CN223802600U - A robot for automatic off-line production of vehicle axles - Google Patents
A robot for automatic off-line production of vehicle axlesInfo
- Publication number
- CN223802600U CN223802600U CN202520390301.3U CN202520390301U CN223802600U CN 223802600 U CN223802600 U CN 223802600U CN 202520390301 U CN202520390301 U CN 202520390301U CN 223802600 U CN223802600 U CN 223802600U
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- axle
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Abstract
本实用新型公开了一种车桥自动下线机器人，包括机械手臂；夹具，该夹具与机械手臂连接，通过机械手臂带动夹具运动；所述夹具包括限位部，所述限位部限定接纳产品的第一指定位置；夹紧部，该夹紧部对应于限位部设置，通过该夹紧部将产品的第一指定位置固定在限位部上；第二夹持部，通过第二夹持部对产品的第二指定位置固定。通过本实用新型可实现产品的全自动吊装，降低劳动强度的同时，可降低安全事故风险，提高生产安全性。
This utility model discloses an automated axle assembly line robot, comprising a robotic arm; a gripper connected to the robotic arm, which moves the gripper via the robotic arm; the gripper includes a limiting part defining a first designated position for receiving a product; a clamping part corresponding to the limiting part, which fixes the first designated position of the product to the limiting part; and a second clamping part fixing the product to a second designated position. This utility model enables fully automated product hoisting, reducing labor intensity, lowering the risk of safety accidents, and improving production safety.
Description
Technical Field
The utility model relates to the technical field of product hoisting, in particular to an axle automatic offline robot.
Background
In conventional production lines, the product off-line process often relies on manually operated spreaders for hoisting. When the line flow goes to the off-line station, the worker needs to manually operate the slings to grasp the product, and then hoist and place the product on a specific tool. In order to effectively utilize the space of the appliance, the staff also needs to manually turn over the interlayer of the appliance for placement. Particularly in the field of assembly and manufacture of automobile chassis parts and assemblies, the axle rear axle assembly is used as a key part, and the high efficiency and the accuracy of the off-line link are critical to the whole production flow. The weight of the rear axle of the axle reaches more than 40KG, the existing off-line mode generally depends on that an employee manually operates an electric hoist to take down a product from a production line and place the product on a transport appliance, and the existing carbon steel clamp is heavier (the weight reaches 127 KG), so that the employee is difficult to move the clamp, the labor intensity of the employee is improved, meanwhile, the safety risk is also high, the production efficiency is reduced, and the quality of parts is influenced by the fact that the collision can occur in the process of off-line of the parts.
Disclosure of utility model
Therefore, in order to solve the above-mentioned shortcomings, the present utility model provides an axle automatic offline robot, comprising:
a mechanical arm;
The clamp is connected with the mechanical arm and drives the clamp to move through the mechanical arm;
The clamp comprises:
a limit portion defining a first designated location for receiving a product;
The clamping part is arranged corresponding to the limiting part and matched with the limiting part to form a first clamping part, and the first designated position and the limiting part are kept fixed through the clamping part;
The second clamping part is used for fixing a second designated position of the product.
According to the utility model, the product is clamped by the clamp, and the axle is placed to the designated position by the robot arm according to the preset path, so that the automatic offline of the product is realized, the production efficiency is improved, the labor intensity is reduced, the safety risk caused by offline of the product by manual operation is reduced, and meanwhile, the collision of the product can be reduced.
Further, the first clamping parts are provided with two groups, the two groups of the first clamping parts are symmetrically arranged, the second clamping parts are arranged between the two groups of the first clamping parts, and the two groups of the first clamping parts and the second clamping parts are in triangular layout.
Through arranging the first clamping part and the second clamping part in a triangle shape, the overall stability of the clamp structure is enhanced, and the connection and the movement process are more reliable.
Further, the limiting part comprises a limiting rod, and a limiting block which is embedded or partially embedded with the first appointed position of the product is embedded at the end part of the limiting rod.
Further, the clamping portion includes:
A first power unit;
The connecting rod is connected with the first power device, and the connecting rod is driven to rotate around the connecting end of the connecting rod with the first power device through the first power device;
The first clamping block is sleeved at one end of the connecting rod, which is far away from the first power device.
Further, the clamping portion further comprises a first limit sensor, and the first limit sensor is arranged corresponding to a preset maximum stroke position of the connecting rod.
Further, the second clamping portion includes:
A second power device;
The clamping parts are provided with two groups, the two groups of clamping parts are oppositely arranged, and the clamping parts are driven to linearly move by the second power device so as to be close to or far away from each other;
The second clamping block is arranged on the inner side of the clamping part, and the bearing part protruding inwards is arranged on the inner side of the second clamping block.
Further, the second clamping portion further comprises a second limit sensor, and the second limit sensor is arranged corresponding to the maximum stroke position of the clamping portion.
When clamping the product, the mechanical arm drives the clamp to move to the position of the product line body, the first appointed position of the product is located in the limiting block, the second appointed position is located between the two groups of second clamping blocks, then the first power device and the second power device act simultaneously, the first power device drives the first clamping block to rotate, so that the first clamping block rotates to the lower part of the first appointed position, the first appointed position is fixed by matching with the limiting part, the second power device drives the second clamping blocks to be close to each other, the second appointed position is fixed, the bearing part is in contact with the lower part of the second appointed position at the moment, so that encircling clamping is formed at the clamping position of the axle, and shaking or falling of the axle in the grabbing process is avoided.
Further, the clamp further comprises a grip through which the compartment of the rack is turned over.
The interlayer is blocked by the gripper at one point, the mechanical arm controls the gripper to horizontally move to drive the interlayer to rotate, meanwhile, the interlayer falls down by inertia, and at a proper position, the interlayer is supported to slowly fall down by one side of the gripper horizontally, so that the support plate is prevented from being damaged due to too fast falling speed.
Further, the fixture also includes a vision module by which the target location is located.
And photographing through the vision module axle product and the placement device, and calculating three-dimensional coordinate information of the axle and the placement device according to deformation conditions of the patterns, so that the position and the posture of the axle product and the space position of the placement device are accurately obtained.
Further, the fixture further comprises a mounting portion, the mounting portion is formed by connecting a plurality of octagonal profiles, and the limiting portion, the clamping portion, the second clamping portion, the handle and the vision module are all mounted on the mounting portion.
The octagonal sectional material is adopted to replace the traditional non-calibrated manufacturing design of the carbon steel material, so that the clamp design of the robot for carrying and grabbing the product is more convenient and efficient, and the weight of the clamp is greatly reduced.
The utility model has the following advantages:
According to the utility model, the product is clamped by the clamp, and the axle is placed to the designated position by the robot arm according to the preset path, so that the automatic offline of the product is realized, the production efficiency is improved, the labor intensity is reduced, the safety risk caused by offline of the product by manual operation is reduced, and meanwhile, the collision of the product can be reduced.
Drawings
Fig. 1 is a schematic structural view of a robot;
FIG. 2 is a first schematic view of the structure of the jig in the robot shown in FIG. 1;
FIG. 3 is a second schematic view of the structure of the jig in the robot shown in FIG. 1;
FIG. 4 is a schematic view of the structure of the clamping portion of the clamp shown in FIG. 2;
FIG. 5 is a schematic view of a limiting portion of the clamp of FIG. 2;
FIG. 6 is a schematic view of a second clamping portion of the clamp of FIG. 2;
FIG. 7 is a schematic view of the structure of the grip of the clamp of FIG. 2;
FIG. 8 is a schematic view of a rack for use with the robot of FIG. 1;
in the figure:
100. A mechanical arm;
200. the clamping device comprises a clamp, 210, a mounting part, 211, a fixed block, 220, a connecting part, 230, a limiting part, 231, a limiting rod, 232, a limiting block, 240, a gripping handle, 241, a connecting rod, 242, a gripping part, 250, a clamping part, 251, a first fixing part, 252, a first power device, 253, a first clamping block, 254, a connecting rod, 255, a first limiting sensor, 260, a second clamping part, 261, a second fixing part, 262, a second limiting sensor, 263, a clamping part, 264, a second clamping block, 264A and a bearing part.
300 Rack.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
As described in the background art, the worker manually operates the electric hoist to take down the product from the production line and place the product on the transport device, and the existing carbon steel clamp is heavy, so that the worker is difficult to move the clamp, the labor intensity of the worker is improved, meanwhile, the worker also has a certain safety risk, the production efficiency is reduced, and the quality of the parts is affected by the fact that the collision can occur in the process of taking the parts off the line.
Example 1:
Therefore, in order to solve the above technical problems in the prior art, the present embodiment provides an axle automatic offline robot, as shown in fig. 1, including:
A robot arm 100;
The clamp 200 is connected with the mechanical arm and drives the clamp to move through the mechanical arm;
As shown in fig. 2 and 3, the fixture includes:
A limit portion 230 defining a first designated location for receiving a product;
The clamping part 250 is arranged corresponding to the limiting part and is matched with the limiting part to form a first clamping part, and the first designated position and the limiting part are kept fixed through the clamping part;
The second clamping portion 260 is fixed to a second designated position of the product by the second clamping portion.
In this embodiment, the fixture may further include an installation portion 210, the limiting portion, the clamping portion, and the second clamping portion are all installed on the installation portion, the first clamping portions are provided with two groups, two groups of first clamping portions are symmetrically arranged, the second clamping portions are arranged between the two groups of first clamping portions, the two groups of first clamping portions and the second clamping portion are in triangular layout, so that stability of the fixture structure is enhanced, connection and movement processes are more reliable, and a connection portion 220 capable of being in butt joint with the mechanical arm is further fixed on the installation portion. Besides, the mounting part can adopt a frame body formed by mutually connecting a plurality of octagonal sectional materials to replace the traditional non-calibrated manufacturing design of carbon steel materials, so that the design of a clamp for carrying and grabbing products by a robot is more convenient and efficient, the weight reduction of the clamp is realized, the clamp is optimized and reduced to 36KG by the traditional carbon steel clamp 127KG, and the weight is reduced by 71%.
For example, as shown in fig. 5, the limiting part may include a limiting rod 231, and a limiting block 232 engaged with or partially engaged with the first designated position of the product is embedded in an end portion of the limiting rod.
One end that the stopper was kept away from to the gag lever post and installation department fixed connection, connected mode include but are not limited to connection modes such as welding, butt fusion, riveting, bolted connection, in this embodiment, the gomphosis mode of stopper with the gag lever post can refer to fig. 5, can set up the draw-in groove in the one end of gag lever post, set up the arch at the both sides wall of draw-in groove, set up the recess in the bellied position that corresponds in stopper both sides, through pushing the stopper from draw-in groove one side cooperation, so that protruding cooperation advance the draw-in groove can, in addition, still can be equipped with bellied lateral wall and offer the connecting hole with the gag lever post in the draw-in groove, pass connecting hole and stopper surface butt through with screw, bolt or other connecting rods from the outside of draw-in groove can realize the relative fixation of stopper and draw-in groove.
Illustratively, as shown in FIG. 4, the clamping portion includes:
first power means 252;
The connecting rod 254 is connected with the first power device, and the connecting rod is driven to rotate around the connecting end of the connecting rod with the first power device through the first power device;
The first clamping block 253 is sleeved at one end of the connecting rod far away from the first power device.
In this embodiment, the clamping portion may further include a first fixing portion 251, where the first fixing portion and the mounting portion are kept fixed, the first power device is fixedly mounted on the first fixing portion, the first power device may selectively clamp a cylinder, and the clamping cylinder drives the connecting rod to swing, and of course, other devices capable of implementing the swinging of the connecting rod may also be selected, for example, a rotating cylinder, a cylinder matching with the connecting rod mechanism, and the like.
In this embodiment, the clamping portion may further include a first limit sensor 255 disposed corresponding to a preset maximum stroke position of the link, the first limit sensor being fixedly mounted on the first fixing portion, the preset maximum stroke position of the link including a forward rotation maximum stroke (i.e., a maximum stroke of the clamping action) and a reverse rotation maximum stroke (i.e., a maximum stroke of the releasing action) of the link.
The movement stroke of the clamping part is limited through the first limit sensor, so that the overtravel movement of the clamping part can be avoided, and the working safety of the clamp is improved.
Illustratively, as shown in fig. 6, the second clamping portion includes:
a second power device 252;
The clamping parts 263 are provided with two groups of clamping parts, the two groups of clamping parts are oppositely arranged, and the clamping parts are driven to linearly move by the second power device so as to be close to or far away from each other;
And a second clamping block 264 mounted on the inner side of the clamping portion and having a bearing portion 264A protruding inward on the inner side thereof.
In this embodiment, the second clamping portion may further include a second fixing portion 261, where the second fixing portion is fixed to the mounting portion, the second power device is fixedly mounted on the second fixing portion, the second power device may select a bidirectional cylinder, and the bidirectional cylinder drives two groups of second clamping blocks to linearly move in opposite directions, or may select other devices that can achieve two groups of second clamping blocks to linearly move simultaneously and have opposite moving directions, for example, a moving module, where a matching manner of the second clamping blocks and the clamping portion may refer to a matching manner of the limiting block and the limiting rod.
In this embodiment, the second clamping portion further includes a second limit sensor 262 disposed corresponding to a maximum travel position of the clamping portion. The second limit sensor is fixedly arranged on the second fixing part, and the preset maximum stroke position of the connecting rod comprises a maximum stroke of forward movement (namely, a maximum stroke of clamping action) and a maximum stroke of reverse movement (namely, a maximum stroke of loosening action) of the clamping part.
The second limiting sensor limits the movement travel of the second clamping part, so that the second clamping part can be prevented from overtravel movement, and the working safety of the clamp is improved.
The mechanical arm with the clamp and the gripper for automatically taking and placing the product is adopted to replace manual operation. The mechanical arm can move and rotate in multiple directions, and the product is accurately clamped and fixed by the clamp to move to the position of the placement frame to be placed. Specifically, the mechanical arm drives the clamp to the product position, the first appointed position of the product is located in the limiting block, the second appointed position is located between two groups of second clamping blocks, then the first power device and the second power device act simultaneously, the first power device drives the first clamping blocks to rotate, so that the first clamping blocks rotate to the lower part of the first appointed position, the first appointed position is fixed by matching with the limiting part, the second power device drives the second clamping blocks to mutually approach, the second appointed position is fixed, at the moment, the bearing part is in contact with the lower part of the second appointed position, and therefore encircling clamping is formed on the clamping position of the axle, and shaking or falling of the axle in the grabbing process is avoided. The mechanical arm drives the clamp to move to the position of the placing frame again so as to place the product on the placing frame, the clamping part and the second clamping part are loosened, the product is placed on the placing frame, full-automatic lifting of the product is realized, the labor intensity is reduced, the risk of safety accidents is reduced, and the production safety is improved.
The rotation range of the mechanical arm in this embodiment is 360 degrees. The clamping part can limit the displacement freedom degree and the rotation freedom degree of a first designated position of the product in the directions of the x axis, the y axis and the z axis, and the second clamping part can limit the movement freedom degree and the rotation freedom degree of a second designated position of the product in the direction of the x axis, so that the position of the product is firmly fixed, the product can be prevented from falling off in the moving process, and the product can be safely grabbed to a point position on an appliance to be moved.
In this embodiment, the limiting block, the first clamping block and the second clamping block may be made of flexible materials, such as rubber, so as to avoid damage to the product when the product is grabbed.
In addition, the clamp may include a grip 240 by which to flip the compartment of the rack 300.
In this embodiment, as shown in fig. 7, the gripper may include a connecting rod 241 and a gripping portion 242, where the gripping portion is fixedly installed at an end of the connecting rod, and the fixing block 211 may be disposed on a side portion of the installation portion, and the connecting portion and the fixing block are inserted, and the tail portion of the gripper is abutted to the connecting rod to fix the gripper and the installation portion through passing through the fixing block from the outer side by using a bolt.
Exemplary, the gripper may use the gripper as shown in FIG. 7Shape.
In this embodiment, the grip is disposed perpendicular to or parallel to the plane of the mounting portion.
As shown in FIG. 8, the interlayer is blocked at one point by the gripper, the mechanical arm controls the gripper to horizontally move to drive the interlayer to rotate, meanwhile, the interlayer falls down by inertia, and at a proper position, one horizontal side of the gripper supports the interlayer to slowly fall down, so that the support plate is prevented from being damaged due to too fast falling speed, and the placed interlayer is overturned from the state A to the state B.
In addition, the fixture may also include a vision module 270 by which the target location is located.
In the process of grabbing and clamping the product and rotating the supporting plate, the target position is positioned through the vision module so as to improve the grabbing precision of the robot.
In the process of grabbing and clamping the product and rotating the supporting plate, the three-dimensional visual positioning and guiding system is used for acquiring three-dimensional data and planning a movement path and guiding the manipulator to complete specified operation and task.
In this embodiment, the vision module may be a 3D vision module, for example, a 3D vision camera, and uses 3D imaging technologies such as structured light, binocular vision, or TOF (time of flight) to take a photograph of the axle product and the placement tool. For example, a structured light 3D camera shoots a deformed grating pattern from a specific angle by projecting a set of known grating patterns onto an axle and a placement tool, and calculates three-dimensional coordinate information of the axle and the placement tool according to deformation conditions of the pattern by using a triangulation principle, thereby accurately acquiring the position and the posture of an axle product and the spatial position of the placement tool. The 3D vision system transmits the obtained three-dimensional information of the axle and the placement tool to the robot control system. Based on the information, the robot control system plans the motion path of the robot through a preset algorithm and coordinate transformation. For example, the robot kinematic model is utilized to convert the coordinates in the world coordinate system provided by the 3D vision system into the motion instructions in the robot joint coordinate system, so that the robot can accurately move to the vision photographing position.
Compared with the traditional 2D vision or manual positioning mode, the 3D vision can provide more comprehensive and accurate three-dimensional space information, positioning accuracy can reach millimeter or even sub-millimeter level, the accuracy of axle offline is greatly improved, and product damage or placement errors caused by positioning deviation are reduced.
Meanwhile, parameters of the 3D vision system and a program of the robot can be adjusted, and D4 and tool clamps corresponding to products of different vehicle types are designed, so that the automatic offline requirement of assembly total assemblies such as front axles, rear axles and steering knuckles of automobile chassis of different models and specifications is met, and the automatic offline device has strong flexibility and adaptability.
In this embodiment, the valve island is also fixed to the octagonal profile as a control center for guiding the operation of the jig.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An automatic off-line robot for an axle, comprising:
a mechanical arm;
The clamp is connected with the mechanical arm and drives the clamp to move through the mechanical arm;
The clamp comprises:
a limit portion defining a first designated location for receiving a product;
The clamping part is arranged corresponding to the limiting part and matched with the limiting part to form a first clamping part, and the first designated position and the limiting part are kept fixed through the clamping part;
The second clamping part is used for fixing a second designated position of the product.
2. The automatic offline robot for the axle of the vehicle is characterized in that two groups of first clamping portions are arranged, the two groups of first clamping portions are symmetrically arranged, the second clamping portion is arranged between the two groups of first clamping portions, and the two groups of first clamping portions and the second clamping portion are in triangular layout.
3. The automatic axle offline robot of claim 1, wherein the limiting part comprises a limiting rod, and a limiting block which is embedded or partially embedded with the first designated position of the product is embedded at the end part of the limiting rod.
4. The automatic axle offline robot according to claim 1, wherein the clamping part comprises:
A first power unit;
The connecting rod is connected with the first power device, and the connecting rod is driven to rotate around the connecting end of the connecting rod with the first power device through the first power device;
The first clamping block is sleeved at one end of the connecting rod, which is far away from the first power device, and is arranged on the clamping block.
5. The automatic axle feeding robot as set forth in claim 4, wherein the clamping portion further comprises a first limit sensor disposed corresponding to a preset maximum travel position of the link.
6. The automatic axle offline robot of claim 1, wherein the second clamping part comprises:
A second power device;
The clamping parts are provided with two groups, the two groups of clamping parts are oppositely arranged, and the clamping parts are driven to linearly move by the second power device so as to be close to or far away from each other;
The second clamping block is arranged on the inner side of the clamping part, and the bearing part protruding inwards is arranged on the inner side of the second clamping block.
7. The automatic axle feeding robot as set forth in claim 6, wherein the second clamping portion further comprises a second limit sensor disposed corresponding to a maximum stroke position of the clamping portion.
8. The automatic axle feeding robot of claim 1, wherein the clamp further comprises a gripper through which the compartment of the rack is turned.
9. The automatic axle drop-out robot of claim 8, wherein the fixture further comprises a vision module by which the target location is located.
10. The automatic axle offline robot of claim 9, wherein the fixture further comprises a mounting portion, the mounting portion is formed by connecting a plurality of octagonal profiles, and the limiting portion, the clamping portion, the second clamping portion, the gripper and the vision module are all mounted on the mounting portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202520390301.3U CN223802600U (en) | 2025-03-07 | 2025-03-07 | A robot for automatic off-line production of vehicle axles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202520390301.3U CN223802600U (en) | 2025-03-07 | 2025-03-07 | A robot for automatic off-line production of vehicle axles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN223802600U true CN223802600U (en) | 2026-01-16 |
Family
ID=98383265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202520390301.3U Active CN223802600U (en) | 2025-03-07 | 2025-03-07 | A robot for automatic off-line production of vehicle axles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN223802600U (en) |
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2025
- 2025-03-07 CN CN202520390301.3U patent/CN223802600U/en active Active
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