CN202556400U - Automobile total welding line roof outer panel carrying manipulator - Google Patents
Automobile total welding line roof outer panel carrying manipulator Download PDFInfo
- Publication number
- CN202556400U CN202556400U CN2012200573828U CN201220057382U CN202556400U CN 202556400 U CN202556400 U CN 202556400U CN 2012200573828 U CN2012200573828 U CN 2012200573828U CN 201220057382 U CN201220057382 U CN 201220057382U CN 202556400 U CN202556400 U CN 202556400U
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- swing arm
- base
- gear
- bonding wire
- bearing
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- Automatic Assembly (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The title automobile total welding line roof outer panel carrying manipulator comprises a swing mechanism, a lifting mechanism, a gripping mechanism, and a controller, wherein the swing mechanism includes a base, a guide ring and a tooth ring concentrically arranged on the base, a connecting seat arranged at tooth ring central position on the base, a swing arm hinged with the connecting seat, and a gear and a bearing arranged at swing arm middle part, the gear is engaged with the tooth ring, the bearing is matched with the guide ring, and a cylinder is connected between the swing arm and base; the lifting mechanism is connected with upper end part of the swing arm; and the gripping mechanism is connected at lower end surface of the lifting mechanism. The inventive manipulator overcomes defects of poor positioning accuracy or inapplicability to automobile roof outer panel carrying of a sucking disc device in prior art, is convenient and reliable, reduces one work station, shortens roof outer panel carrying time, ensures welding quality, saves space position, and ensures position matching accuracy.
Description
Technical field
The utility model belongs to the Robotics field, is specifically related to a kind of automobile skin conveying robot.
Background technology
The total bonding wire of body of a motor car; Be directly connected to body quality and outward appearance; When the car body top cover covering when shelf are transported on the sealing wire; Generally all can there be some deviations in gap that cooperates with vehicle body and position, and the fluctuation of the repetitive positioning accuracy of each lifting is also bigger, also need be provided with one specially and be the station of suspender feed.Along with the fast development of auto manufacturing, many production lines of design several years ago all will pass through automatic improving, but at some station; Such as the workshop that is welded, roof skin is on the shelf during to the carrying of total bonding wire, and what prior art adopted is the suspender carrying; Suspender is self-powered can be travelled on the trapped orbit between shelf and the total bonding wire, its with suspender can pick up and lay roof skin, but when transferring roof skin; Lack guiding mechanism, only lean on suspender and covering self gravitation to make it keep vertical state to transferring, the technology that this dependence deadweight is transferred very easily is interfered; Trickle air stream all possibly make the orientation angles skew theoretical position of covering around for example; Can not guarantee the automobile total quality like this, and suspender picks up on the anchor clamps of covering and can only put one at every turn, also will arrange a station specially; Not only the lost labor has also increased the operation of producing.
In the lifting equipment of prior art; Sucker grabbing workpiece commonly used, but there are various deficiencies in these existing suspenders, and for example Chinese patent ZL 200820048472.4; Name is called the utility model patent of " a kind of packing machine Acetabula device "; A kind of packing machine Acetabula device is disclosed, the sucker group that comprises frame, strutbeam and be installed on the strutbeam and can move around along strutbeam, said strutbeam two ends are connected with frame through parallel-crank mechanism respectively.Above-mentioned each parallel-crank mechanism comprise upper rocker arm plate, the lower shake-changing arm plate that is articulated on the frame and be articulated in the upper rocker arm plate and lower shake-changing arm plate free end between rocking arm connect gusset.This Acetabula device adopts parallel-crank mechanism as the motion supporting bracket, can only the translation workpiece, but to then have no usage as the manipulator that workpiece is sent to welding post and need turn an angle.
Summary of the invention
The utility model technical issues that need to address are; The Acetabula device or the positioning accuracy that overcome prior art are poor, or are not suitable for the defective of automobile top-cap covering carrying, and the total bonding wire covering of a kind of automobile simple in structure, easy to use conveying robot is provided; This manipulator not only can shorten the handling time of roof skin; And reduce by a station, and can also guarantee that covering is accurate with respect to the position of vehicle body, guarantee the welding quality of automobile top-cap covering.
The purpose of the utility model is achieved through following technical proposals: the total bonding wire covering of a kind of automobile conveying robot; Comprise swing mechanism, elevating mechanism, grasping mechanism and control device; Said swing mechanism comprises base, is arranged at duct ring and gear ring on the base with one heart, and the gear ring center position that is positioned on the base is provided with Connection Block, the swing arm hinged with Connection Block; Be located at the gear and the bearing at swing arm middle part; Gear and gear ring engagement, bearing and duct ring are connected with cylinder between swing arm and the base movingly; Said elevating mechanism is connected with the position, upper end of swing arm, and grasping mechanism is connected the lower surface of elevating mechanism.
After the grasping mechanism that is located at the elevating mechanism lower surface was caught the automobile top-cap covering, elevating mechanism rose; After control device receives total bonding wire signal, open the magnetic valve of control cylinder, the piston rod of cylinder ejects, and promotes swing arm, and swing arm is rotated around Connection Block, promotes gear simultaneously and moves along gear ring, and the swing arm rotation drives elevating mechanism integral body and rotates with swing arm; Roof skin is rotated to total bonding wire top thereupon, and the bearing in the swing arm cooperates the rotation to swing arm to play the guiding role with duct ring in the meantime.
As preferably; Said swing arm is by swing arm and top link constitute " factory " font structure down; The front end of top link is connected with elevating mechanism, and the lower end of following swing arm is hinged on the base, and the middle part of following swing arm and the piston rod of cylinder are hinged; The cylinder block and the base of cylinder are hinged, and said gear and bearing are located at down the junction of swing arm and top link.
As preferably, be connected with bracing piece at the downside of top link, bracing piece constitutes the triangle member with the swing arm of " factory " font structure.
As preferably, said elevating mechanism comprises the square shelf that is fixedly connected on the top link front end, is provided with one group of pilot sleeve and a feed screw nut in the square shelf; Respectively be furnished with guide rod in the pilot sleeve, it is dull and stereotyped with down that the upper and lower end of guide rod is connected with upper flat plate respectively; Upper flat plate is provided with stepper motor, and stepper motor connects leading screw, and leading screw cooperates with feed screw nut, and the leading screw lower end is connected in down on the flat board through bearing.
As preferably, said grasping mechanism is made up of the sucker that is connected down below dull and stereotyped.
As preferably, said control device comprises controller and the magnetic valve of the total bonding wire holding wire, stepper motor driver, control cylinder and the sucker that are connected with controller, near switch and optoelectronic switch.
The beneficial effect of the utility model is:
1, manipulator can shorten the handling time of roof skin;
2, reduce a station, conserve space position;
3, guarantee the position quality of fit of covering with respect to vehicle body.
Description of drawings
Fig. 1 is the structural representation of a kind of embodiment of the utility model.
Among the figure, swing mechanism 1; Base 11; Duct ring 12; Gear ring 13; Connection Block 14; Swing arm 15; Gear 151; Bearing 152; Following swing arm 153; Top link 154; Bracing piece 155; Cylinder 16; Elevating mechanism 2; Square shelf 21; Guide rod 22; Upper flat plate 23; Following dull and stereotyped 24; Stepper motor 25; Leading screw 26; Grasping mechanism 3; Sucker 31; Near switch 41; Optoelectronic switch 42.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiments the utility model is further described.
Embodiment: as shown in Figure 1; The total bonding wire covering of a kind of automobile conveying robot comprises swing mechanism 1, elevating mechanism 2, grasping mechanism 3 and control device, and said swing mechanism 1 comprises base 11, is arranged at duct ring 12 and gear ring 13 on the base 11 with one heart; The gear ring center position that is positioned on the base 11 is provided with Connection Block 14; The swing arm 15 hinged with Connection Block 14 is located at the gear 151 and the bearing 152 at swing arm 15 middle parts, gear 151 and gear ring 13 engagements; Bearing 152 and duct ring 12 are connected with cylinder 16 between swing arm 15 and the base 11 movingly; Said elevating mechanism 2 is connected with the position, upper end of swing arm 15, and grasping mechanism 3 is connected the lower surface of elevating mechanism 2.
After the grasping mechanism 3 that is located at elevating mechanism 2 lower surfaces was caught the automobile top-cap covering, elevating mechanism 2 rose; After control device receives total bonding wire signal, open the magnetic valve of control cylinder 16, the piston rod of cylinder 16 ejects; Promote swing arm 15; Swing arm is rotated around Connection Block, promotes gear 151 simultaneously and moves along gear ring 13, and swing arm 15 rotations drive elevating mechanism integral body and rotate with swing arm; Roof skin is rotated to total bonding wire top thereupon, and the bearing in the swing arm 152 cooperates the rotation to swing arm 15 to play the guiding role with duct ring 12 in the meantime.
Control device comprises the magnetic valve of controller and the total bonding wire holding wire, stepper motor driver, control cylinder and the sucker that are connected with controller, near switch 41 and optoelectronic switch 42.
The control method that the total bonding wire covering of automobile conveying robot is adopted comprises the steps:
(1) when stepper motor 25 is just changeing decline with full rotary speed, controller real-time counting stepper motor rotating cycle is the distance that leading screw 26 descends;
(2) dull and stereotyped instantly 24 during near roof skin, and optoelectronic switch 42 detects roof skin, produces signal and offers controller, and controller control step motor 25 rotary speeies are slowed down, and continue to descend controller real-time counting motor rotating cycle;
(3) during the sucker 31 contact roof skins on dull and stereotyped instantly 24; Following dull and stereotyped 24 continue slowly to descend, and up to detecting roof skin near switch 41, produce signal feedback and give controller; Controller control step motor 25 stops operating; Following dull and stereotyped 24 stop to descend, and this moment, sucker 31 fitted tightly with roof skin, and sucker 31 is drawn roof skin;
(4) after sucker 31 was drawn roof skin, stepper motor 25 rose rapidly, and the rotating cycle of record rises to initial position during according to decline, and controller is waited for total bonding wire signal;
(5) after controller receives total bonding wire signal, open the magnetic valve of control cylinder 16, the piston rod of cylinder 16 ejects; Promote swing arm 15; Swing arm 15 promotes gear 151 simultaneously and moves along gear ring 13 around Connection Block 14 rotations, swing arm 15 rotations; Roof skin is rotated thereupon and drives total bonding wire top, and the bearing 152 in the swing arm 15 cooperates with duct ring 12 and play the guiding role during this period;
(6) stepper motor 25 is just changeing decline once more, and roof skin is pressed on the body in white, and sucker 31 is decontroled roof skin then, returns original state, the piston rod retraction of cylinder 16, and swing arm 15 is returned original state and is got into next circulation.
The utility model manipulator can shorten the handling time of roof skin, can reduce by a station, the conserve space position; And the assurance covering is with respect to the position quality of fit of vehicle body; Being used for the total bonding wire of automobile can enhance productivity and welding quality; If the technical staff in field does simple the modification or replacement to the foregoing invention content; Such change can not think to break away from the scope of the utility model, and all will be included within the scope of claim of the utility model the conspicuous modification of those skilled in the art like this.
Claims (5)
1. the total bonding wire covering of an automobile conveying robot comprises swing mechanism, elevating mechanism, grasping mechanism and control device, it is characterized in that; Said swing mechanism comprises base, is arranged at duct ring and gear ring on the base with one heart, and the gear ring center position that is positioned on the base is provided with Connection Block, the swing arm hinged with Connection Block; Be located at the gear and the bearing at swing arm middle part; Gear and gear ring engagement, bearing and duct ring are connected with cylinder between swing arm and the base movingly; Said elevating mechanism is connected with the position, upper end of swing arm, and grasping mechanism is connected the lower surface of elevating mechanism.
2. the total bonding wire covering of automobile according to claim 1 conveying robot; It is characterized in that said swing arm constitutes " factory " font structure by following swing arm and top link, the front end of top link is connected with elevating mechanism; The lower end of following swing arm is hinged on the base; The middle part of following swing arm and the piston rod of cylinder are hinged, and the cylinder block and the base of cylinder are hinged, and said gear and bearing are located at down the junction of swing arm and top link.
3. the total bonding wire covering of automobile according to claim 2 conveying robot is characterized in that, is connected with bracing piece at the downside of top link, and bracing piece constitutes the triangle member with the swing arm of " factory " font structure.
4. according to claim 2 or the total bonding wire covering of 3 described automobiles conveying robot, it is characterized in that elevating mechanism comprises the square shelf that is fixedly connected on the top link front end, be provided with one group of pilot sleeve and a feed screw nut in the square shelf; Respectively be furnished with guide rod in the pilot sleeve, it is dull and stereotyped with down that the upper and lower end of guide rod is connected with upper flat plate respectively; Upper flat plate is provided with stepper motor, and stepper motor connects leading screw, and leading screw cooperates with feed screw nut, and the leading screw lower end is connected in down on the flat board through bearing.
5. the total bonding wire covering of automobile according to claim 4 conveying robot is characterized in that, grasping mechanism constitutes by being connected down dull and stereotyped following sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200573828U CN202556400U (en) | 2012-02-22 | 2012-02-22 | Automobile total welding line roof outer panel carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200573828U CN202556400U (en) | 2012-02-22 | 2012-02-22 | Automobile total welding line roof outer panel carrying manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202556400U true CN202556400U (en) | 2012-11-28 |
Family
ID=47206097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012200573828U Expired - Fee Related CN202556400U (en) | 2012-02-22 | 2012-02-22 | Automobile total welding line roof outer panel carrying manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202556400U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103506781A (en) * | 2013-07-17 | 2014-01-15 | 健雄职业技术学院 | Welding material taking mechanical arm |
| CN109748111A (en) * | 2018-12-29 | 2019-05-14 | 陕西师范大学 | A kind of high stacking of layer adaptively adds and subtracts automatic signal transmitter and its operation method |
| CN110979516A (en) * | 2019-12-31 | 2020-04-10 | 广州穗景客车制造有限公司 | Conveying device for passenger car roof framework skin |
-
2012
- 2012-02-22 CN CN2012200573828U patent/CN202556400U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103506781A (en) * | 2013-07-17 | 2014-01-15 | 健雄职业技术学院 | Welding material taking mechanical arm |
| CN109748111A (en) * | 2018-12-29 | 2019-05-14 | 陕西师范大学 | A kind of high stacking of layer adaptively adds and subtracts automatic signal transmitter and its operation method |
| CN110979516A (en) * | 2019-12-31 | 2020-04-10 | 广州穗景客车制造有限公司 | Conveying device for passenger car roof framework skin |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121128 Termination date: 20180222 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |