form flexible contact in a mode of additionally installing a rubber pad and the like in order to avoid damage to the door, thereby playing a protection role.
The upper half part and the lower half part of the car door backrest part 31 are respectively a fixed part and a movable part, wherein the upper half part and the lower half part are connected through a lifting mechanism, the lifting mechanism is provided with two lifting slide rails 34 which are vertically arranged and mutually parallel, a motor 35 which is horizontally arranged is arranged between the lifting slide rails 34, a power output shaft of the motor 35 is connected with the movable part through a transmission part, so that the movable part can slide up and down along the lifting slide rails 34, for example, a cushion lifting mechanism similar to a car seat can be adopted, and the lower half part of the car door backrest part 31 can be driven to move up and down relative to the upper half part through the transmission part when the motor 35 operates, so that the position of the car door in the height direction can be adjusted.
The door back 31 is rotatably connected with the transverse cantilever 22 at the front end through a rotating shaft 7, the door back 31 is provided with a secondary rotating mechanism 8, and the secondary rotating mechanism 8 can be driven by a motor through a gear transmission mode so as to drive the door back 31 to swing left and right relative to the transverse cantilever 22.
The main rotation mechanism 6 can swing left and right to roughly adjust the left and right positions of the vehicle door, and the auxiliary rotation mechanism 8 can swing left and right to finely adjust the left and right positions of the vehicle door.
The driving motors of the main rotating mechanism 6, the auxiliary rotating mechanism 8 and the lifting mechanism are all connected to a main controller, and the main controller is connected with a tool direction adjusting controller 9 through a lead 11. The tool direction adjusting controller 9 can be marked with adjusting keys and arrows of all adjusting directions, can control the direction adjustment of the tool X, Y, Z in three dimensions, namely, the adjustment of the direction of the manipulator can be adjusted through the adjusting controller, and is simple and convenient to operate.
The bottom frame 1 is provided with a power supply device 10 for supplying electric power to the main rotating mechanism 6, the auxiliary rotating mechanism 8 and the lifting mechanism, and the power supply device 10 has a charging function, can be directly charged, and realizes the recycling of power.
Because the main rotating mechanism 6, the auxiliary rotating mechanism 8, the main controller and the tool direction adjusting controller 9 can be realized by adopting a general technology, the specific structure and the working principle thereof are not described again.
When the automatic assembling device is used, firstly, a vehicle door to be assembled is placed in the lifting groove 321 of the vehicle door supporting base 3, then, the assembling tool is moved to the station side according to the station position, the assembling angle of the manipulator is adjusted through the tool direction adjusting controller 9, so that the manipulator can be assembled at the optimal position, in the vehicle door assembling process, the left-right adjustment is realized through the main rotating mechanism 6 of the manipulator rocker arm 2, the up-down adjustment is realized through the lifting sliding rail 34, the adjustment of other directions and positions is realized through the auxiliary rotating mechanism 8, the adjustment is flexible and convenient, the coarse adjustment and the fine adjustment can be realized, the accurate positioning is finally realized, and the centering function is easy to realize.
In other embodiments, the components of the manipulator may be adapted and assembled from scrap pieces during the automotive trial manufacturing process. For example, the manipulator rocker arm 2 can be reformed through a scrapped transmission shaft, the car door supporting base 3 can be reformed through a scrapped seat framework and a steering gear, and the bottom frame 1 can be reformed by directly using scrapped steel pipes, so that the purpose of zero investment of manufacturing material cost is achieved.
The above embodiments are merely preferred embodiments of the present invention, and are not limited thereto, and on the basis of these, specific adjustments may be made according to actual needs, thereby obtaining different embodiments. For example, the bottom frame 1 may be designed in other frame shapes, or otherwise drive the door support base 3 for fine adjustment, etc. This is not illustrated here, as there are many possible implementations.
The universal manipulator tool for assembling the four doors of the automobile is special for trial production, can realize at least twelve-direction adjustment, can move freely, is not limited by stations, is simple and convenient and quick to operate in the assembling process, can be operated and used by one person, can reduce the number of assembling people compared with other similar tools, and greatly improves the assembling efficiency and saves the development cost.
The invention provides the automobile trial-manufacture movable type automobile door assembly manipulator. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the core concepts of the invention. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (8)
1. The automobile trial-manufacturing movable door assembly manipulator is characterized by comprising a bottom frame, wherein universal wheels positioned at four corners are arranged below the bottom frame, and a mechanical hand pushing rod is arranged at the rear side of the bottom frame; the bottom frame is provided with a manipulator rocker arm, the manipulator rocker arm comprises a vertical support column and a transverse cantilever extending forwards from the upper end of the vertical support column, the lower end of the vertical support column is rotationally connected with the bottom frame at a central position close to the rear side, and the bottom frame is provided with a main rotating mechanism for driving the vertical support column to rotate relative to the bottom frame; the front end of the transverse cantilever is provided with a vehicle door supporting base, the vehicle door supporting base comprises a vehicle door backrest part and a vehicle door bottom support part, the vehicle door bottom support part extends forwards from the bottom of the vehicle door backrest part, and a lifting groove for placing the lower edge of the vehicle door is formed in the front edge of the vehicle door bottom support part;
The upper half part and the lower half part of the back part of the car door are respectively a fixed part and a movable part, the upper half part and the lower half part are connected through a lifting mechanism, and the bottom bracket part of the car door is connected to the lower half part and can move up and down relative to the upper half part through the lifting mechanism;
The car door backrest part is rotatably connected with the transverse cantilever at the front end through a rotating shaft, and is provided with a secondary rotating mechanism for driving the car door backrest part to swing left and right relative to the transverse cantilever.
2. The automobile prefabricated movable door assembly manipulator according to claim 1, wherein the lifting mechanism comprises two lifting slide rails which are vertically arranged and parallel to each other, a motor which is horizontally arranged and is bilaterally symmetrical is arranged between the lifting slide rails, and a power output shaft of the motor is connected with the lifting slide rails in an up-and-down sliding manner through a transmission part.
3. The automotive pre-manufactured mobile door assembly robot of claim 2, wherein a direction adjustment grip is provided on a top portion of the door back portion.
4. A vehicle pre-manufactured mobile door assembly manipulator according to claim 3, wherein an oblique support beam is provided between the vertical support column and the lateral cantilever.
5. The vehicle pre-manufactured mobile vehicle door assembly robot of claim 1, wherein the lift groove is "U" shaped with an opening facing upward, and the height of the front edge is lower than the height of the rear edge.
6. The vehicle pre-manufactured movable door assembly manipulator of claim 4, wherein the driving motors of the main rotating mechanism, the auxiliary rotating mechanism and the lifting mechanism are all connected to a main controller, and the main controller is connected with a tool direction adjusting controller through a wire.
7. The automotive pre-manufactured mobile vehicle door assembly robot of claim 6, wherein the bottom frame is provided with a power supply device for providing power to the primary rotating mechanism, secondary rotating mechanism, and lifting mechanism.
8. The vehicle pre-manufactured mobile vehicle door assembly manipulator according to claim 7, wherein the power supply device is a charging power supply having a charging function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110410692.7A CN115195911B (en) | 2021-04-14 | 2021-04-14 | Movable automobile door assembling manipulator for automobile trial production |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110410692.7A CN115195911B (en) | 2021-04-14 | 2021-04-14 | Movable automobile door assembling manipulator for automobile trial production |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115195911A CN115195911A (en) | 2022-10-18 |
| CN115195911B true CN115195911B (en) | 2024-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110410692.7A Active CN115195911B (en) | 2021-04-14 | 2021-04-14 | Movable automobile door assembling manipulator for automobile trial production |
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| Country | Link |
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| CN (1) | CN115195911B (en) |
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| CN112027932A (en) * | 2020-09-17 | 2020-12-04 | 青海桥头铝电股份有限公司 | Tool for repairing aluminum electrolysis crust breaking cylinder and operation method thereof |
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2021
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| JPH09109956A (en) * | 1995-10-18 | 1997-04-28 | Jidosha Seiki Kogyo Kk | Door keep stand |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN115195911A (en) | 2022-10-18 |
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