CN113927580B

CN113927580B - Positioning device and positioning method between industrial design robot and workstation

Info

Publication number: CN113927580B
Application number: CN202111317098.XA
Authority: CN
Inventors: 蒋飞
Original assignee: Guangzhou Huashang College
Current assignee: Guangzhou Huashang College
Priority date: 2021-11-09
Filing date: 2021-11-09
Publication date: 2022-06-17
Anticipated expiration: 2041-11-09
Also published as: CN113927580A

Abstract

The invention discloses a positioning device and a positioning method between an industrial design robot and a workstation. The positioning frame of the industrial robot has the advantages of being convenient to install and maintain, and the problem that the existing positioning frame of the industrial robot is fixed on the top of a workbench by bolts and is not easy to install and disassemble, so that the practicability of the industrial robot is easily reduced.

Description

Positioning device and positioning method between industrial design robot and workstation

Technical Field

The invention relates to the technical field of industrial robots, in particular to a positioning device and a positioning method between an industrial design robot and a workstation.

Background

Industrial robot is the multi-joint manipulator of wide use in industrial field or multi freedom's machine device, certain automaticity has, can rely on the power energy and the control ability of self to realize various industry manufacturing function, industrial robot is by wide application in electron, commodity circulation, among each industrial field such as chemical industry, compare in traditional industrial equipment, industrial robot has numerous advantages, for example the robot has the ease of use, intelligent level is high, production efficiency and security are high, characteristics such as easy management and economic benefits are showing, make them can carry out the operation under the high-risk environment, however current industrial robot's locating rack adopts the bolt fastening at the top of workstation more, be difficult for installing and dismantling, thereby reduce industrial robot's practicality easily.

Disclosure of Invention

The invention aims to provide a positioning device and a positioning method between an industrial design robot and a workstation, which have the advantages of convenience in installation and maintenance, and solve the problems that the existing positioning frame of the industrial robot is fixed at the top of a workbench by bolts, and is not easy to install and disassemble, so that the practicability of the industrial robot is easily reduced.

In order to achieve the purpose, the invention provides the following technical scheme: a positioning device and a positioning method between an industrial design robot and a workstation comprise a workbench, wherein a fixed plate is fixedly connected to the left side of the top of the workbench, a robot body is arranged at the top of the fixed plate, a mounting box is fixedly connected to the bottom of the robot body, a fixed box is fixedly connected to the top of the fixed plate, the top of the fixed box penetrates through the inner cavity of the mounting box, fixed blocks are fixedly connected to the bottoms of two sides of the inner cavity of the mounting box, a fixed rod is arranged in the inner cavity of the fixed block, the bottom of the fixed rod penetrates through the fixed block and is fixedly connected with the fixed box, a slide rod is fixedly connected between the tops of two sides of the inner cavity of the mounting box, sliding sleeves are slidably connected to two sides of the surface of the slide rod, a first spring is sleeved on one side of the surface of the slide rod opposite to the two sliding sleeves, a vertical rod is fixedly connected to the bottom of the slide sleeve, the bottom of the vertical rod penetrates through the inner cavity of the fixed box and is fixedly connected with a limiting block, the tops of two sides of the inner cavity of the fixed box are fixedly connected with connecting blocks, the opposite sides of the two connecting blocks are respectively provided with a limiting groove matched with the limiting block for use, the opposite sides of the two vertical rods and the inner cavity of the fixed box are respectively provided with a push rod, the tops of the opposite sides of the two push rods are respectively fixedly connected with a limiting rod, the surface of the limiting rod is sleeved with a second spring, one side of the limiting rod, far away from the push rod, penetrates through the inner cavity of the fixed block, the opposite sides of the two fixing rods are respectively provided with a fixed groove matched with the limiting rod for use, the bottoms of the opposite sides of the two push rods are respectively fixedly connected with a supporting column, the inner cavity of the supporting column is provided with a movable block, the opposite sides of the two movable blocks are respectively and fixedly connected with a supporting rod, one side of the supporting rod, far away from the movable block, penetrates through the supporting column and is fixedly connected with the inner wall of the fixed box, the equal fixedly connected with third spring in one side that two movable blocks are relative, there is the transfer line rear side of fixed box inner chamber through bearing swing joint, the front side fixedly connected with carousel of transfer line, the equal fixedly connected with transmission shaft in the positive both sides of carousel, the surface of transfer line just is located the rear side fixedly connected with worm wheel of carousel, the rear side fixedly connected with motor on fixed box inner chamber right side, the output fixedly connected with worm of motor, the top and the worm wheel of worm mesh mutually.

Preferably, the equal fixedly connected with riser in front side and the rear side on workstation top right side, the equal fixedly connected with electric telescopic handle in one side that two risers are opposite, riser and fixedly connected with stripper plate are all run through to the output of the relative one side of two electric telescopic handle.

Preferably, the bottom of the push rod is fixedly connected with a slide block, and the bottom of the inner cavity of the fixed box is provided with a slide groove matched with the slide block for use.

Preferably, the two ends of the first spring are fixedly connected with the inner walls of the sliding sleeve and the mounting box respectively, and a first opening matched with the vertical rod for use is formed in the top of the fixing box.

Preferably, the movable block is connected with the inner cavity of the pillar in a sliding manner, and one side, far away from the movable block, of the third spring is fixedly connected with the inner wall of the pillar.

Preferably, the second opening that cooperation gag lever post used is all seted up to the both sides of fixed box, the left side of worm passes through bearing and the inner wall swing joint of fixed box.

Preferably, the positioning method comprises the following steps:

a: when the robot body needs to be installed, an operator lifts the robot body through hoisting equipment, then an installation box at the bottom of the robot body is sleeved on the surface of a fixed box, a fixed rod is inserted into an inner cavity of a fixed block, the installation box moves while driving a vertical rod to be inserted into the inner cavity of the fixed box, then a motor is started through an external controller, the motor is matched with a worm to drive a worm gear to rotate, the worm gear rotates to drive a transmission rod to rotate, the transmission rod is matched with a turntable to drive a transmission shaft to move in a rotating mode, the transmission shaft pushes a push rod to move, the push rod moves to drive a limiting rod to move and extrude a second spring, the limiting rod moves to be inserted into the fixed groove, and the positions of the fixed box and the installation box are limited;

b: the push rod pushes the vertical rod to move while moving, the vertical rod moves to be matched with the sliding sleeve to extrude the first spring, the vertical rod moves to drive the limiting block to be inserted into the limiting groove, and the mounting box is further fixed, so that the mounting of the robot body can be completed;

c: when needing to dismantle the robot, operating personnel starter motor, the motor starts cooperation worm and drives the worm wheel and rotate, the worm wheel rotates and drives the transfer line and rotate, the transfer line normal running fit carousel drives the transmission shaft and removes, the transmission shaft removes the cancellation and promotes the push rod, the second spring drives the push rod and resets, the push rod removes and drives the gag lever post and break away from the fixed slot, the cancellation is to the joint of fixed block and dead lever, the cancellation is to the promotion of montant when the push rod removes, first spring fit sliding sleeve resets the montant, the montant removes and drives the stopper and break away from the spacing groove, the cancellation is spacing to fixed box and mounting box, later mention the robot through hoisting equipment, can accomplish the robot.

Compared with the prior art, the invention has the following beneficial effects:

1. the positioning frame of the industrial robot has the advantages of being convenient to install and maintain, and the problem that the existing positioning frame of the industrial robot is fixed on the top of a workbench by bolts and is not easy to install and disassemble, so that the practicability of the industrial robot is easily reduced.

2. The electric telescopic rod is arranged, the electric telescopic rod can be matched with the vertical plate to drive the extrusion plate to move, materials to be processed can be conveniently fixed, the push rod can be conveniently supported by arranging the sliding block and the sliding groove, the stability of the push rod during moving is improved, the sliding sleeve can be elastically supported by arranging the first spring, the electric telescopic rod can be conveniently matched with the vertical rod to drive the limiting block to reset, the worm is arranged to drive the worm wheel to rotate, and the transmission rod is conveniently matched to drive the rotary table to rotate.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a cross-sectional view of the structural mounting box and mounting box of the present invention;

FIG. 3 is an enlarged view of A of FIG. 2 according to the present invention;

FIG. 4 is a top cross-sectional view of the structural retention cartridge of the present invention.

In the figure: 1. a work table; 2. a fixing plate; 3. a robot body; 4. mounting a box; 5. a fixing box; 6. a fixed block; 7. fixing the rod; 8. a slide bar; 9. a sliding sleeve; 10. a first spring; 11. a vertical rod; 12. a limiting block; 13. a joining block; 14. a limiting groove; 15. a push rod; 16. a limiting rod; 17. a second spring; 18. fixing grooves; 19. a pillar; 20. a movable block; 21. a strut; 22. a third spring; 23. a transmission rod; 24. a turntable; 25. a drive shaft; 26. a worm gear; 27. a motor; 28. a worm; 29. a vertical plate; 30. an electric telescopic rod; 31. and (5) pressing the plate.

Detailed Description

In the following description, for purposes of explanation, numerous implementation details are set forth in order to provide a thorough understanding of the various embodiments of the present invention. It should be understood, however, that these implementation details are not to be interpreted as limiting the invention. That is, in some embodiments of the invention, such practical details are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.

In addition, the descriptions related to the first, the second, etc. in the present invention are only used for description purposes, do not particularly refer to an order or sequence, and do not limit the present invention, but only distinguish components or operations described in the same technical terms, and are not understood to indicate or imply relative importance or implicitly indicate the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1-4, a positioning device and a positioning method between an industrial design robot and a workstation, includes a workbench 1, a fixing plate 2 is fixedly connected to the left side of the top of the workbench 1, a robot body 3 is arranged on the top of the fixing plate 2, a mounting box 4 is fixedly connected to the bottom of the robot body 3, a fixing box 5 is fixedly connected to the top of the fixing plate 2, the top of the fixing box 5 penetrates through the inner cavity of the mounting box 4, fixing blocks 6 are fixedly connected to the bottoms of both sides of the inner cavity of the mounting box 4, a fixing rod 7 is arranged in the inner cavity of the fixing block 6, the bottom of the fixing rod 7 penetrates through the fixing block 6 and is fixedly connected to the fixing box 5, a sliding rod 8 is fixedly connected between the tops of both sides of the inner cavity of the mounting box 4, sliding sleeves 9 are slidably connected to both sides of the surface of the sliding rod 8, a first spring 10 is sleeved on the surface of the sliding rod 8 and on the side opposite to the two sleeves 9, the bottom of the sliding sleeve 9 is fixedly connected with a vertical rod 11, the bottom of the vertical rod 11 penetrates through the inner cavity of the fixed box 5 and is fixedly connected with a limiting block 12, the tops of the two sides of the inner cavity of the fixed box 5 are fixedly connected with linking blocks 13, one side, opposite to the two linking blocks 13, is provided with a limiting groove 14 matched with the limiting block 12 for use, the inner cavities of the two sides, opposite to the vertical rod 11, of the fixed box 5 are provided with push rods 15, the tops of the opposite sides of the two push rods 15 are fixedly connected with limiting rods 16, the surface of each limiting rod 16 is sleeved with a second spring 17, one side, far away from the push rods 15, of each limiting rod 16 penetrates through the inner cavity of the fixed block 6, one side, opposite to the two fixed rods 7, is provided with a fixed groove 18 matched with the limiting rods 16 for use, the bottoms of the opposite sides of the two push rods 15 are fixedly connected with supporting columns 19, the inner cavities of the supporting columns 19 are provided with movable blocks 20, one side, and one side, opposite to the two movable blocks 20 is fixedly connected with supporting columns 21, one side of the support rod 21 far away from the movable block 20 penetrates through the support column 19 and is fixedly connected with the inner wall of the fixed box 5, one sides of the two movable blocks 20 opposite to each other are fixedly connected with a third spring 22, the rear side of the inner cavity of the fixed box 5 is movably connected with a transmission rod 23 through a bearing, the front side of the transmission rod 23 is fixedly connected with a rotary disc 24, two sides of the front surface of the rotary disc 24 are fixedly connected with transmission shafts 25, the surface of the transmission rod 23 is fixedly connected with a worm wheel 26 positioned at the rear side of the rotary disc 24, the rear side of the right side of the inner cavity of the fixed box 5 is fixedly connected with a motor 27, the output end of the motor 27 is fixedly connected with a worm 28, the top of the worm 28 is meshed with the worm wheel 26, the front side and the rear side of the right side of the top of the workbench 1 are fixedly connected with vertical plates 29, one sides of the two vertical plates 29 opposite to each other are fixedly connected with an electric telescopic rod 30, and through the arrangement of the electric telescopic rods 30, the vertical plates 29 can drive the extrusion plates 31 to move, the material to be processed is convenient to fix, the output ends of the opposite sides of the two electric telescopic rods 30 penetrate through the vertical plate 29 and are fixedly connected with the extrusion plate 31, the bottom of the push rod 15 is fixedly connected with the sliding block, the bottom of the inner cavity of the fixed box 5 is provided with the sliding groove matched with the sliding block for use, the sliding block and the sliding groove are arranged to facilitate supporting of the push rod 15 and improve the stability of the push rod 15 during moving, the two ends of the first spring 10 are respectively fixedly connected with the inner walls of the sliding sleeve 9 and the installation box 4, the sliding sleeve 9 can be elastically supported by arranging the first spring 10, the stopper 12 is convenient to be driven by matching with the vertical rod 11 for resetting, the top of the fixed box 5 is provided with the first opening matched with the vertical rod 11 for use, the movable block 20 is in sliding connection with the inner cavity of the pillar 19, the side of the third spring 22 away from the movable block 20 is fixedly connected with the inner wall of the pillar 19, the two sides of the fixed box 5 are provided with the second openings matched with the stopper rod 16 for use, the left side of the worm 28 is movably connected with the inner wall of the fixed box 5 through a bearing, the worm 28 is arranged to drive the worm wheel 26 to rotate, the transmission rod 23 is conveniently matched to drive the turntable 24 to rotate, through workstation 1, fixed plate 2, robot body 3, mounting box 4, fixed box 5, fixed block 6, dead lever 7, slide bar 8, sliding sleeve 9, first spring 10, montant 11, stopper 12, linking piece 13, spacing groove 14, push rod 15, gag lever post 16, second spring 17, fixed slot 18, pillar 19, movable block 20, branch 21, third spring 22, transfer line 23, carousel 24, transmission shaft 25, worm wheel 26, the cooperation of motor 27 and worm 28 is used, possess the advantage of easy to assemble and maintenance, the locating rack of having solved current industrial robot adopts the bolt fastening at the top of workstation more, be difficult for installing and dismantling, thereby reduce the problem of industrial robot practicality easily.

The positioning method comprises the following steps:

a: when the robot body 3 needs to be installed, an operator lifts the robot body 3 through a hoisting device, then a mounting box 4 at the bottom of the robot body 3 is sleeved on the surface of a fixing box 5, so that a fixing rod 7 is inserted into an inner cavity of a fixing block 6, the mounting box 4 moves while driving a vertical rod 11 to be inserted into the inner cavity of the fixing box 5, then a motor 27 is started through an external controller, the motor 27 is matched with a worm 28 to drive a worm wheel 26 to rotate, the worm wheel 26 rotates to drive a transmission rod 23 to rotate, the transmission rod 23 rotates to be matched with a turntable 24 to drive a transmission shaft 25 to move, the transmission shaft 25 pushes a push rod 15 to move, the push rod 15 moves to drive a limiting rod 16 to move and extrude a second spring 17, the limiting rod 16 moves to be inserted into a fixing groove 18, and the positions of the fixing box 5 and the mounting box 4 are limited;

b: the push rod 15 pushes the vertical rod 11 to move while moving, the vertical rod 11 moves to be matched with the sliding sleeve 9 to extrude the first spring 10, the vertical rod 11 moves to drive the limiting block 12 to be inserted into the limiting groove 14, the mounting box 4 is further fixed, and then the mounting of the robot body 3 can be completed;

c: when needing to dismantle robot 3, operating personnel starter motor 27, motor 27 starts cooperation worm 28 and drives worm wheel 26 and rotate, worm wheel 26 rotates and drives transfer line 23 and rotate, transfer line 23 normal running fit carousel 24 drives transmission shaft 25 and removes, transmission shaft 25 removes and cancels the promotion to push rod 15, second spring 17 drives push rod 15 and resets, push rod 15 removes and drives gag lever post 16 and break away from fixed slot 18, cancel the joint to fixed block 6 and dead lever 7, cancel the promotion to montant 11 when push rod 15 removes, first spring 10 cooperation sliding sleeve 9 resets montant 11, montant 11 removes and drives stopper 12 and break away from spacing groove 14, cancel the spacing to fixed box 5 and mounting box 4, later mention robot 3 through hoisting equipment, can accomplish robot 3.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A positioning device between an industrial design robot and a workstation, comprising a workbench (1), characterized in that: left side fixedly connected with fixed plate (2) at workstation (1) top, the top of fixed plate (2) is provided with robot (3), bottom fixedly connected with mounting box (4) of robot (3), top fixedly connected with fixed box (5) of fixed plate (2), the inner chamber to mounting box (4) is run through at the top of fixed box (5), the equal fixedly connected with fixed block (6) in bottom of mounting box (4) inner chamber both sides, the inner chamber of fixed block (6) is provided with dead lever (7), the bottom of dead lever (7) is run through fixed block (6) and with fixed box (5) fixed connection, fixedly connected with slide bar (8) between the top of mounting box (4) inner chamber both sides, the equal sliding connection in both sides on slide bar (8) surface has sliding sleeve (9), the surface of slide bar (8) and the one side that is located two sliding sleeves (9) opposite all is equipped with first spring (10) The bottom of the sliding sleeve (9) is fixedly connected with a vertical rod (11), the bottom of the vertical rod (11) penetrates through an inner cavity of the fixed box (5) and is fixedly connected with a limiting block (12), the tops of two sides of the inner cavity of the fixed box (5) are fixedly connected with linking blocks (13), one side, opposite to the two linking blocks (13), is provided with a limiting groove (14) matched with the limiting block (12) for use, one side, opposite to the two vertical rods (11), is positioned in the inner cavity of the fixed box (5) and is provided with a push rod (15), the tops of two opposite sides of the push rods (15) are fixedly connected with a limiting rod (16), the surface of the limiting rod (16) is sleeved with a second spring (17), one side, far away from the push rod (15), of the limiting rod (16) penetrates through the inner cavity of the fixed block (6), one side, opposite to the two fixed rods (7), is provided with a fixed groove (18) matched with the limiting rod (16) for use, the bottom of the opposite side of the two push rods (15) is fixedly connected with a strut (19), the inner cavity of the strut (19) is provided with a movable block (20), one side of the opposite side of the two movable blocks (20) is fixedly connected with a support rod (21), one side of the support rod (21), which is far away from the movable block (20), penetrates through the strut (19) and is fixedly connected with the inner wall of the fixed box (5), one side of the two movable blocks (20), which is opposite to the movable block, is fixedly connected with a third spring (22), the rear side of the inner cavity of the fixed box (5) is movably connected with a transmission rod (23) through a bearing, the front side of the transmission rod (23) is fixedly connected with a turntable (24), the two front sides of the turntable (24) are fixedly connected with transmission shafts (25), the surface of the transmission rod (23) is fixedly connected with worm gears (26) at the rear side of the turntable (24), and the rear side of the right side of the inner cavity of the fixed box (5) is fixedly connected with a motor (27), the output end of the motor (27) is fixedly connected with a worm (28), and the top of the worm (28) is meshed with the worm wheel (26).

2. The positioning device between an industrial design robot and a workstation according to claim 1, characterized in that: the front side and the rear side on the right side of the top of the workbench (1) are fixedly connected with vertical plates (29), one side of each of the two vertical plates (29) opposite to each other is fixedly connected with an electric telescopic rod (30), and the output ends of one side of each of the two electric telescopic rods (30) opposite to each other are both penetrated through the vertical plates (29) and fixedly connected with extrusion plates (31).

3. The positioning device between an industrial design robot and a workstation according to claim 1, characterized in that: the bottom fixedly connected with slider of push rod (15), the spout that cooperation slider used is seted up to the bottom of fixed box (5) inner chamber.

4. The positioning device between an industrial design robot and a workstation according to claim 1, characterized in that: the two ends of the first spring (10) are fixedly connected with the inner walls of the sliding sleeve (9) and the mounting box (4) respectively, and a first opening matched with the vertical rod (11) for use is formed in the top of the fixing box (5).

5. The positioning device between an industrial design robot and a workstation according to claim 1, characterized in that: the two ends of the second spring (17) are fixedly connected with the push rod (15) and the inner wall of the fixing box (5) respectively, and the surface of the transmission shaft (25) is in contact with the push rod (15).

6. The positioning device between an industrial design robot and a workstation according to claim 1, characterized in that: the inner cavity sliding connection of movable block (20) and pillar (19), one side that movable block (20) was kept away from in third spring (22) and the inner wall fixed connection of pillar (19).

7. The positioning device between an industrial design robot and a workstation according to claim 1, characterized in that: the second opening that cooperation gag lever post (16) used is all seted up to the both sides of fixed box (5), the left side of worm (28) is through the inner wall swing joint of bearing with fixed box (5).

8. A positioning method using a positioning device between an industrial design robot and a workstation according to claim 1, characterized in that: the positioning method comprises the following steps:

a: when the robot body (3) needs to be installed, an operator lifts the robot body (3) through a hoisting device, then a mounting box (4) at the bottom of the robot body (3) is sleeved on the surface of a fixing box (5), so that a fixing rod (7) is inserted into an inner cavity of a fixing block (6), the mounting box (4) drives a vertical rod (11) to be inserted into the inner cavity of the fixing box (5) while moving, then a motor (27) is started through an external controller, the motor (27) is matched with a worm (28) to drive a worm wheel (26) to rotate, the worm wheel (26) rotates to drive a transmission rod (23) to rotate, the transmission rod (23) rotates to be matched with a turntable (24) to drive a transmission shaft (25) to move, the transmission shaft (25) pushes a push rod (15) to move, the push rod (15) moves to drive a limiting rod (16) and extrudes a second spring (17), the limiting rod (16) moves to be inserted into a fixing groove (18), limiting the positions of the fixing box (5) and the mounting box (4);

b: the push rod (15) pushes the vertical rod (11) to move while moving, the vertical rod (11) is moved to be matched with the sliding sleeve (9) to extrude the first spring (10), the vertical rod (11) moves to drive the limiting block (12) to be inserted into the limiting groove (14), and the mounting box (4) is further fixed, so that the mounting of the robot body (3) can be completed;

c: when the robot body (3) needs to be disassembled, an operator starts a motor (27), the motor (27) starts a worm (28) to drive a worm wheel (26) to rotate, the worm wheel (26) rotates to drive a transmission rod (23) to rotate, the transmission rod (23) rotates to drive a rotary disc (24) to drive a transmission shaft (25) to move, the transmission shaft (25) moves to cancel pushing on a push rod (15), a second spring (17) drives the push rod (15) to reset, the push rod (15) moves to drive a limiting rod (16) to be separated from a fixed groove (18), clamping connection between the fixed block (6) and a fixed rod (7) is cancelled, pushing on a vertical rod (11) is cancelled while the push rod (15) moves, the first spring (10) is matched with a sliding sleeve (9) to reset the vertical rod (11), the vertical rod (11) moves to drive a limiting block (12) to be separated from a limiting groove (14), and limiting on a fixed box (5) and a mounting box (4) is cancelled, then the robot body (3) is lifted by the hoisting equipment, and the robot body (3) can be disassembled.