CN211590100U - Automatic assembly robot device with clamping jaw - Google Patents
Automatic assembly robot device with clamping jaw Download PDFInfo
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- CN211590100U CN211590100U CN201921786244.1U CN201921786244U CN211590100U CN 211590100 U CN211590100 U CN 211590100U CN 201921786244 U CN201921786244 U CN 201921786244U CN 211590100 U CN211590100 U CN 211590100U
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Abstract
The utility model relates to the technical field of assembly robots, in particular to an automatic assembly robot device with clamping jaws, which comprises a truss robot, a robot guide rail arranged on the lower surface of a top beam of the truss robot along the length direction of the truss robot, a robot arm in rail joint with the robot guide rail, and a clamping jaw connected with the robot arm; the clamping jaw comprises a guide hole plate provided with a plurality of arc-shaped guide holes, a plurality of clamping fingers, a plurality of guide rails and a driving device, wherein the tops of the clamping fingers are connected with the guide holes in a sliding manner, the guide rails are in rail connection with the clamping fingers, and the driving device drives the guide hole plate to rotate. Compared with the prior art, the utility model can realize automatic replacement and reduce labor force; the axial pressing device on the clamping jaw can press the bearing end cover together to be carried along with the bearing, and all parts of the bearing are kept fixed without scattering in the carrying process.
Description
Technical Field
The utility model belongs to the technical field of the assembly robot technique and specifically relates to a take automatic assembly robot device of clamping jaw.
Background
The high-speed rail bearing assembly used in China at present is manual assembly, namely, various bearings of different types are conveyed and sleeved on a press-fitting machine shaft manually, the weight of each bearing is 40-50 kg, a robot clamping jaw needs to meet the requirements of dozens of specifications of bearings, and split bearing parts are in a loose state and are difficult to assemble manually in the assembly process.
Although related bearing automatic assembly robots are available abroad, the existing automatic assembly robots are only for bearings of one type, and have no compatibility and low assembly precision requirement.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects in the prior art, and provides an automatic assembly robot, which improves the assembly efficiency and saves the labor cost; the split type bearing assembling device has the advantages that the radial pressing device and the axial pressing device are combined, various types of bearings can be automatically assembled, the split type bearing can be prevented from scattering and falling, and the risk of smashing workers is avoided.
In order to achieve the purpose, the utility model discloses an automatic assembly robot device with clamping jaws, which is characterized by comprising a truss robot, a robot guide rail arranged on the lower surface of a top beam of the truss robot along the length direction of the truss robot, a robot arm in rail joint with the robot guide rail, and a clamping jaw connected with the robot arm; the clamping jaw comprises:
the guide hole plate is uniformly provided with a plurality of arc-shaped guide holes along the circumference, the inner ends of the guide holes are positioned on the same inner circle, the outer ends of the guide holes are positioned on the same outer circle which is concentric with the inner circle, and the two ends of each guide hole are not positioned on the same radius of the concentric circle, so that the guide holes are obliquely arranged in the same direction along the clockwise direction or the anticlockwise direction to form a spiral shape;
a plurality of clamping fingers which are axially arranged and correspond to the guide holes one by one are uniformly distributed along the circumference to form a closed shape, and the upper parts of the clamping fingers are provided with a rail connection structure and a sliding bearing; the free end of the spring is in an L-shaped structure;
a plurality of guide rails with the same number as the clamping fingers are arranged, and the length direction of each guide rail is consistent with the radius direction of the concentric circles; the rail connection structure is in rail connection with the corresponding guide rail; the sliding bearings are connected in the corresponding guide holes of the guide hole plate in a sliding manner;
the driving device is in driving connection with the guide hole plate to rotate forwards and backwards so as to drive the sliding bearing to slide in the guide hole, the sliding bearing drives the rail connection structure and the clamping fingers to move back and forth along the guide rail, when the sliding bearing slides to the inner end of the guide hole, the clamping fingers are relatively folded and clamped in the radial direction, and when the sliding bearing slides to the outer end of the guide hole, the clamping fingers are opened to form opening and closing motion to complete the action of grabbing and releasing an executed object;
-an assembly head for connection to an external actuator, located on a side of the guide orifice plate opposite the clamping fingers;
the axial clamping device comprises a chuck, a guide rail seat and an axial driving device, wherein the chuck is positioned between the clamping fingers and is parallel to the guide hole plate, the guide rail seat is positioned between the guide hole plate and the chuck, and two ends of the axial driving device are respectively connected with the chuck and the guide rail seat to drive the chuck to move axially;
the top end of the connecting column is connected with the assembling head, and the bottom end of the connecting column penetrates through the guide hole plate and is fixedly connected with the guide rail seat.
Furthermore, the whole guide rail seat is in a rudder shape and comprises a plurality of extension arms which are in one-to-one correspondence with the guide rail positions, and the inner ends of the extension arms are connected to the same common platform; the plurality of extension arms and the common platform are positioned on the same plane;
the rail connection structure comprises an arch frame fixed on the top end of the clamping finger and a sliding block embedded in the arch frame, wherein the bottom surface of the sliding block is fixedly connected with the corresponding position of the top end of the clamping finger; the upper surface of the sliding block is provided with a rail groove;
the bottom end of the sliding bearing is fixed on the top end of the arch frame; the guide rail penetrates through the corresponding arch truss, and the bottom surface of the guide rail is in rail joint with the rail groove of the sliding block; the upper surface of the guide rail is fixed to the lower surface of the corresponding extension arm.
Furthermore, the assembling head adopts a quick-change connector;
the quick change coupler is characterized in that the working end of the quick change coupler is connected with the upper surface of a lower mounting disc, a rotary support is sleeved on a connecting column between the lower mounting disc and the guide hole plate, and the top end of the connecting column is fixedly connected to the bottom surface of the lower mounting disc.
Furthermore, the driving device comprises an air cylinder or a hydraulic cylinder, a connecting rod with one end connected to the telescopic end of the air cylinder or the telescopic end of the hydraulic cylinder, a shaft lug fixed on the side wall of the lower mounting plate, and a connecting shaft fixed on a guide hole plate corresponding to the farthest stroke range of the air cylinder or the hydraulic cylinder;
one end of the body of the air cylinder or one end of the body of the hydraulic cylinder is rotatably connected into the shaft lug, and the other end of the connecting rod is rotatably connected onto the connecting shaft.
Furthermore, the top of the assembling head is connected with a torque sensor by an upper mounting disc;
the driving device adopts a self-locking air cylinder or a self-locking hydraulic cylinder; the self-locking cylinder or the self-locking hydraulic cylinder is provided with an in-place detection switch for detecting whether the clamping finger is clamped in place;
the axial driving device is also provided with a photoelectric switch for detecting whether the object to be executed is clamped or not;
the signal end of the in-place detection switch and the signal end of the photoelectric switch are locally or remotely connected with the corresponding signal input end of the intelligent controller, and the signal output end of the intelligent controller is connected with the alarm device.
Furthermore, the axial driving device adopts a pressing air cylinder or a pressing hydraulic cylinder, and a plurality of axial driving devices are uniformly distributed along the circumference of the chuck.
Furthermore, the chuck adopts an annular structure, and the outer edge of the chuck is provided with a clamping finger avoiding groove corresponding to the clamping finger; and an axial driving device avoiding groove is also arranged on the edge of the chuck between the two adjacent clamping finger avoiding grooves.
Furthermore, the inner side wall of the clamping finger is provided with an anti-abrasion strip.
Furthermore, the robot arm adopts an ABB inverse-hanging joint robot.
Further, the truss robot adopts a heavy-load truss robot.
Compared with the prior art, the utility model can realize automatic replacement and reduce labor force; the bearing end covers can be pressed together by the axial pressing devices on the clamping jaws to be carried along with the bearing, the bearing is not scattered in the carrying process, and all parts are kept fixed;
the clamping jaws adopt guide hole plates provided with obliquely-arranged arc-shaped guide holes, and are matched with the tracks and the driving devices provided with the link mechanisms, so that the clamping jaws can be opened and closed only by rotating the guide hole plates forwards and backwards, the structure is novel and simple, the structure cost is saved, and the operation is smooth;
furthermore, a driving device of a radial clamping device of the clamping jaw has a self-locking function, so that the clamping force of the clamping fingers can be ensured when the energy supply device is interrupted, the bearing cannot fall off, a photoelectric switch is arranged on an axial driving device of the clamping jaw, whether the clamping fingers clamp the bearing can be detected, and if the bearing is not grabbed, the system can give an alarm and stop to wait for manual treatment;
furthermore, the quick-change connector is adopted, so that the flexibility of production, transportation and assembly is improved, and when the tail end execution part of the robot arm or the clamping jaw is replaced, manual operation can be greatly reduced or even completely replaced through the quick-change connector;
furthermore, the moment sensor is arranged on the assembling head, so that collision and other death in the sleeving process can be prevented.
Drawings
Fig. 1 is a three-dimensional structure view of the present invention in use.
Fig. 2 is a perspective view of the robot arm connecting clamping jaw according to the embodiment of the present invention.
Fig. 3 is a perspective view of a clamping jaw of the present invention from one perspective in an embodiment.
Fig. 4 is a perspective view of another perspective view of a clamping jaw of the present invention in an embodiment.
Fig. 5 is an exploded view of a clamping jaw according to an embodiment of the present invention.
Fig. 6 is a bottom view of the clamping jaw of the present invention in an embodiment.
Fig. 7 is a perspective view of the middle clamping jaw of the present invention after clamping the bearing in the embodiment.
Fig. 8 is a three-dimensional structure diagram of the present invention when the protection net and the operation platform are installed.
Detailed Description
The following description of the preferred embodiments of the present invention is provided for the purpose of illustration and description, and is not intended to limit the invention.
Example 1
Referring to fig. 1-7, the utility model provides an automatic assembly robot device with clamping jaws, which is characterized in that the device comprises a truss robot 21, a robot guide rail 22 arranged on the lower surface of a top beam of the truss robot along the length direction of the truss robot, a robot arm 23 in rail joint with the robot guide rail 22, and a clamping jaw 28 connected with the robot arm 23;
the clamping jaw 28 comprises:
the guide hole plate 1 is a circular guide hole plate, 3 arc-shaped guide holes 1-1 are uniformly distributed on the circular guide hole plate along the circumference, the inner ends of the 3 guide holes 1-1 are positioned on the same inner circle, the outer ends of the 3 guide holes 1-1 are positioned on the same outer circle which is concentric with the inner circle, and two ends of each guide hole 1-1 are not positioned on the same radius of the concentric circle, so that the guide holes 1-1 are obliquely arranged in the same direction along the clockwise direction or the anticlockwise direction to form a spiral shape; in this example, the guide hole plate 1 is also provided with a plurality of wiring holes 1-2, wherein the guide hole plate 1 at one wiring hole 1-2 is provided with a wiring terminal box 12;
the 3 clamping fingers 2 which are axially arranged and correspond to the guide holes 1-1 one by one are uniformly distributed along the circumference to form a surrounding shape, and the upper parts of the clamping fingers are provided with rail connection structures 4-1 and sliding bearings 4-2; the free end of the anti-falling device is of an L-shaped structure to form an anti-falling structure 2-1, and when the anti-falling device is matched with the clamping finger 2 to clamp the bearing, the anti-falling device can simultaneously hook a front check ring of the bearing, so that the bearing is further prevented from falling;
3 guide rails 3 with the same number as the clamping fingers 2 are arranged, and the length direction of each guide rail 3 is consistent with the radius direction of the concentric circles; the rail joint structure 4-1 is in rail joint with the corresponding guide rail 3; the sliding bearings 4-2 are connected in a sliding way in the corresponding guide holes 1-1 of the guide hole plate 1;
the driving device 5 is in driving connection with the guide hole plate 1 to rotate forwards and backwards, so that the sliding bearing 4-2 is driven to slide in the guide hole 1-1, the sliding bearing 4-2 drives the rail connection structure 4-1 and the clamping fingers 2 to reciprocate along the guide rail 3, when the sliding bearing 4-2 slides to the inner end of the guide hole 1-1, the plurality of clamping fingers 2 are relatively folded and clamped in the radial direction, and when the sliding bearing 4-2 slides to the outer end of the guide hole 1-1, the plurality of clamping fingers 2 are opened to form opening and closing movement to complete the action of grabbing and releasing an executed object;
a fitting head 7 for connection to an external actuator, located on the side of the guide orifice 1 opposite the gripping fingers 2; the executing device in this example can be a robot arm, and can also be other mechanical driving devices; thus, the part below the mounting head 7 forms the end execution part of the clamping jaw;
the axial clamping device comprises a chuck 6-1 which is positioned between a plurality of clamping fingers 2 and is parallel to the guide hole plate 1, a guide rail seat 3-1 which is positioned between the guide hole plate 1 and the chuck 6-1, and an axial driving device 6-2 of which two ends are respectively connected with the chuck 6-1 and the guide rail seat 3-1 to drive the chuck 6-1 to move axially;
the top end of the connecting column 11 is connected with the assembling head 7, and the bottom end of the connecting column penetrates through the center of the guide hole plate 1 and is fixedly connected with the central part of the upper surface of the guide rail seat 3-1.
Further, the guide rail seat 3-1 is in a rudder shape as a whole and comprises a plurality of extension arms 3-11 which correspond to the guide rail in a one-to-one manner, and the inner ends of the extension arms 3-11 are connected to the same common platform 3-12; the plurality of extension arms 3-11 and the common platform 3-12 are positioned on the same plane, namely the bottom end of the connecting column 11 is fixedly connected to the center of the upper surface of the common platform 3-12;
the rail connection structure 4-1 comprises an arch frame 4-12 fixed on the top end of the clamping finger 2 and a sliding block 4-11 embedded in the arch frame 4-12 and fixedly connected with the bottom surface of the sliding block and the corresponding position of the top end of the clamping finger 2; the upper surface of the sliding block 4-11 is provided with a rail groove; certainly, if the top end of the clamping finger 2 is too thin, a mounting plate can be arranged, so that the clamping finger can be conveniently matched with the arch frames 4-12 for mounting;
the bottom end of the sliding bearing 4-2 is fixed on the top end of the arch frame 4-12; the guide rail 3 passes through the corresponding arch centering 4-12, and the bottom surface of the guide rail 3 is in rail joint with the rail groove of the sliding block 4-11; the upper surface of the guide rail 3 is fixed to the lower surface of the corresponding extension arm 3-11.
Further, the assembling head 7 adopts a quick-change connector; the working end of the quick-change connector 7 is connected with the upper surface of a lower mounting disc 8-1, a rotary support 10 is sleeved on a connecting column 11 between the lower mounting disc 8-1 and the guide hole plate 1 to bear comprehensive loads of all directions, and the top end of the connecting column 11 is fixedly connected to the bottom surface of the lower mounting disc 8-1. In this case, the quick-change coupling 7 may be a quick-change coupling comprising a male part and two female parts, which are locked by means of an internal steel ball, such as a conventional quick-change coupling, for example a male quick-change coupling or a JRT quick-change coupling. In the present embodiment, the quick-change coupler 7 is adopted, taking the bearing as an example, the bearing is in various specifications in consideration of the variety of the bearing, such as a high-speed rail bearing, a motor train bearing, a truck bearing, a subway bearing and the like, the end executing part of the clamping jaw in the corresponding specification needs to be automatically replaced by using the quick-change coupler, and generally, the maximum diameter and the minimum diameter of the bearing in the present embodiment can meet the requirements of 240mm and 220mm of the outer diameter of the bearing. The quick-change connector can drive the inner ball to clamp or separate from the clamping groove on the quick-change connector through the inner air pressure, so that adsorption connection or separation connection is realized, the flexibility of production, carrying and assembly is improved, the replacement time is reduced, and even manual operation is completely replaced. Assembly heads of conventional construction typically require ten to thirty minutes, which quick change couplings can reduce to within 60 seconds, while the locking and unlocking operations require only a few milliseconds.
Further, the driving device 5 comprises an air cylinder or a hydraulic cylinder, a connecting rod 5-2 with one end connected to the telescopic end of the air cylinder or the telescopic end of the hydraulic cylinder, a shaft lug 5-1 fixed on the side wall of the lower mounting plate 8-1, and a connecting shaft 5-3 fixed on the guide hole plate 1 corresponding to the farthest stroke range of the air cylinder or the hydraulic cylinder; one end of the body of the cylinder or one end of the body of the hydraulic cylinder is rotatably connected in the shaft lug 5-1, the other end of the connecting rod 5-2 is rotatably connected on the connecting shaft 5-3, and the bottom of the connecting shaft 5-3 can also be provided with a base 5-4. The driving device can adopt a self-locking cylinder or a self-locking hydraulic cylinder, when the self-locking cylinder is adopted, the self-locking cylinder provided with the SMC pilot valve is adopted, a stop valve in the SMC pilot valve is locked under the conditions of power failure and gas failure, two ends of the cylinder are sealed, and therefore the telescopic rod of the cylinder is guaranteed not to displace, clamping force between clamping fingers is kept, and the bearing is guaranteed not to fall. If the hydraulic cylinder is adopted, a self-locking hydraulic cylinder can be adopted. In addition, the self-locking cylinder or the self-locking hydraulic cylinder is provided with an in-place detection switch (not shown in the figure) for detecting whether the clamping finger 2 is clamped in place or not.
Furthermore, the top of the assembling head 7 is connected with a torque sensor 9 by an upper mounting disc 8-2. In the process of sleeving the bearings by the robot, as the precision requirement of the holes and the bearings is higher, the single-side gap is 0.125mm, and the robot has no powerful feedback, the moment sensor 9 is required to be matched with the robot to realize flexible sleeving in the sleeving process, so that collision and other death in the sleeving process are prevented;
the axial driving device 6-2 is also provided with a photoelectric switch 6-6 for detecting whether the object to be executed is clamped or not; in this example, the photoelectric switch 6-6 can be fixed on the outer wall by using a hoop;
the signal end of the in-place detection switch and the signal end of the photoelectric switch 6-6 are locally or remotely connected with the corresponding signal input end of the intelligent controller, and the signal output end of the intelligent controller is connected with the alarm device.
Furthermore, the axial driving device 6-2 adopts a pressing air cylinder or a pressing hydraulic cylinder, in this case, the bottom surface of an upper horizontal plate of the Z-shaped connecting piece 6-3 can be fixedly connected with the top end of the axial driving device 6-2, and a lower horizontal plate of the Z-shaped connecting piece 6-3 is connected with a common platform 3-12 of the guide rail seat 3-1 between two adjacent extension arms 3-11;
the axial driving devices 6-2 are evenly distributed in 3 along the circumference of the chuck 6-1. In the embodiment, 3 small linear pressing cylinders are adopted to be matched with the chuck 6-1, so that the rear retainer ring of the bearing is pressed, and meanwhile, the middle spacer ring in the bearing can be pressed, and the problem that the middle spacer ring falls off in the sleeving process to cause incapability of assembling is avoided. During operation, the upright rod on the castor oil spraying equipment in a workshop can be used for centering the middle spacer ring of the bearing.
Further, the chuck 6-1 is of an annular structure, and a clamping finger avoiding groove 6-4 is formed in the position, corresponding to the clamping finger 2, of the outer edge of the chuck; the edge of the chuck 6-1 between two adjacent finger avoiding grooves 6-4 is also provided with an axial driving device avoiding groove 6-5.
Furthermore, the inner side wall of the clamping finger 2 is provided with an anti-abrasion strip 2-2.
Further, robot arm 23 adopts ABB inverse hanging joint robot, truss robot 21 adopts heavy load truss robot, makes the utility model discloses form seven-axis linkage robot.
Referring to fig. 1, a plurality of workpiece assembling stations 27 are provided along the length direction on the ground inside the truss robot 21, a workpiece 26 to be mounted with bearings is placed on the workpiece assembling stations 27, a plurality of bearings 24 to be mounted are placed at one end of the truss robot 21, and a plurality of end effector portions 25 of jaws to be replaced are placed at the other end of the truss robot 21. In operation, the control robot arm 23 moves to the other end of the truss robot 21 along the robot guide 22 on the truss robot 21, the end execution part 25 of the appropriate clamping jaw to be replaced is quickly assembled through the quick change connector of the clamping jaw 28, then the robot arm 23 moves to one end of the truss robot 21, a bearing 24 to be assembled is clamped through the clamping jaw 28, the robot arm 23 moves to a certain workpiece assembling station 27, the bearing 24 to be assembled is assembled on a workpiece 26 of the bearing to be assembled, then the clamping jaw 28 is loosened, and the operations are repeated.
Referring to fig. 8, of course, for safety, a protective net may be disposed around the truss robot 21. And the truss robot 21 may be disposed on the operation platform. And a working slide rail can be arranged on the operating platform corresponding to the workpiece assembling station 27, so that certain wheeled workpieces can roll to the workpiece assembling station 27 through the working slide rail.
Claims (10)
1. The automatic assembling robot device with the clamping jaws is characterized by comprising a truss robot (21), a robot guide rail (22) arranged on the lower surface of a beam at the top of the truss robot along the length direction of the truss robot, a robot arm (23) in rail joint with the robot guide rail (22), and the clamping jaws connected with the robot arm (23); the clamping jaw comprises:
the guide hole plate (1) is uniformly provided with a plurality of arc-shaped guide holes (1-1) along the circumference, the inner ends of the guide holes (1-1) are positioned on the same inner circle, the outer ends of the guide holes (1-1) are positioned on the same outer circle which is concentric with the inner circle, and the two ends of each guide hole (1-1) are not positioned on the same radius of the concentric circle, so that the guide holes (1-1) are obliquely arranged along the clockwise direction or the anticlockwise direction to form a spiral shape;
a plurality of clamping fingers (2) which are axially arranged and correspond to the guide holes (1-1) one by one are uniformly distributed along the circumference to form a surrounding shape, and the upper parts of the clamping fingers are provided with a rail connecting structure (4-1) and a sliding bearing (4-2); the free end of the spring is in an L-shaped structure;
-a number of guide rails (3) corresponding to the number of fingers (2), the length direction of each guide rail (3) corresponding to the radius direction of the concentric circles; the rail connection structure (4-1) is in rail connection with the corresponding guide rail (3); the sliding bearings (4-2) are connected in the corresponding guide holes (1-1) of the guide hole plate (1) in a sliding manner;
the driving device (5) is in driving connection with the guide hole plate (1) to rotate forwards and backwards so as to drive the sliding bearing (4-2) to slide in the guide hole (1-1), the sliding bearing (4-2) drives the rail connection structure (4-1) and the clamping fingers (2) to move in a reciprocating mode along the guide rail (3), when the sliding bearing (4-2) slides to the inner end of the guide hole (1-1), the plurality of clamping fingers (2) are relatively folded and clamped in a radial mode, and when the sliding bearing (4-2) slides to the outer end of the guide hole (1-1), the plurality of clamping fingers (2) are opened and closed to complete the action of grabbing and releasing an executed object;
-an assembly head (7) for connection to an external actuator, located on the side of the guide plate (1) opposite the gripping fingers (2);
the axial clamping device comprises a chuck (6-1) which is positioned between a plurality of clamping fingers (2) and is parallel to the guide hole plate (1), a guide rail seat (3-1) which is positioned between the guide hole plate (1) and the chuck (6-1), and an axial driving device (6-2) of which two ends are respectively connected with the chuck (6-1) and the guide rail seat (3-1) to drive the chuck (6-1) to axially move;
the top end of the connecting column (11) is connected with the assembling head (7), and the bottom end of the connecting column penetrates through the guide hole plate (1) and then is fixedly connected with the guide rail seat (3-1).
2. An automated assembling robot apparatus with gripping jaws according to claim 1,
the guide rail seat (3-1) is integrally in a rudder shape and comprises a plurality of extension arms (3-11) which are in one-to-one correspondence with the guide rail positions, and the inner ends of the extension arms (3-11) are connected to the same common platform (3-12); and the plurality of extension arms (3-11) and the common platform (3-12) are positioned on the same plane;
the rail connection structure (4-1) comprises an arch frame (4-12) fixed on the top end of the clamping finger (2) and a sliding block (4-11) which is embedded in the arch frame (4-12) and the bottom surface of which is fixedly connected with the corresponding position of the top end of the clamping finger (2); the upper surface of the sliding block (4-11) is provided with a rail groove;
the bottom end of the sliding bearing (4-2) is fixed on the top end of the arch frame (4-12); the guide rail (3) penetrates through the corresponding arch frames (4-12), and the bottom surface of the guide rail (3) is in rail joint with the rail groove of the sliding block (4-11); the upper surface of the guide rail (3) is fixed on the lower surface of the corresponding extension arm (3-11).
3. An automated assembly robot apparatus with jaws according to claim 1, wherein:
the assembling head (7) adopts a quick-change connector;
the working end of the quick-change connector is connected with the upper surface of a lower mounting disc (8-1), a rotary support (10) is sleeved on a connecting column (11) between the lower mounting disc (8-1) and the guide hole plate (1), and the top end of the connecting column (11) is fixedly connected to the bottom surface of the lower mounting disc (8-1).
4. The automatic assembling robot device with the clamping jaws is characterized in that the driving device (5) comprises an air cylinder or a hydraulic cylinder, a connecting rod (5-2) with one end connected to the telescopic end of the air cylinder or the telescopic end of the hydraulic cylinder, a shaft lug (5-1) fixed on the side wall of the lower mounting plate (8-1), and a connecting shaft (5-3) fixed on the guide hole plate (1) corresponding to the farthest stroke range of the air cylinder or the hydraulic cylinder;
one end of the body of the cylinder or one end of the body of the hydraulic cylinder is rotatably connected into the shaft lug (5-1), and the other end of the connecting rod (5-2) is rotatably connected onto the connecting shaft (5-3).
5. An automated assembling robot apparatus with gripping jaws according to claim 4,
the top of the assembly head (7) is connected with a torque sensor (9) by adopting an upper mounting disc (8-2);
the driving device (5) adopts a self-locking air cylinder or a self-locking hydraulic cylinder; the self-locking cylinder or the self-locking hydraulic cylinder is provided with an in-place detection switch for detecting whether the clamping finger (2) is clamped in place;
the axial driving device (6-2) is also provided with a photoelectric switch (6-6) for detecting whether an executed object is clamped or not;
the signal end of the in-place detection switch and the signal end of the photoelectric switch (6-6) are locally or remotely connected with the corresponding signal input end of the intelligent controller, and the signal output end of the intelligent controller is connected with the alarm device.
6. An automated assembly robot apparatus with jaws according to claim 1, wherein: the axial driving device (6-2) adopts a pressing air cylinder or a pressing hydraulic cylinder, and a plurality of axial driving devices (6-2) are uniformly distributed along the circumference of the chuck (6-1).
7. The automatic assembling robot device with clamping jaws as claimed in claim 6, characterized in that said chuck (6-1) is of annular configuration and its outer edge is provided with a finger-avoiding groove (6-4) corresponding to the finger (2); the edge of the chuck (6-1) between two adjacent finger-clamping avoiding grooves (6-4) is also provided with an axial driving device avoiding groove (6-5).
8. The automated assembly robot with clamping jaws according to claim 1, characterized in that the inner side walls of the clamping fingers (2) are provided with wear strips (2-2).
9. The automated assembly robot with clamping jaws as claimed in claim 1, characterized in that said robot arm (23) is an ABB upside down articulated robot.
10. The automated assembling robot apparatus with clamping jaws as claimed in claim 1, wherein said truss robot (21) is a heavy-duty truss robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921786244.1U CN211590100U (en) | 2019-10-23 | 2019-10-23 | Automatic assembly robot device with clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921786244.1U CN211590100U (en) | 2019-10-23 | 2019-10-23 | Automatic assembly robot device with clamping jaw |
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| CN211590100U true CN211590100U (en) | 2020-09-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111216098A (en) * | 2019-10-23 | 2020-06-02 | 昆山源博信予智能装备有限公司 | Automatic assembly robot device with clamping jaw |
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2019
- 2019-10-23 CN CN201921786244.1U patent/CN211590100U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111216098A (en) * | 2019-10-23 | 2020-06-02 | 昆山源博信予智能装备有限公司 | Automatic assembly robot device with clamping jaw |
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