CN208810883U - Panoramic sunroof of automobile robot binding equipment and rolling robot - Google Patents

Abstract

The utility model relates to a kind of panoramic sunroof of automobile robot binding equipment and rolling robots, wherein edge knurling device includes the control device for being respectively used to carry out four rolling robots of rolling for four sides of skylight and manually make for controlling rolling machine, rolling robot includes robot body and the knurling tool that connect with robot body, knurling tool is vertically arranged, control device is connect with each rolling robot respectively, control device includes memory, processor, and it is stored in memory, the program executed by processor.Compared with prior art, the utility model has many advantages, such as to improve rolling efficiency.

Description

Panoramic sunroof of automobile robot binding equipment and rolling robot

Technical field

The utility model relates to a kind of skylight rolling technologies, set more particularly, to a kind of panoramic sunroof of automobile robot binding Standby and rolling robot.

Background technique

In the skylight robot binding project of automobile manufacture factory, general skylight rolling project is all 1 or 2 machines Device people carries out rolling, and rolling beat is between 25JPH~35JPH.

In existing skylight robot edge-coating project, it is generally divided into scuttle and panoramic skylight.Scuttle robot Rolling project can only use 1 robot, and panoramic skylight generally also uses 1 robot binding, and end item can use 2 machines People while rolling, beat is typically also in 25JPH~35JPH, and beat is generally all in 30JPH；Its edge knurling process is all 4 machines People's rolling, each 45 degree of angles of stepping or so.Now because the productive temp of automobile factory is higher and higher, robot is rolled accordingly The requirement that the beat on side is also improved, but robot binding after the beat for reaching 30JPH or so has reached bottleneck point.

Such as Chinese patent CN 206392654U discloses a kind of knurling tool, is horizontally disposed with, and is used for rolling, machine The problems such as people's rolling project is because of roller-head design, robot accessibility and interlocking safety area, is generally used 1 or 2 robots Rolling, this time product optimization design main purpose is to achieve the purpose that improve station beat to arrange more robots. In normal panoramic skylight robot binding project, 1 robot binding is generally used, roller-head uses 2 symmetrical idler wheels, One is the cylinder wheel of major diameter for the 1st, 2,3 rollings；Another is thumb wheel for the 4th rolling.But it is rolling When the 3rd and the 4th, because of roller-head structure and robot Reachability question, at this time 5 axis of robot, 6 axis and roller-head all in To die inside lateral attitude, more robots, timely 2 machines can not be arranged in the case where this posture and narrow space People also has interlocking safety area problem and needs to increase the waiting time, and beat is caused not increase.

Utility model content

The purpose of this utility model is exactly to provide a kind of auto-panorama to overcome the problems of the above-mentioned prior art Skylight robot binding equipment and rolling robot.

The purpose of this utility model can be achieved through the following technical solutions:

A kind of panoramic sunroof of automobile robot binding equipment, including four for being respectively used to carry out rolling for four sides of skylight Rolling robot and the control device manually made for controlling rolling machine, the control device connect with each rolling robot respectively It connects, the rolling robot includes robot body and the knurling tool that connect with robot body, and the knurling tool is vertical Setting, the knurling tool include roller-head ontology and the first idler wheel, the second idler wheel, the roller-head ontology be vertically arranged and upper end with Robot body connection, first idler wheel and the second idler wheel are connect with the lower end of roller-head ontology, and are respectively arranged on roller-head sheet Body two sides.

The outer of first idler wheel is equipped with the first pressure surface for first time rolling and for third time rolling Three pressure surfaces, and the first pressure surface and third pressure surface have angle；

The outer of second idler wheel is equipped with the second pressure surface for second rolling and for the 4th rolling Four pressure surfaces, and the second pressure surface and the 4th pressure surface have angle.

First pressure surface is located at the side on the first idler wheel close to roller-head ontology, and third pressure surface is located on the first idler wheel far Side from roller-head ontology,

Second pressure surface is located at the side on the second idler wheel close to roller-head ontology, and the 4th pressure surface is located on the second idler wheel far Side from roller-head ontology.

The robot body includes the first driving device for driving knurling tool around its axial-rotation, and for driving Second driving device of dynamic knurling tool lateral turnover.

A kind of rolling robot, including robot body and the knurling tool being connect with robot body, the rolling work Tool is vertically arranged.

The knurling tool includes roller-head ontology and the first idler wheel, the second idler wheel, the roller-head ontology be vertically arranged and on End is connect with robot body, and first idler wheel and the second idler wheel are connect with the lower end of roller-head ontology, and are respectively arranged on rolling Head ontology two sides.

The outer of first idler wheel is equipped with the first pressure surface for first time rolling and for third time rolling Three pressure surfaces, and the first pressure surface and third pressure surface have angle；

The outer of second idler wheel is equipped with the second pressure surface for second rolling and for the 4th rolling Four pressure surfaces, and the second pressure surface and the 4th pressure surface have angle.

First pressure surface is located at the side on the first idler wheel close to roller-head ontology, and third pressure surface is located on the first idler wheel far Side from roller-head ontology,

Second pressure surface is located at the side on the second idler wheel close to roller-head ontology, and the 4th pressure surface is located on the second idler wheel far Side from roller-head ontology.

The robot body includes the first driving device for driving knurling tool around its axial-rotation, and for driving Second driving device of dynamic knurling tool lateral turnover.

Compared with prior art, the utility model has the following beneficial effects:

1) since knurling tool is arranged, the rolling path of every robot, rolling posture are all consistent, works with rolling speed When work all while interlocking interference and collision problem is thus avoided in movement, to realize the beat for improving robot binding Effect can achieve 45JPH.

2) space occupied of individual machine people can be saved, the accessibility of robot is improved with strong operability.

3) four pressure surfaces are designed, the fold of 45 degree of every step may be implemented, to improve fold effect stability.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model；

Fig. 2 is the structural schematic diagram of knurling tool；

Fig. 3 is that schematic diagram is arranged in the pressure surface of the first idler wheel；

Fig. 4 is that schematic diagram is arranged in the pressure surface of the second idler wheel

Fig. 5 (a)~(d) is respectively the schematic diagram of four rollings；

Wherein: 1, rolling robot, 2, panoramic skylight, 11, roller-head ontology, the 12, first idler wheel, the 13, second idler wheel.

Specific embodiment

The utility model is described in detail in the following with reference to the drawings and specific embodiments.The present embodiment is with the utility model Implemented premised on technical solution, the detailed implementation method and specific operation process are given, but the guarantor of the utility model Shield range is not limited to the following embodiments.

A kind of panoramic sunroof of automobile robot binding equipment, as shown in Figure 1, including being respectively used to carry out for four sides of skylight Four rolling robots 1 of rolling and the control device to work for controlling rolling robot 1, rolling robot includes robot Ontology and the knurling tool connecting with robot body, knurling tool are vertically arranged, control device respectively with each rolling robot 1 Connection, control device includes memory, processor, and is stored in memory, and the program executed by processor, processor is held It is performed the steps of when line program

Control the synchronous progress first time rolling from the first end of corresponding sides to second end of each knurling tool；

It controls each knurling tool synchronization and carries out second of rolling from the second end of corresponding sides to first end；

Control the synchronous progress third time rolling from the first end of corresponding sides to second end of each knurling tool；

It controls each knurling tool synchronization and carries out the 4th rolling from the second end of corresponding sides to first end.

As shown in Fig. 2, knurling tool includes roller-head ontology 11 and the first idler wheel 12, the second idler wheel 13, roller-head ontology 11 is perpendicular Directly it is arranged and upper end is connect with robot body, the first idler wheel 12 and the second idler wheel 13 are connect with the lower end of roller-head ontology 11, And it is respectively arranged on 11 two sides of roller-head ontology.

As shown in figure 3, the outer of the first idler wheel 12 is equipped with the first pressure surface 121 for first time rolling and is used for third The third pressure surface 122 of secondary rolling, and the first pressure surface 121 and third pressure surface 122 have angle；

As shown in figure 4, the outer of the second idler wheel 13 is equipped with the second pressure surface 131 for being used for second of rolling and for the 4 4th pressure surface 132 of secondary rolling, and the second pressure surface 131 and the 4th pressure surface 132 have angle.

First pressure surface is located at the side on the first idler wheel 12 close to roller-head ontology 11, and third pressure surface 122 is located at the first idler wheel The side of separate roller-head ontology 11 on 12,

Second pressure surface 131 is located at the side on the second idler wheel 13 close to roller-head ontology 11, and the 4th pressure surface 132 is located at the second rolling Far from the side of roller-head ontology 11 on wheel 13.

Due to being vertically arranged, and the rolling path of every robot, rolling posture and rolling speed be all it is consistent, work When all simultaneously movement thus avoid interlocking interference and collision problem.In addition the redesign of knurling tool can allow robot appearance State keeps vertical direction work such as Fig. 2 as far as possible.

Robot body includes the first driving device for driving knurling tool around its axial-rotation, and for driving rolling Second driving device of side tool lateral turnover.

As shown in Figure 1, four rolling machine man-hours, comprising the following steps:

1, the piece uploading of skylight part compresses in place；

2, four knurling tools enter workspace, and roller-head entrained by robot is consistent, all use the first idler wheel 12.

3, all by black triangles direction clockwise direction while rolling on Fig. 1, the inner thin black solid line (1-st of rolling depth map 1 pass)；

4, after 1-st pass rolling, 4 robots are lifted, and rolling rotation 180 is switched to the second idler wheel 13；

5, black triangles direction counter clockwise direction while rolling on Fig. 1 are all pressed by four robots, and rolling depth map 3 is inner thin black Solid line (2-nd pass)

6, after 2-nd pass rolling, 4 robots are lifted, and rolling rotation 180 is switched to the first idler wheel 12；

7, black triangles direction clockwise direction while rolling on Fig. 1 are all pressed by four robots, and rolling depth map 1 is inner thin black Solid line (3-rd pass)

8, after 3-rd pass rolling, 4 robots are lifted, and rolling rotation 180 is switched to the second idler wheel 13；

9, black triangles direction counter clockwise direction while rolling on Fig. 1 are all pressed by four robots, and rolling depth map 1 is inner thin black Solid line (4-th pass)

10, after 4 rollings, original position is retracted by all robots, and skylight part waits lower part.

Claims (8)

1. a kind of panoramic sunroof of automobile robot binding equipment, which is characterized in that carried out including being respectively used to for four sides of skylight Four rolling robots (1) of rolling and the control device to work for controlling rolling robot (1), the control device difference It is connect with each rolling robot (1), the rolling robot includes robot body and the rolling work connecting with robot body Tool, the knurling tool are vertically arranged, and the knurling tool includes roller-head ontology (11) and the first idler wheel (12), the second idler wheel (13), the roller-head ontology (11) is vertically arranged and upper end is connect with robot body, first idler wheel (12) and the second rolling Wheel (13) is connect with the lower end of roller-head ontology (11), and is respectively arranged on roller-head ontology (11) two sides.

2. a kind of panoramic sunroof of automobile robot binding equipment according to claim 1, which is characterized in that first rolling The outer for taking turns (12) is equipped with the first pressure surface (121) for being used for first time rolling and the third pressure surface for third time rolling (122), and the first pressure surface (121) and third pressure surface (122) have angle；

The outer of second idler wheel (13) is equipped with the second pressure surface (131) for being used for second of rolling and is used for the 4th rolling The 4th pressure surface (132), and the second pressure surface (131) and the 4th pressure surface (132) have angle.

3. a kind of panoramic sunroof of automobile robot binding equipment according to claim 2, which is characterized in that first pressure Face is located at the side on the first idler wheel (12) close to roller-head ontology (11), and third pressure surface (122) is located on the first idler wheel (12) far Side from roller-head ontology (11),

Second pressure surface (131) is located at the side on the second idler wheel (13) close to roller-head ontology (11), the 4th pressure surface (132) position In the side of roller-head ontology (11) separate on the second idler wheel (13).

4. a kind of panoramic sunroof of automobile robot binding equipment according to claim 3, which is characterized in that the robot Ontology includes the first driving device for driving knurling tool around its axial-rotation, and for driving knurling tool lateral turnover The second driving device.

5. a kind of rolling robot, which is characterized in that including robot body and the knurling tool being connect with robot body, institute It states knurling tool to be vertically arranged, the knurling tool includes roller-head ontology (11) and the first idler wheel (12), the second idler wheel (13), institute State that roller-head ontology (11) is vertically arranged and upper end is connect with robot body, first idler wheel (12) and the second idler wheel (13) are equal It is connect with the lower end of roller-head ontology (11), and is respectively arranged on roller-head ontology (11) two sides.

6. a kind of rolling robot according to claim 5, which is characterized in that set on the outer of first idler wheel (12) There are the first pressure surface (121) for first time rolling and the third pressure surface (122) for third time rolling, and the first pressure surface (121) it has angle with third pressure surface (122)；

The outer of second idler wheel (13) is equipped with the second pressure surface (131) for being used for second of rolling and is used for the 4th rolling The 4th pressure surface (132), and the second pressure surface (131) and the 4th pressure surface (132) have angle.

7. a kind of rolling robot according to claim 6, which is characterized in that first pressure surface is located at the first idler wheel (12) close to the side of roller-head ontology (11) on, third pressure surface (122) is located on the first idler wheel (12) far from roller-head ontology (11) Side,

Second pressure surface (131) is located at the side on the second idler wheel (13) close to roller-head ontology (11), the 4th pressure surface (132) position In the side of roller-head ontology (11) separate on the second idler wheel (13).

8. a kind of rolling robot according to claim 7, which is characterized in that the robot body includes for driving First driving device of the knurling tool around its axial-rotation, and the second driving device for driving knurling tool lateral turnover.