CN216266048U

CN216266048U - Paster cooperation robot

Info

Publication number: CN216266048U
Application number: CN202122378954.4U
Authority: CN
Inventors: 林奕; 梁佳春; 曹骅; 章为; 王彬; 黄明星; 彭健; 沈健; 马康元
Original assignee: Yinxin Shanghai Technology Co ltd
Current assignee: Yinxin Shanghai Technology Co ltd; SAIC Volkswagen Automotive Co Ltd
Priority date: 2021-09-29
Filing date: 2021-09-29
Publication date: 2022-04-12
Anticipated expiration: 2031-09-29

Abstract

The utility model provides a patch cooperation robot which comprises a control device and a pickup installation mechanism, wherein the control device and the pickup installation mechanism are installed on a production line of a side wall outer plate of a vehicle body; get a installation mechanism and include the extension connecting piece, the front end downside of extension connecting piece is connected with floating installation, floating installation's downside is connected with the profile modeling nylon piece, the sucking disc is installed to the inboard of profile modeling nylon piece, one side of profile modeling nylon piece is connected with the gyro wheel, the front end at cooperation robotic arm is connected to the extension connecting piece, cooperation robotic arm installs on the base. In the structure of the utility model, the cooperative robot is used for replacing manual work, the cooperative robot is provided with the piece taking and mounting mechanism, and the piece taking, film tearing and mounting can be automatically realized by matching with the fixing mechanism, so that the labor cost is reduced, and the position of the damping piece mounting is accurate.

Description

Paster cooperation robot

Technical Field

The utility model belongs to the technical field of automobile production, and particularly relates to a patch cooperation robot.

Background

In the existing automobile production process, two workers are required to work simultaneously at a workpiece opening station due to the requirement of a beat, one worker manually installs a rear tail plate and pastes a damping patch on an automobile body, the damping patch is irradiated by a laser lamp and installed in a specified area, and the other worker installs another small workpiece.

The mode for installing the damping patches in the body side outer panel has the defects that the defects are large, two workers are required to cooperatively operate, the consumed labor cost is high, the manual installation is unstable, the phenomenon of displacement of the installation positions of the damping patches is easy to occur, the installation efficiency is low, and the installation quality of the damping patches is not guaranteed.

How to design a paster cooperation robot, how to reduce the cost of labor to guarantee that damping paster mounted position is accurate, become the problem that the urgent need was solved.

SUMMERY OF THE UTILITY MODEL

In view of the above disadvantages of the prior art, an object of the present invention is to provide a patch cooperation robot, which is used to solve the problems that manual installation in the prior art is labor-intensive and cannot ensure accurate installation position of the damping fin.

In order to achieve the aim, the utility model provides a patch cooperation robot which comprises a control device and a pickup installation mechanism, wherein the control device and the pickup installation mechanism are installed on a production line of a side wall outer plate of a vehicle body;

by adopting the technical scheme: providing a cooperative patch forming structure, and mutually matching to finish corresponding patch taking and mounting operations;

the workpiece taking and installing mechanism comprises a lengthened connecting piece, the lower side of the front end of the lengthened connecting piece is connected with a floating device, the lower side of the floating device is connected with a copying nylon block, a sucking disc is installed on the inner side of the copying nylon block, one side of the copying nylon block is connected with a roller, the lengthened connecting piece is connected to the front end of a cooperative mechanical arm, and the cooperative mechanical arm is installed on a base;

by adopting the technical scheme: the floating device can buffer when the copying nylon block contacts with the paster, a sucker on the copying nylon block is used for adsorbing the paster, and the roller can compress tightly the paster.

In an embodiment of the present invention, the control device includes a robot control cabinet, a floating device control cabinet and a valve island, the robot control cabinet is correspondingly connected to the cooperative robot arm, and the floating device control cabinet is correspondingly connected to the floating device;

by adopting the technical scheme: the robot control cabinet provides motion control for the robot arm, and the floating device control cabinet provides control for the floating device.

In an embodiment of the utility model, the automobile body side wall outer plate production line further comprises a fixing mechanism arranged on the automobile body side wall outer plate production line, wherein the fixing mechanism comprises a bottom platform, a feeding box, a film tearing mechanism and a waste material box, the film tearing mechanism is arranged at the upper part of the bottom platform, the waste material box is arranged on one side of the bottom platform, and the waste material box is relatively positioned at the lower side of the film tearing mechanism;

by adopting the technical scheme: the feeding box on the fixing mechanism supplies materials for the patches, and the film tearing mechanism can tear the patches;

in an embodiment of the present invention, the feeding box is installed at 25 ° on one side of the upper surface of the base, the first photoelectric sensor is installed inside the feeding box from bottom to top, and the third photoelectric sensor is installed on one side of the feeding box from right to left;

by adopting the technical scheme: the slope of feed box can guarantee that the paster is concentrated at the inside gliding of feed box, and first photoelectric sensor is used for detecting the inside paster that has of feed box, and third photoelectric sensor is used for detecting feed box lateral position whether has the paster to lean on in the magazine to one side.

In an embodiment of the present invention, the film tearing mechanism is a clamping cylinder, and a second photoelectric sensor is installed at a lower position of an adjacent side of the film tearing mechanism;

by adopting the technical scheme: after clamping the membrane through die clamping cylinder, carry out corresponding dyestripping operation then, second photoelectric sensor is used for detecting whether there is the waste film on the dyestripping mechanism, if there is the waste film, can start die clamping cylinder, realizes unclamping the waste film and fall into waste material box and collect.

In an embodiment of the present invention, the cooperative robot arm is connected to the upper end of the base, and a vacuum generator is installed on one side of the base body of the base, and the vacuum generator is correspondingly connected to the suction cup;

by adopting the technical scheme: the vacuum generator provides suction force for the suction cup.

In an embodiment of the present invention, the upper surface of the front end of the elongated connector is connected to a TCP;

by adopting the technical scheme: TCP ensures the reliability of message transmission.

In an embodiment of the utility model, four sucking discs are arranged on the inner side of the profiling nylon block in a rectangular manner, the sucking discs extend to the lower surface of the profiling nylon block, and a fourth photoelectric sensor is arranged on the lower side of the profiling nylon block;

by adopting the technical scheme: the sucking disc sets up four stability that can guarantee the paster absorption, and fourth photoelectric sensor is used for detecting whether adsorb on the sucking disc has the paster.

In the structure of the utility model, the cooperative robot is used for replacing manual work, the cooperative robot is provided with the piece taking and mounting mechanism, and the piece taking, film tearing and mounting can be automatically realized by matching with the fixing mechanism, so that the labor cost is reduced, the position of the damping piece mounting is accurate, and the utility model has good economic benefit and social benefit when being popularized and applied.

Drawings

Fig. 1 is a schematic view of the overall installation of the present invention.

Fig. 2 is a schematic diagram of the composition of the control device of the present invention.

Fig. 3 is a schematic view of the fixing mechanism of the present invention.

Fig. 4 is a schematic view of the components of the part taking and mounting mechanism of the present invention.

FIG. 5 is a schematic view of the connection structure of the elongated connectors of the present invention.

In the figure: 1. a control device; 2. a fixing mechanism; 3. a pickup mounting mechanism; 4. a base table; 5. a feeding box; 6. a first photosensor; 7. a second photosensor; 8. a film tearing mechanism; 9. a third photosensor; 10. a waste material box; 11. a cooperating robotic arm; 12. a base; 13. a vacuum generator; 14. lengthening the connecting piece; TCP; 16. a floating device; 17. a suction cup; 18. profiling a nylon block; 19. a roller; 20. a fourth photosensor; 21. a robot control cabinet; 22. a floating device control cabinet; 23. a valve island; .

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

Please refer to fig. 1 to 5. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.

As shown in FIG. 1, the utility model provides a patch cooperation robot, which comprises a control device 1, a fixing mechanism 2 and a pickup installation mechanism 3, wherein the control device 1, the fixing mechanism 2 and the pickup installation mechanism 3 are installed on a vehicle body side wall outer plate production line; by adopting the technical scheme: and providing a cooperative patch forming structure, and mutually matching to finish corresponding patch taking and mounting operations.

As shown in fig. 2, the control device 1 includes a robot control cabinet 21, a floating device control cabinet 22, and a valve island 23; by adopting the technical scheme: the robot control cabinet 21 provides motion control for the subsequent cooperating robot arm 11 and the floating device control cabinet 22 provides control for the subsequent floating device 16.

As shown in fig. 3, the fixing mechanism 2 includes a base 4, a feeding box 5 is installed on one side of the upper surface of the base 4 at an angle of 25 °, a first photoelectric sensor 6 is installed inside the feeding box 5 from bottom to top, and a third photoelectric sensor 9 is installed on one side of the feeding box 5 from right to left; by adopting the technical scheme: the feeding box 5 is inclined to ensure that the patches slide and concentrate in the feeding box 5, the first photoelectric sensor 6 is used for detecting whether the patches are arranged in the feeding box 5, and the third photoelectric sensor 9 is used for detecting whether the patches lean against the material box in the lateral position of the feeding box 5;

the upper part of one side of the upper surface of the bottom table 4, which corresponds to the feeding box 5, is provided with a film tearing mechanism 8, the film tearing mechanism 8 is a clamping cylinder, and the lower part of the adjacent side of the film tearing mechanism 8 is provided with a second photoelectric sensor 7; by adopting the technical scheme: after the film is clamped by the clamping cylinder, corresponding film tearing operation is carried out, the second photoelectric sensor 7 is used for detecting whether a waste film exists on the film tearing mechanism 8, if the waste film exists, the clamping cylinder is started, and the waste film is loosened and falls into the waste material box 10 for collection;

a waste material box 10 is arranged on one side of the base table 4, and the waste material box 10 is relatively positioned below the film tearing mechanism 8; by adopting the technical scheme: the film torn by the film tearing mechanism 8 can directly fall into the waste material box 10 for collection.

As shown in fig. 4-5, the workpiece taking and mounting mechanism 3 includes a lengthened connector 14, a TCP (transmission control protocol) 15 is connected to the upper surface of the front end of the lengthened connector 14, a floating device 16 is connected to the lower side of the front end of the lengthened connector 14, a copying nylon block 18 is connected to the lower side of the floating device 16, suction cups 17 are mounted on the inner side of the copying nylon block 18, four suction cups 17 are mounted on the inner side of the copying nylon block 18 in a rectangular arrangement, the suction cups 17 extend to the lower surface of the copying nylon block 18, a roller 19 is connected to one side of the copying nylon block 18, and a fourth photoelectric sensor 20 is mounted on the lower side of the copying nylon block 18; by adopting the technical scheme, the TCP (transmission control protocol) 15 ensures the reliability of message transmission, the floating device 16 can buffer when the copying nylon block 18 is contacted with the patch, the sucking disc 17 on the copying nylon block 18 is used for sucking the patch, and the roller 19 can carry out compaction operation after the patch is stuck;

the lengthened connecting piece 14 is connected to the front end of the cooperative mechanical arm 11, the cooperative mechanical arm 11 is installed on the base 12, a vacuum generator 13 is installed on one side of the seat body of the base 12, and the vacuum generator 13 is correspondingly connected with the sucking disc 17; by adopting the technical scheme: the vacuum generator 13 provides suction force to the suction cup 17.

When the device is specifically implemented, the cooperative mechanical arm 11 with the piece taking installation mechanism 3 moves above the feeding box 5 to be perpendicular to the bottom of the feeding box 5, and gradually descends into the feeding box 5, the profiling nylon block 18 contacts with the damping patch, and after the floating device 16 compresses upwards for positioning and moving, the floating device 16 feeds back a signal to the cooperative mechanical arm 11, the cooperative mechanical arm 11 stops, the vacuum generator 13 works, the sucking disc 17 generates suction to suck the damping patch, the cooperative mechanical arm 11 with the patch moves to the film tearing mechanism 8, the clamping jaw cylinder clamps a blank area of a back film of the damping patch, the cooperative mechanical arm 11 is slowly lifted upwards to completely separate the back film of the damping patch from the damping patch, the second photoelectric sensor 7 senses the back film, and the clamping jaw cylinder is opened to enable the back film to fall into the waste material box 10; the cooperative mechanical arm 11 moves to a waiting position, the fourth photoelectric sensor 20 detects whether a damping patch is always on the sucker 17, after a line body signal is received, the cooperative mechanical arm 11 moves to a vehicle body installation position to install the damping patch, and in the downward installation process of the cooperative mechanical arm 11, the pressure can be set through the floating equipment 16 within a certain range, so that the damping patch can be attached to the vehicle body in the attaching process and the vehicle body cannot deform under the action of a large force; after the damping patch is installed, the vacuum generator 13 works reversely to blow air on the suction cup 17, the damping patch is separated from the profiling nylon block 18, the cooperating robot arm 11 is lifted to a certain height and then changes the posture to enable the roller 19 to be attached to the vehicle body, and the cooperating robot arm 11 moves according to the track to enable the roller 19 to compress the damping patch; after the action is completed, the cooperative arm 11 returns to the repeat action.

In conclusion, the patch cooperating robot provided by the utility model uses the cooperating robot to replace manual work, the piece taking and installing mechanism 3 is arranged on the cooperating robot arm 11, and automatic piece taking, film tearing and patch pasting can be realized by matching with the fixing mechanism 2, so that the labor cost is reduced, the patch position of the damping piece is accurate, and the patch cooperating robot has good economic and social benefits in popularization and application. Therefore, the utility model effectively overcomes various defects in the prior art and has high industrial utilization value.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the utility model. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. A patch collaboration robot, characterized by: the device comprises a control device (1) and a pickup installation mechanism (3), wherein the control device (1) and the pickup installation mechanism (3) are installed on a vehicle body side wall outer plate production line;

get a installation mechanism (3) and include extension connecting piece (14), the front end downside of extension connecting piece (14) is connected with floating installation (16), the downside of floating installation (16) is connected with profile modeling nylon piece (18), sucking disc (17) are installed to the inboard of profile modeling nylon piece (18), one side of profile modeling nylon piece (18) is connected with gyro wheel (19), the front end in cooperation robotic arm (11) is connected in extension connecting piece (14), cooperation robotic arm (11) is installed on base (12).

2. A patch cooperation robot according to claim 1, wherein: the control equipment (1) comprises a robot control cabinet (21), a floating equipment control cabinet (22) and a valve island (23), wherein the robot control cabinet (21) is correspondingly connected with the cooperative machine arm (11), and the floating equipment control cabinet (22) is correspondingly connected with the floating equipment (16).

3. A patch cooperation robot according to claim 1, wherein: the device is characterized by further comprising a fixing mechanism (2) arranged on a flow line of an outer plate of the side wall of the car body, wherein the fixing mechanism (2) comprises a bottom platform (4), a feeding box (5), a film tearing mechanism (8) and a waste material box (10), the film tearing mechanism (8) is arranged on the upper portion of the bottom platform (4), the waste material box (10) is arranged on one side of the bottom platform (4), and the waste material box (10) is relatively positioned on the lower side of the film tearing mechanism (8);

4. a patch cooperation robot according to claim 3, wherein: the feeding box (5) is installed at 25 degrees on one side of the upper surface of the base platform (4), a first photoelectric sensor (6) is installed in the feeding box (5) from bottom to top, and a third photoelectric sensor (9) is installed on one side of the feeding box (5) from right to left.

5. A patch cooperation robot according to claim 3, wherein: dyestripping mechanism (8) are die clamping cylinder, second photoelectric sensor (7) are installed to the adjacent side lower part position of dyestripping mechanism (8).

6. A patch cooperation robot according to claim 1, wherein: the cooperation robot arm (11) is connected in the upper end of base (12), vacuum generator (13) are installed to the seat body one side of base (12), vacuum generator (13) correspond with sucking disc (17) and are connected.

7. A patch cooperation robot according to claim 1, wherein: the upper surface of the front end of the lengthened connecting piece (14) is connected with a TCP (15).

8. A patch cooperation robot according to claim 1, wherein: sucking disc (17) are the rectangular array in profile modeling nylon piece (18) inboard and install four, and sucking disc (17) extend the lower surface of profile modeling nylon piece (18), fourth photoelectric sensor (20) are installed to the downside of profile modeling nylon piece (18).