CN102179809B - Robot for assembling and disassembling automobile wheel on braced chain coating line - Google Patents
Robot for assembling and disassembling automobile wheel on braced chain coating line Download PDFInfo
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- CN102179809B CN102179809B CN 201110100306 CN201110100306A CN102179809B CN 102179809 B CN102179809 B CN 102179809B CN 201110100306 CN201110100306 CN 201110100306 CN 201110100306 A CN201110100306 A CN 201110100306A CN 102179809 B CN102179809 B CN 102179809B
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- wheel
- wrist
- automotive wheel
- automobile wheel
- waist
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Abstract
The invention discloses a robot for assembling and disassembling an automobile wheel on a braced chain coating line. A movable seat and a member on the upper part of the movable seat are driven to move through a ball screw assembly along the movement direction of a braced chain; the movable seat and the member on the upper part of the movable seat can be kept travelling at the same speed as the braced chain to suspend the automobile wheel; a waist part is rotated relative to the movable seat; a lower arm is swung relative to the waist part; an upper arm is swung relative to the lower arm; a wrist part is rotated and swung relative to the upper arm so as to ensure the spatial position of the automobile wheel; a wheel clamp holder on the wrist part is used for grasping or releasing the automobile wheel pneumatically; and an industrial camera is fixed on a camera bracket and is used for searching the position of a valve hole of the automobile wheel to position the automobile wheel. By the robot for assembling and disassembling the automobile wheel on the braced chain coating line, the automobile wheel can be quickly grasped, the position of the valve hole of the automobile wheel can be found by rotating the wrist part, the automobile wheel is suspended on a braced chain suspension rod, and the valve hole of the automobile wheel can be positioned on the suspended top; and the equipment makes the grasp reliable, the assembly and disassembly quick and the position accurate.
Description
The application is: October 13, application number were in 2009: 200910019432.6, denomination of invention dividing an application for the application for a patent for invention of " robot for handling automobile wheels on catenary coating line ".
Technical field
The present invention relates to a kind of loading and unloading robot, relate in particular to a kind of robot for handling automobile wheels on catenary coating line.
Background technology
At present, the loading and unloading automotive wheel is mainly by manually finishing on the stretched wire coating transfer line, and stevedore's labour intensity is large, and the efficiency of loading and unloading is low, and plant equipment need to stride across mobile stretched wire cargo handling by derrick automotive wheel, and the loading and unloading automotive wheel is very difficult.
Summary of the invention
The objective of the invention is to design a kind of robot for handling automobile wheels on catenary coating line.Can arrive assigned address crawl automotive wheel with this automotive wheel loading and unloading robot, can automatically find the automobile wheel valve hole position, can pass mobile stretched wire suspension rod automotive wheel is suspended on the stretched wire suspension rod, and can guarantee that automobile wheel valve hole is in the top of suspension.
For achieving the above object, the present invention adopts following technical scheme:
A kind of robot for handling automobile wheels on catenary coating line, it is characterized in that: described robot for handling automobile wheels on catenary coating line is by support, Mobile base, ball screw assembly,, waist, underarm, upper arm, wrist, clamper, industrial camera and camera support form, described support fixes on the ground, described ball screw assembly, is housed on the described support, described support contacts with described Mobile base one side V-way, the contact of opposite side flat guide, described waist is arranged on the described Mobile base, described underarm is arranged on the described waist, described upper arm is arranged on the described underarm, described wrist is arranged on the described upper arm, described wheel clamp fastener is fixed on the wrist, described camera support fixes on the ground, described industrial camera is fixed on the described camera support, described industrial camera rest on the ground the upper lateral part of the automotive wheel for the treatment of application, ball screw assembly, drives Mobile base and moves along V-way, the waist seat that relatively moves rotates, the relative waist of underarm swings, upper arm descends arm swing relatively, wrist is relative to upper arm swing and rotate the pneumatic crawl of wheel clamp fastener or release automotive wheel.
Can pick up rapidly automotive wheel with robot for handling automobile wheels on catenary coating line of the present invention, find the position of automobile wheel valve hole by the rotation of wrist, automotive wheel is suspended on the stretched wire suspension rod, and can guarantee that automobile wheel valve hole is in the top of suspension, this equipment crawl is reliable, loading and unloading are rapid, the position is accurate.
Description of drawings:
Fig. 1 is the structural representation of robot for handling automobile wheels on catenary coating line loading and unloading automotive wheel of the present invention.
Fig. 2 is the structural representation that robot for handling automobile wheels on catenary coating line of the present invention is determined the automobile wheel valve hole position.
Wherein, 1 is support, and 2 is Mobile base, and 3 is ball screw assembly,, and 4 is waist, and 5 is underarm, and 6 is upper arm, and 7 is wrist, and 8 is wheel clamp fastener, and 9 is automotive wheel, and 10 is the stretched wire suspension rod, and 11 is industrial camera, and 12 is camera support.
The specific embodiment:
The operation principle of robot for handling automobile wheels on catenary coating line of the present invention:
During crawl automotive wheel 9, cylinder in the wheel clamp fastener 8 moves and clamps automotive wheel 9, waist 4 seat 2 that relatively moves rotates, underarm 5 relative waists 4 swing, upper arm 6 relative underarms 5 swing, wrist 7 relative upper arm 6 swing, stop operating when rising to automotive wheel 9 with industrial camera 11 sustained height or swing, wrist 7 begins to rotate around the axis of oneself, when industrial camera 11 photographs valve port on the automotive wheel 9, wrist 7 stops operating, then waist 4 rotates, underarm 5 swings, upper arm 6 swings and wrist 7 swings, reach the height of stretched wire suspension rod 10 when the centre of gyration of automotive wheel 9, and automotive wheel 9 is during towards stretched wire suspension rod 10, ball wire bar pair 3 drive Mobile bases 2 and upper component thereof are along stretched wire moving direction fast moving, when the centre of gyration that moves to automotive wheel 9 and stretched wire suspension rod 10 meet, keep the translational speed of Mobile base 2 and upper component thereof to equate with the translational speed of stretched wire suspension rod 10, underarm 5 swings simultaneously, upper arm 6 swings and wrist 7 swings, automotive wheel 9 is hung on the stretched wire suspension rod 10, then the cylinder in the wheel clamp fastener 8 unclamps automotive wheel 9, wheel clamp fastener 8, wrist 7, upper arm 6, underarm 5, crawl place is returned in waist 4 and Mobile base 2 motions, waits for next time automotive wheel loading and unloading.
Claims (1)
1. method of using robot for handling automobile wheels on catenary coating line loading and unloading automotive wheel, described robot for handling automobile wheels on catenary coating line comprises support, Mobile base, ball screw assembly,, waist, underarm, upper arm, wrist, wheel clamp fastener, industrial camera and camera support, described support fixes on the ground, described ball screw assembly, is housed on the described support, described support contacts with described Mobile base one side V-way, the contact of opposite side flat guide, described waist is arranged on the described Mobile base, described underarm is arranged on the described waist, described upper arm is arranged on the described underarm, described wrist is arranged on the described upper arm, described wheel clamp fastener is fixed on the described wrist, described ball screw assembly, drives described Mobile base and moves along V-way, described waist rotates relative to described Mobile base, the relatively described waist of described underarm swings, the relatively described lower arm swing of described upper arm, described wrist is relative to described upper arm swing and rotate the pneumatic crawl of described wheel clamp fastener or release automotive wheel;
Described camera support fixes on the ground, and described industrial camera is fixed on the described camera support, and described industrial camera rest on the ground the upper lateral part of the automotive wheel for the treatment of application;
The method of described use robot for handling automobile wheels on catenary coating line loading and unloading automotive wheel is:
During the crawl automotive wheel, cylinder in the wheel clamp fastener moves the clamping automotive wheel, the waist seat that relatively moves rotates, the relative waist of underarm swings, upper arm descends arm swing relatively, wrist is gone up arm swing relatively, stop operating when rising to automotive wheel with the industrial camera sustained height or swing, wrist begins to rotate around the axis of oneself, when industrial camera photographs valve port on the automotive wheel, wrist stops operating, then waist rotates, lower arm swing, upper arm swing and wrist swing, reach the height of stretched wire suspension rod when the centre of gyration of automotive wheel, and automotive wheel is during towards the stretched wire suspension rod, ball wire bar pair drive Mobile base and upper component thereof are along stretched wire moving direction fast moving, when the centre of gyration that moves to automotive wheel and stretched wire suspension rod meet, keep the translational speed of Mobile base and upper component thereof to equate with the translational speed of stretched wire suspension rod, descend simultaneously arm swing, upper arm swing and wrist swing, automotive wheel is hung on the stretched wire suspension rod, then the cylinder in the wheel clamp fastener unclamps automotive wheel, wheel clamp fastener, wrist, upper arm, underarm, crawl place is returned in waist and Mobile base motion, waits for next time automotive wheel loading and unloading.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110100306 CN102179809B (en) | 2009-10-13 | 2009-10-13 | Robot for assembling and disassembling automobile wheel on braced chain coating line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110100306 CN102179809B (en) | 2009-10-13 | 2009-10-13 | Robot for assembling and disassembling automobile wheel on braced chain coating line |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910019432A Division CN101691033A (en) | 2009-10-13 | 2009-10-13 | Robot for handling automobile wheels on catenary coating line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102179809A CN102179809A (en) | 2011-09-14 |
| CN102179809B true CN102179809B (en) | 2013-04-03 |
Family
ID=44566196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110100306 Expired - Fee Related CN102179809B (en) | 2009-10-13 | 2009-10-13 | Robot for assembling and disassembling automobile wheel on braced chain coating line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102179809B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9377152B2 (en) * | 2013-03-15 | 2016-06-28 | The Boeing Company | Method and apparatus for positioning automated processing systems |
| CN103342140B (en) * | 2013-06-07 | 2015-05-20 | 上海发那科机器人有限公司 | Accompanying tracking system for robot |
| CN103557842B (en) * | 2013-11-08 | 2016-03-02 | 广东省水文局佛山水文分局 | The efficient installation system of surveying instrument under multifunctional water |
| CN104986563B (en) * | 2015-06-23 | 2017-04-26 | 东莞市天美新自动化设备有限公司 | Synchronous tracking and automatic righting device of water heater inner container and inner container hanging basket |
| CN106495045B (en) * | 2016-11-13 | 2019-07-16 | 无锡晟欧船舶设备有限公司 | A kind of adjustable rubbish of height hangs support device |
| CN107378943A (en) * | 2017-06-20 | 2017-11-24 | 天津市众创锐迪科技有限公司 | A kind of intelligence handling robot handling method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6481083B1 (en) * | 1999-06-25 | 2002-11-19 | Burke E. Porter Machinery Company | Robotic apparatus and method for mounting a vale stem on a wheel rim |
| WO2008151613A1 (en) * | 2007-06-12 | 2008-12-18 | Kuka Roboter Gmbh | Method and system for depaletting tyres using a robot |
| DE202008005421U1 (en) * | 2008-04-14 | 2009-08-27 | Robotics Technology Leaders Gmbh | Robotics system |
-
2009
- 2009-10-13 CN CN 201110100306 patent/CN102179809B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6481083B1 (en) * | 1999-06-25 | 2002-11-19 | Burke E. Porter Machinery Company | Robotic apparatus and method for mounting a vale stem on a wheel rim |
| WO2008151613A1 (en) * | 2007-06-12 | 2008-12-18 | Kuka Roboter Gmbh | Method and system for depaletting tyres using a robot |
| DE202008005421U1 (en) * | 2008-04-14 | 2009-08-27 | Robotics Technology Leaders Gmbh | Robotics system |
Non-Patent Citations (8)
| Title |
|---|
| Andre Weise.图像处理实现机器人自动化.《现代制造》.2007,(第3期),第59页. |
| 图像处理实现机器人自动化;Andre Weise;《现代制造》;20070331(第3期);第59页 * |
| 基于悬链涂装线自动上、下工件的研究;李长春等;《现代制造技术与装备》;20090915(第5期);第35页、图6 * |
| 基于机器人装卸袋装物料的研究;李长春等;《现代制造技术与装备》;20070125(第1期);第19-21页、图1-3 * |
| 机器视觉在工业领域中的研究应用;范祥等;《现代制造工程》;20070630(第6期);第129-131页 * |
| 李长春等.基于悬链涂装线自动上、下工件的研究.《现代制造技术与装备》.2009,(第5期),第35页第1栏、图6. |
| 李长春等.基于机器人装卸袋装物料的研究.《现代制造技术与装备》.2007,(第1期),第19-21页、图1-3. |
| 范祥等.机器视觉在工业领域中的研究应用.《现代制造工程》.2007,(第6期),第129-131页. |
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| Publication number | Publication date |
|---|---|
| CN102179809A (en) | 2011-09-14 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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