CN216372225U - Flexible assembly positioning three-axis robot for vehicle body - Google Patents
Flexible assembly positioning three-axis robot for vehicle body Download PDFInfo
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- CN216372225U CN216372225U CN202122558986.2U CN202122558986U CN216372225U CN 216372225 U CN216372225 U CN 216372225U CN 202122558986 U CN202122558986 U CN 202122558986U CN 216372225 U CN216372225 U CN 216372225U
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Abstract
The utility model relates to a three-axis robot for flexibly assembling and positioning a vehicle body, which comprises a three-axis moving assembly and a flexible mechanical clamp, wherein the flexible mechanical clamp is assembled on a Z-axis moving assembly in the three-axis moving assembly; the flexible mechanical clamp comprises a double-cylinder and a clamping plate; the flexible mechanical clamp is mounted through the three-axis moving assembly, and can move in a three-dimensional space, so that the multi-station combined work is met, the requirement on the field during the multi-station combined work is reduced, the production cost is reduced, and the production efficiency is improved. The direction of the horizontal plate can be rotated according to the requirement of actual clamping of workpieces, so that the distance between the vertical plate and the vertical plate can be changed, and the workpiece clamping device is convenient to adapt to workpiece clamping work of different sizes.
Description
Technical Field
The utility model relates to the technical field of industrial machines, in particular to a three-axis robot for flexibly assembling and positioning a vehicle body.
Background
With the continuous development of the automobile industry, automation equipment is widely applied to various fields of automobile production, most industrial robots are applied, most industrial robots in the market are joint robots, and the robots are suitable for small-range area operation, are high in price and cost and are suitable for mass production and manufacturing; the existing two-axis gantry robot can only move on a two-dimensional plane, cannot move in a three-dimensional space, is only suitable for single-station production, and requires the centers of multiple stations to be on a straight line when the two-axis gantry robot needs to be matched with multiple stations to work in a combined manner.
The method has great requirements on workplaces and station arrangement, and is not beneficial to large-scale popularization and application; and for the commercial passenger car industry, the production requirements of small batches and multiple batches often appear. In addition, the clamping jaw of the mechanical clamp in the prior art is not convenient to adjust according to the size of a workpiece, so that the clamping range is limited.
SUMMERY OF THE UTILITY MODEL
Aiming at the technical problems in the prior art, the utility model can move in a three-dimensional space, thereby meeting the requirement of multi-station combined work and solving the problems brought forward by the background technology.
The technical scheme for solving the technical problems is as follows:
a three-axis robot for flexibly assembling and positioning a vehicle body comprises a three-axis moving assembly and a flexible mechanical clamp, wherein the flexible mechanical clamp is assembled on a Z-axis moving assembly in the three-axis moving assembly;
the flexible mechanical clamp comprises a double-cylinder and a clamping plate; the end part of an output shaft of the double-cylinder is fixedly connected with a fixed plate, the top of the fixed plate is fixedly connected with a sleeve, and a rotating shaft is rotatably arranged in the sleeve through a bearing;
the clamping plate comprises a horizontal plate and a vertical plate; the upper end of the vertical plate is fixedly connected to one end of the horizontal plate, the other end of the horizontal plate is fixedly connected to the lower end of the rotating shaft, and a positioning device is arranged at the top of the horizontal plate.
Preferably, the positioning device comprises a positioning hole and a positioning pin, and the positioning pin is inserted into the positioning hole; the locating hole includes screw hole and pinhole, the screw hole is seted up in the top of fixed plate, the pinhole is seted up in the top of horizontal plate.
Preferably, the positioning pin is in threaded connection with the inside of the threaded hole, the lower end of the positioning pin is fixedly connected with a conical head, the shape of the pin hole is matched with that of the conical head, and the conical head is movably inserted into the pin hole; the pin holes are arranged in two groups, and the two groups of pin holes are symmetrically arranged by taking the rotating shaft as a center.
Preferably, the three-axis moving assembly further comprises an X-axis moving assembly and a Y-axis moving assembly; the X-axis moving assembly is installed on the stand column, the Y-axis moving assembly is assembled on the X-axis moving assembly, and the Z-axis moving assembly is assembled on the Y-axis moving assembly.
Preferably, the X-axis moving assembly comprises a sliding mechanism and a driving mechanism; the Y-axis moving assembly and the Z-axis moving assembly comprise electric linear sliding tables, and the electric linear sliding tables in the Z-axis moving assembly are installed on the sliding tables in the Y-axis moving assembly.
Preferably, the sliding mechanism comprises a sliding rail and a sliding block; the sliding rail is arranged at the top of the upright post, and the sliding block is connected to the top of the sliding rail in a sliding manner; and an electric linear sliding table in the Y-axis moving assembly is arranged at the top of the sliding block.
Preferably, the driving mechanism comprises a gear, a rack and a motor; the motor is installed in one side of electronic sharp slip table in the Y axle removes the subassembly, the gear passes through the key-type and connects in the output shaft tip of motor, the rack is installed in one side of stand and is connected with gear engagement.
Compared with the prior art, the technical scheme of the application has the following beneficial technical effects:
1. the flexible mechanical clamp is mounted through the three-axis moving assembly, and can move in a three-dimensional space, so that the multi-station combined work is met, the requirement on the field during the multi-station combined work is reduced, the production cost is reduced, and the production efficiency is improved;
2. the flexible mechanical clamp mainly comprises a double-cylinder and a clamping plate, wherein the clamping plate comprises a horizontal plate and a vertical plate, the horizontal plate is rotatably arranged on a fixing plate at the end part of the double-cylinder through a rotating shaft, and the direction of the horizontal plate can be rotated according to the actual requirement of clamping workpieces, so that the distance between the vertical plate and the vertical plate can be changed, and the clamping work of workpieces with different sizes can be conveniently adapted.
Drawings
FIG. 1 is a schematic structural view of a three-axis robot of the present invention;
FIG. 2 is a schematic structural view of two sets of vertical plates in close proximity according to the present invention;
FIG. 3 is a schematic view of the two sets of vertical plates in a separated state;
FIG. 4 is a schematic structural diagram of a positioning device according to the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1, an X-axis moving assembly; 2, a Y-axis moving component; 3, a Z-axis moving component; 4, flexible mechanical clamp; 5, a column; 6, a double-cylinder; 7, clamping plates; 8, fixing a plate; 9, sleeving a pipe; 10, a rotating shaft; 11, a horizontal plate; 12, a vertical plate; 13, positioning holes; 14, positioning pins; 15, a threaded hole; 16, pin holes; 17, a conical head; 18, a slide rail; 19, a slide block; 20, a gear; 21, a rack; 22, a motor; and 23, electrically driving the linear sliding table.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the utility model.
Referring to fig. 1-4, the three-axis robot for flexibly assembling and positioning the vehicle body of the present invention comprises a three-axis moving assembly and a flexible mechanical fixture 4, wherein the flexible mechanical fixture 4 is assembled on a Z-axis moving assembly 3 in the three-axis moving assembly; the three-axis moving assembly is used for driving the flexible mechanical clamp 4 to move in the directions of an X axis, a Y axis and a Z axis, and the flexible mechanical clamp 4 clamps a workpiece. The workpiece can move in a three-dimensional space, so that the multi-station combined work is met, the requirement on the field during the multi-station combined work is reduced, the production cost is reduced, and the production efficiency is improved.
Referring to fig. 1, the three-axis moving assembly includes an X-axis moving assembly 1, a Y-axis moving assembly 2, and a Z-axis moving assembly 3; the X-axis moving assembly 1 is installed on the upright post 5, the Y-axis moving assembly 2 is assembled on the X-axis moving assembly 1, and the Z-axis moving assembly 3 is assembled on the Y-axis moving assembly 2. The X-axis moving assembly 1 drives the Y-axis moving assembly 2 and the Z-axis moving assembly 3 to move along the X-axis direction, the Y-axis moving assembly 2 drives the Z-axis moving assembly 3 to move along the Y-axis direction, and the Z-axis moving assembly 3 drives the flexible mechanical clamp 4 to move along the Z-axis direction.
The X-axis moving assembly 1 comprises a sliding mechanism and a driving mechanism; the Y-axis moving assembly 2 and the Z-axis moving assembly 3 both comprise electric linear sliding tables 23, and the electric linear sliding tables 23 in the Z-axis moving assembly 3 are installed on the sliding tables in the Y-axis moving assembly 2.
The sliding mechanism comprises a slide rail 18 and a slide block 19; the slide rail 18 is arranged at the top of the upright post 5, and the slide block 19 is connected to the top of the slide rail 18 in a sliding manner; the electric linear sliding table 23 in the Y-axis moving assembly 2 is mounted on the top of the slider 19. The driving mechanism comprises a gear 20, a rack 21 and a motor 22; the motor 22 is installed at one side of the electric linear sliding table 23 in the Y-axis moving assembly 2, the gear 20 is connected to the end portion of the output shaft of the motor 22 through a key, and the rack 21 is installed at one side of the upright post 5 and is engaged with the gear 20. The motor 22 drives the gear 20 to move along the rack 21, and further drives the electric linear sliding table 23 in the Y-axis moving assembly 2 to move on the column 5.
Referring to fig. 2, 3 and 4, the flexible mechanical fixture 4 includes two sets of double-cylinder cylinders 6 and two sets of clamping plates 7, and the two sets of double-cylinder cylinders 6 and the two sets of clamping plates 7 are symmetrically disposed on the sliding table of the electric linear sliding table 23 in the Z-axis moving assembly 3. The output shaft end part of two sets of double-cylinder cylinders 6 is fixedly connected with fixed plate 8, and the top fixedly connected with sleeve pipe 9 of fixed plate 8, the inside of sleeve pipe 9 is passed through the bearing and is rotated and install pivot 10. The outer ring of the bearing is fixed on the inner wall of the sleeve 9, and the rotating shaft 10 is inserted in the inner ring of the bearing in an interference manner, so that the rotating shaft 10 can rotate, and the direction of the clamping plate 7 can be adjusted.
The clamping plate 7 comprises a horizontal plate 11 and a vertical plate 12; the upper end of the vertical plate 12 is fixedly connected to one end of the horizontal plate 11, the other end of the horizontal plate 11 is fixedly connected to the lower end of the rotating shaft 10, the horizontal plate 11 serves as an extension arm, the vertical plate 12 serves as a clamping portion, and referring to fig. 2, when two groups of vertical plates 12 approach, a smaller workpiece can be clamped; referring to FIG. 3, the two sets of vertical plates 12 are spaced apart to hold a larger workpiece.
A positioning device is arranged on the top of the horizontal plate 11 and used for limiting the angle of the clamping plate 7. The positioning device comprises a positioning hole 13 and a positioning pin 14, and the positioning pin 14 is inserted into the positioning hole 13; the positioning hole 13 comprises a threaded hole 15 and a pin hole 16, the threaded hole 15 is arranged at the top of the fixing plate 8, and the pin hole 16 is arranged at the top of the horizontal plate 11. The angular position of the horizontal plate 11 can be restricted by the cooperation of the positioning pin 14 and the positioning hole 13.
Referring to fig. 4, the outer portion of the positioning pin 14 is provided with a threaded portion, and is in threaded connection with the inner portion of the threaded hole 15, the lower end of the positioning pin 14 is fixedly connected with a conical head 17, the shape of the pin hole 16 is matched with the conical head 17, and the angle of the horizontal plate 11 can be effectively limited by matching the conical head 17 with the pin hole 16, so that the horizontal plate is prevented from shaking. The conical head 17 is movably inserted into the pin hole 16; two sets of pin holes 16 are provided, and the two sets of pin holes 16 are symmetrically arranged with the rotating shaft 10 as the center. After the position of the vertical plate 12 is adjusted as required, the positioning pin 14 is rotated to insert the conical head 17 into the pin hole 16, thereby facilitating the limitation of the angle of the horizontal plate 11.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. The utility model provides a three-axis robot for flexibly assembling and positioning a vehicle body, comprises a three-axis moving assembly and a flexible mechanical clamp (4), and is characterized in that: the flexible mechanical clamp (4) is assembled on a Z-axis moving assembly (3) in the three-axis moving assembly;
the flexible mechanical clamp (4) comprises a double-cylinder (6) and a clamping plate (7); the end part of an output shaft of the double-cylinder (6) is fixedly connected with a fixed plate (8), the top of the fixed plate (8) is fixedly connected with a sleeve (9), and a rotating shaft (10) is rotatably arranged in the sleeve (9) through a bearing;
the clamping plate (7) comprises a horizontal plate (11) and a vertical plate (12); the upper end of the vertical plate (12) is fixedly connected to one end of the horizontal plate (11), the other end of the horizontal plate (11) is fixedly connected to the lower end of the rotating shaft (10), and a positioning device is arranged at the top of the horizontal plate (11).
2. The three-axis robot for flexibly assembling and positioning the vehicle body according to claim 1, wherein: the positioning device comprises a positioning hole (13) and a positioning pin (14), and the positioning pin (14) is inserted into the positioning hole (13); the positioning hole (13) comprises a threaded hole (15) and a pin hole (16), the threaded hole (15) is formed in the top of the fixing plate (8), and the pin hole (16) is formed in the top of the horizontal plate (11).
3. The three-axis robot for flexibly assembling and positioning the vehicle body according to claim 2, wherein: the positioning pin (14) is in threaded connection with the inside of the threaded hole (15), the lower end of the positioning pin (14) is fixedly connected with a conical head (17), the shape of the pin hole (16) is matched with that of the conical head (17), and the conical head (17) is movably inserted into the pin hole (16); the pin holes (16) are arranged in two groups, and the two groups of pin holes (16) are symmetrically arranged by taking the rotating shaft (10) as a center.
4. The three-axis robot for flexibly assembling and positioning the vehicle body according to claim 1, wherein: the three-axis moving assembly further comprises an X-axis moving assembly (1) and a Y-axis moving assembly (2); the X-axis moving assembly (1) is installed on the upright post (5), the Y-axis moving assembly (2) is assembled on the X-axis moving assembly (1), and the Z-axis moving assembly (3) is assembled on the Y-axis moving assembly (2).
5. The three-axis robot for flexibly assembling and positioning the vehicle body according to claim 4, wherein: the X-axis moving assembly (1) comprises a sliding mechanism and a driving mechanism; y axle removes subassembly (2) and Z axle and removes subassembly (3) and all include electronic sharp slip table (23), electronic sharp slip table (23) in Z axle removes subassembly (3) is installed on the slip table in Y axle removes subassembly (2).
6. The three-axis robot for flexibly assembling and positioning the vehicle body according to claim 5, wherein: the sliding mechanism comprises a sliding rail (18) and a sliding block (19); the sliding rail (18) is arranged at the top of the upright post (5), and the sliding block (19) is connected to the top of the sliding rail (18) in a sliding manner; an electric linear sliding table (23) in the Y-axis moving assembly (2) is arranged at the top of the sliding block (19).
7. The three-axis robot for flexibly assembling and positioning the vehicle body according to claim 5, wherein: the driving mechanism comprises a gear (20), a rack (21) and a motor (22); motor (22) are installed in one side of electronic sharp slip table (23) in Y axle removes subassembly (2), gear (20) are connected in the output shaft tip of motor (22) through the key-type, rack (21) are installed in one side of stand (5) and are connected with gear (20) meshing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122558986.2U CN216372225U (en) | 2021-10-22 | 2021-10-22 | Flexible assembly positioning three-axis robot for vehicle body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122558986.2U CN216372225U (en) | 2021-10-22 | 2021-10-22 | Flexible assembly positioning three-axis robot for vehicle body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216372225U true CN216372225U (en) | 2022-04-26 |
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ID=81248553
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122558986.2U Active CN216372225U (en) | 2021-10-22 | 2021-10-22 | Flexible assembly positioning three-axis robot for vehicle body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216372225U (en) |
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2021
- 2021-10-22 CN CN202122558986.2U patent/CN216372225U/en active Active
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