CN114789327B - Robot assembly system for realizing robot body assembly by fixing transportation mechanical arm - Google Patents
Robot assembly system for realizing robot body assembly by fixing transportation mechanical arm Download PDFInfo
- Publication number
- CN114789327B CN114789327B CN202210243108.8A CN202210243108A CN114789327B CN 114789327 B CN114789327 B CN 114789327B CN 202210243108 A CN202210243108 A CN 202210243108A CN 114789327 B CN114789327 B CN 114789327B
- Authority
- CN
- China
- Prior art keywords
- frame
- assembly
- mechanical arm
- robot
- bending
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to a robot assembly system for realizing robot body assembly by fixing a transport mechanical arm, which comprises a total throwing frame, an auxiliary assembly device and a carrying device, wherein the auxiliary assembly device and the carrying device are all arranged on the total throwing frame; the carrying device is composed of a chain arranged on the total throwing frame and a total fixing component arranged at the lower part of the chain; the auxiliary assembly device is an equipment plate frame arranged at the lower part of the right side of the total throwing frame. The invention can automatically compress and fix the lower arm and the upper arm of the mechanical arm in sequence, and the fixing mode is firm and convenient. The invention can automatically adjust the lower flange of the mechanical arm to a horizontal state, thereby being convenient for orderly development of subsequent assembly work. The whole adjustment, fixation and transportation of the mechanical arm are automatically carried out mostly by means of mechanization, so that the whole operation is convenient and fast, and a large amount of manpower can be saved.
Description
Technical Field
The invention relates to the field of industrial robot production and assembly, in particular to a robot assembly system for realizing robot body assembly by fixing a transportation mechanical arm.
Background
The industrial robot is an indispensable production tool in the existing high-automation and high-intelligent industrial production, and in the production and processing of a robot body of the industrial robot, after the whole mechanical arm is assembled, the whole mechanical arm and a robot base are assembled, and the mechanical arm is transported to the position above an actual assembly place during the assembly so as to be assembled with the robot base below the assembly point. However, the problem is that the conventional device is difficult to fix and transport due to the large size and heavy weight of the mechanical arm.
Disclosure of Invention
In order to overcome the defect that the traditional technology is difficult to fix and transport the mechanical arm, the invention provides a robot assembly system for fixing and transporting the mechanical arm to realize the assembly of a robot body.
The technical problems to be solved by the invention are realized by adopting the following technical scheme:
the robot assembly system for fixing the transport mechanical arm to realize the assembly of the robot body comprises a total throwing frame, an auxiliary assembly device and a carrying device, wherein the auxiliary assembly device and the carrying device are all arranged on the total throwing frame; the carrying device is composed of a chain arranged on the total throwing frame and a total fixing component arranged at the lower part of the chain; the auxiliary assembly device is an equipment plate frame arranged at the lower part of the right side of the total throwing frame.
In the invention, two chains are arranged, the left side and the right side of the two chains are connected with chain wheels, and each chain wheel is connected with a chain shaft which is arranged on the general throwing frame through a bearing seat. Any one of the two chain shafts is connected with a motor arranged on the general throwing frame. The carrying device mainly assists in carrying out transportation work on the mechanical arm. And the chain is used for conveying the mechanical arm. The auxiliary assembly device provides a platform for assembling the mechanical arm and the robot base.
The assembling plate frame is provided with an assembling groove. The assembly groove is arranged for facilitating the connection between the flange of the mechanical arm and the flange on the robot base.
The total fixing component consists of a hanging seat meshed with the chain, a hanging plate arranged at the lower end of the hanging seat, a left fixing clamp component and a movable clamping component which are all arranged at the lower end of the hanging plate; the movable clamping component comprises a right clamping component with the same structural component as the left clamping component. The left side solid clamp assembly is used for clamping the upper arm part of the mechanical arm, and the right side solid clamp assembly is used for clamping the lower arm part of the mechanical arm. After the mechanical arm is fixed, the mechanical arm can be horizontally conveyed to the upper part of the equipment plate frame along with the hanging seat and the hanging plate by a chain for subsequent assembly.
The left side clamping component and the right side clamping component are composed of a bending frame, an air cylinder arranged on the bending frame, a pressing plate connected with the air cylinder and a lateral track integrated with the pressing plate.
The bending frame is provided with a U-shaped bending part, and a bayonet which is in sliding connection with the lateral track is arranged at the bending part. The cross section of the bayonet is T-shaped.
In the left side solid clamp assembly or the right side solid clamp assembly, the bending parts are positioned on one side of the bending frame, which is away from the cylinder body. The upper arm or the lower arm of the mechanical arm can be pressed and fixed by pushing the pressing plate to be matched with the bending part through the air cylinder.
The movable clamping assembly also comprises a main hanging ring frame, a sliding block seat connected with the main hanging ring frame through bolts, and a hydraulic cylinder and a sliding rail which are both arranged at the lower end of the right part of the hanging plate; the hydraulic cylinder is connected with the sliding block seat, and the sliding block seat is in sliding connection with the sliding rail. Namely, the main hanging ring frame and the sliding block seat can horizontally slide under the driving of the hydraulic cylinder.
The bending frame of the left side fixing clamp assembly is fixedly arranged at the lower end of the left part of the hanging plate. The spacing between the left side fixing clamp assembly and the right side fixing clamp assembly in the horizontal direction can be adjusted, so that the whole fixing work of the mechanical arm can be conveniently carried out.
Two circular arc grooves which are concentrically arranged are formed in the main hanging ring frame; each circular arc groove is internally provided with a slidable and rotatable round rod, and the two round rods are welded with the bending frame to which the right side fixing clamp assembly belongs. The two round rods and the right side fixing clamp assembly can slide along the arc groove, and after the mechanical arm is fixed, the sliding of the right side fixing clamp assembly can be helpful for adjusting the state of the flange at the bottom of the lower arm of the mechanical arm so as to facilitate subsequent assembly.
An extension frame is arranged at the rear part of the main hanging ring frame, a motor is arranged at the lower part of the extension frame, the motor is connected with a rotating frame, and a rotating groove for two round rods to pass through is arranged on the rotating frame. The sliding of the right side fixing clamp assembly is driven by the motor in a rotating way, and the motor can be connected with the rotating frame through a speed reducer.
The two arc grooves are concentrically arranged, and the circle center positions corresponding to the two arc grooves correspond to the central axis position of the shaft of the motor. The above structure is a conventional arrangement.
The beneficial effects of the invention are as follows:
1. the lower arm and the upper arm of the mechanical arm can be automatically pressed and fixed in sequence, and the fixing mode is firm and convenient.
2. The lower flange of the mechanical arm can be automatically adjusted to be in a horizontal state, so that the orderly development of subsequent assembly work is facilitated.
3. The whole adjustment, fixation and transportation of the mechanical arm are mostly carried out automatically by means of mechanization, so that the whole operation is convenient and fast, and a large amount of manpower can be saved.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a front view of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is an enlarged view of a portion at I of FIG. 2;
FIG. 4 is an enlarged view of a portion at II of FIG. 2;
FIG. 5 is a second perspective view of the present invention;
fig. 6 is a partial enlarged view at III of fig. 5.
In the figure: 1. a general throwing frame; 2. a chain; 3. a hanging seat; 4. a hanger plate; 5. a bending frame; 6. a cylinder; 7. a pressing plate; 8. a lateral rail; 9. a main hanging ring frame; 10. a slider seat; 11. a hydraulic cylinder; 12. a slide rail; 13. a round bar; 14. an extension frame; 15. a motor; 16. a rotating frame; 17. and (5) assembling the plate frame.
Detailed Description
In order to make the technical solution of the present invention better understood by a person skilled in the art, the present invention will be more clearly and more fully described below with reference to the accompanying drawings in the embodiments, and of course, the described embodiments are only a part of, but not all of, the present invention, and other embodiments obtained by a person skilled in the art without making any inventive effort are within the scope of the present invention.
As shown in fig. 1 to 6, a robot assembly system for realizing robot body assembly by fixing a transport mechanical arm comprises a total throwing frame 1, an auxiliary assembly device and a carrying device, wherein the auxiliary assembly device and the carrying device are all arranged on the total throwing frame 1; the carrying device is composed of a chain 2 arranged on the total throwing frame 1 and a total fixing component arranged at the lower part of the chain 2; the auxiliary assembly device is an equipment plate frame 17 arranged at the lower right part of the total throwing frame 1.
In the invention, two chains 2 are arranged, the left side and the right side of each chain 2 are connected with chain wheels, and each chain wheel is connected with a chain shaft which is arranged on the total throwing frame 1 through a bearing seat. Any one of the two chain shafts is connected with a motor arranged on the general throwing frame 1. The carrying device mainly assists in carrying out transportation work on the mechanical arm. While the chain 2 is used for the conveyor arm. The auxiliary assembly device provides a platform for assembling the mechanical arm and the robot base.
The equipment rack 17 is provided with an assembly groove 17a. The fitting groove 17a is provided for facilitating the connection of the flange of the robot arm with the flange on the robot base.
The total fixing component consists of a hanging seat 3 meshed with the chain 2, a hanging plate 4 arranged at the lower end of the hanging seat 3, a left fixing clamp component and a movable clamping component which are all arranged at the lower end of the hanging plate 4; the movable clamping component comprises a right clamping component with the same structural component as the left clamping component. The left side solid clamp assembly is used for clamping the upper arm part of the mechanical arm, and the right side solid clamp assembly is used for clamping the lower arm part of the mechanical arm. After the mechanical arm is fixed, the mechanical arm can be horizontally conveyed to the upper part of the equipment plate frame 17 along with the hanging seat 3 and the hanging plate 4 by the chain 2 for subsequent assembly.
The left side clamping component and the right side clamping component are respectively composed of a bending frame 5, an air cylinder 6 arranged on the bending frame 5, a pressing plate 7 connected with the air cylinder 6 and a lateral track 8 integrated with the pressing plate 7.
The bending frame 5 is provided with a U-shaped bending part 5a, and a bayonet 5b which is in sliding connection with the lateral track 8 is arranged at the bending part 5 a. The cross section of the bayonet 5b is T-shaped.
In the left side fixing clamp assembly or the right side fixing clamp assembly, the bending parts 5a are respectively positioned on one side of the bending frame 5, which is away from the cylinder body of the air cylinder 6. The cylinder 6 pushes the pressing plate 7 to be matched with the bending part 5a, so that the upper arm or the lower arm of the mechanical arm can be pressed and fixed.
The movable clamping assembly also comprises a main hanging ring frame 9, a sliding block seat 10 connected with the main hanging ring frame 9 through bolts, a hydraulic cylinder 11 and a sliding rail 12 which are all arranged at the lower right end of the hanging plate 4; the hydraulic cylinder 11 is connected with the sliding block seat 10, and the sliding block seat 10 is in sliding connection with the sliding rail 12. I.e. the main lifting ring frame 9 and the slide block seat 10 can slide horizontally under the drive of the hydraulic cylinder 11.
The bending frame 5 of the left side fixing clamp assembly is fixedly arranged at the lower end of the left side of the hanging plate 4. The spacing between the left side fixing clamp assembly and the right side fixing clamp assembly in the horizontal direction can be adjusted, so that the whole fixing work of the mechanical arm can be conveniently carried out.
Two concentric circular arc grooves 9a are formed in the main hanging ring frame 9; each circular arc groove 9a is internally provided with a slidable and rotatable round rod 13, and the two round rods 13 are welded with the bending frame 5 to which the right side fixing clamp assembly belongs. That is, both the two round bars 13 and the right side clamping component can slide along the circular arc groove 9a, and after the mechanical arm is fixed, the sliding of the right side clamping component can help to adjust the state of the flange at the bottom of the lower arm of the mechanical arm so as to facilitate the subsequent assembly.
An extension frame 14 is arranged at the rear part of the main lifting ring frame 9, a motor 15 is arranged at the lower part of the extension frame 14, the motor 15 is connected with a rotating frame 16, and a rotating groove 16a through which the two round rods 13 pass is arranged on the rotating frame 16. I.e. the sliding of the right hand clamp assembly is rotationally driven by a motor 15, which motor 15 can be connected to a turret 16 via a decelerator.
The two circular arc grooves 9a are concentrically arranged, and the circle center positions corresponding to the two circular arc grooves correspond to the central axis position of the shaft of the motor 15. The above structure is a conventional arrangement.
The specific using steps of the invention are as follows:
s1: the lower arm of the mechanical arm passes through the space between the cylinder 6 of the right side fixing and clamping assembly and the left part of the bending part 5a, and the lower arm of the mechanical arm is fixed by pushing the pressing plate 7 through the cylinder 6 of the right side fixing and clamping assembly.
S2: the rotating frame 16 is driven to rotate by the motor 15, so that the right clamping component and the whole mechanical arm are driven to slide along the track of the arc groove 9a until the flange plate of the mechanical arm is in a horizontal state.
S3: the hydraulic cylinder 11 pushes the slider seat 10 to the left so that the upper arm of the mechanical arm passes through the space between the cylinder 6 to which the left-side clamping assembly belongs and the lower part of the bending part 5 a.
S4: the upper arm of the mechanical arm is fixed by pushing the pressing plate 7 through the cylinder 6 of the left fixing clamp assembly.
S5: the robot arm is transported to above the equipment rack 17 by the chain 2.
Thus, the fixed transportation work is completed.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. Robot assembly system that fixed transportation arm realized robot body equipment, its characterized in that: comprises a total throwing frame (1), and an auxiliary assembly device and a carrying device which are all arranged on the total throwing frame (1); the carrying device is composed of a chain (2) arranged on the total throwing frame (1) and a total fixing component arranged at the lower part of the chain (2); the auxiliary assembly device is an equipment plate frame (17) arranged at the lower part of the right side of the total throwing frame (1);
the total fixing component consists of a hanging seat (3) meshed with the chain (2), a hanging plate (4) arranged at the lower end of the hanging seat (3), a left fixing clamp component and a movable clamping component which are all arranged at the lower end of the hanging plate (4); the movable clamping component comprises a right clamping component with the same structural component as the left clamping component;
the left side fixing clamp assembly and the right side fixing clamp assembly are respectively composed of a bending frame (5), an air cylinder (6) arranged on the bending frame (5), a pressing plate (7) connected with the air cylinder (6) and a lateral track (8) integrated with the pressing plate (7);
the bending frame (5) is provided with a U-shaped bending part (5 a), and a bayonet (5 b) which is in sliding connection with the lateral track (8) is arranged at the bending part (5 a);
the movable clamping assembly also comprises a main hanging ring frame (9), a sliding block seat (10) connected with the main hanging ring frame (9) through bolts, a hydraulic cylinder (11) and a sliding rail (12) which are all arranged at the lower end of the right part of the hanging plate (4); the hydraulic cylinder (11) is connected with the sliding block seat (10), and the sliding block seat (10) is in sliding connection with the sliding rail (12);
the bending frame (5) of the left side fixing clamp assembly is fixedly arranged at the lower end of the left part of the hanging plate (4);
two circular arc grooves (9 a) which are concentrically arranged are formed in the main hanging ring frame (9); a slidable and rotatable round rod (13) is arranged in each circular arc groove (9 a), and the two round rods (13) are welded with a bending frame (5) to which the right side fixing clamp assembly belongs;
an extension frame (14) is arranged at the rear part of the main lifting ring frame (9), a motor (15) is arranged at the lower part of the extension frame (14), the motor (15) is connected with a rotating frame (16), and a rotating groove (16 a) for two round rods (13) to pass through is arranged on the rotating frame (16);
the two arc grooves (9 a) are concentrically arranged, and the circle center positions corresponding to the two arc grooves are corresponding to the central axis position of the shaft of the motor (15).
2. The robot assembly system for assembling a robot body with a fixed transport robot arm of claim 1, wherein: the assembling plate frame (17) is provided with an assembling groove (17 a).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210243108.8A CN114789327B (en) | 2022-03-11 | 2022-03-11 | Robot assembly system for realizing robot body assembly by fixing transportation mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210243108.8A CN114789327B (en) | 2022-03-11 | 2022-03-11 | Robot assembly system for realizing robot body assembly by fixing transportation mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114789327A CN114789327A (en) | 2022-07-26 |
| CN114789327B true CN114789327B (en) | 2023-08-11 |
Family
ID=82460445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210243108.8A Active CN114789327B (en) | 2022-03-11 | 2022-03-11 | Robot assembly system for realizing robot body assembly by fixing transportation mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114789327B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005186212A (en) * | 2003-12-25 | 2005-07-14 | Denso Corp | Part attach and detach conveying apparatus |
| CN101765476A (en) * | 2007-07-30 | 2010-06-30 | 丰田自动车株式会社 | Work transfer apparatus |
| CN106002966A (en) * | 2015-03-31 | 2016-10-12 | 佳能株式会社 | Automated assembly apparatus and automated assembly method |
| CN108890616A (en) * | 2018-08-30 | 2018-11-27 | 广东宏穗晶科技服务有限公司 | One kind puts together machines people |
| JP2018192535A (en) * | 2017-05-12 | 2018-12-06 | アズビル株式会社 | Component fitting method and component fitting device |
| CN208977190U (en) * | 2018-09-14 | 2019-06-14 | 天津三合成自行车配件有限公司 | A kind of bicycle intelligent automaton device hand mounting work station |
| CN111112985A (en) * | 2020-01-21 | 2020-05-08 | 汪涛 | Automatic assembling equipment for power-assisted ball of steering wheel |
| CN112828082A (en) * | 2020-12-22 | 2021-05-25 | 扬州工业职业技术学院 | Automatic change robot of buckling |
-
2022
- 2022-03-11 CN CN202210243108.8A patent/CN114789327B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005186212A (en) * | 2003-12-25 | 2005-07-14 | Denso Corp | Part attach and detach conveying apparatus |
| CN101765476A (en) * | 2007-07-30 | 2010-06-30 | 丰田自动车株式会社 | Work transfer apparatus |
| CN106002966A (en) * | 2015-03-31 | 2016-10-12 | 佳能株式会社 | Automated assembly apparatus and automated assembly method |
| JP2018192535A (en) * | 2017-05-12 | 2018-12-06 | アズビル株式会社 | Component fitting method and component fitting device |
| CN108890616A (en) * | 2018-08-30 | 2018-11-27 | 广东宏穗晶科技服务有限公司 | One kind puts together machines people |
| CN208977190U (en) * | 2018-09-14 | 2019-06-14 | 天津三合成自行车配件有限公司 | A kind of bicycle intelligent automaton device hand mounting work station |
| CN111112985A (en) * | 2020-01-21 | 2020-05-08 | 汪涛 | Automatic assembling equipment for power-assisted ball of steering wheel |
| CN112828082A (en) * | 2020-12-22 | 2021-05-25 | 扬州工业职业技术学院 | Automatic change robot of buckling |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114789327A (en) | 2022-07-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110282376B (en) | Pipe conveying system and automatic pipe machining production line applying same | |
| CN115625534B (en) | Automatic production line and production process of steel arch for railway tunnel support | |
| HU215738B (en) | Worlpiece-transmitting apparatus form the first machine to the second machine | |
| CN106429339B (en) | A kind of full-automatic self-adapting type quick centring conveyer | |
| CN110587319A (en) | Automatic production line for machining forklift gantry channel steel | |
| CN206445408U (en) | Multi-vehicle-type white body welds total built-up jig | |
| CN116275722A (en) | Automatic production line for section steel arch centering | |
| CN112551145A (en) | Processing equipment with suspended conveying structure for tire assembly | |
| CN114789327B (en) | Robot assembly system for realizing robot body assembly by fixing transportation mechanical arm | |
| CN210908956U (en) | Automatic production line for machining forklift gantry channel steel | |
| CN211304971U (en) | Tubular product pay-off cutting system | |
| CN209892248U (en) | Segment erector | |
| CN115971781A (en) | Steel pipe longitudinal seam welding machine | |
| CN112958980B (en) | Car body side wall and bottom plate clamp assembly for automatic welding | |
| CN211664097U (en) | Double-layer automatic conveying device for tire tube and tire blank | |
| CN214455036U (en) | Coating film turning device | |
| CN111807020A (en) | Intelligent metal pipe collecting device | |
| CN111975237A (en) | Method and device for assembling linear steel pipe bundle | |
| CN206232055U (en) | Full-automatic self-adapting type quick centring conveyer | |
| CN219379479U (en) | Automatic production line for section steel arch centering | |
| CN216264335U (en) | Welding turnover station for framework vehicle front and rear end beam assembly welding production line | |
| CN220049925U (en) | Automatic bar centre gripping rotation lift gives device with adjustable | |
| CN213531313U (en) | Assembling and spot welding device for steel pipe bundle | |
| CN220148540U (en) | Manipulator structure is transported to metal sheet | |
| CN214770301U (en) | Stirrup welding production line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |