CN106003088A - Movable assembling mechanism based on joint robot - Google Patents

Movable assembling mechanism based on joint robot Download PDF

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Publication number
CN106003088A
CN106003088A CN201610500116.0A CN201610500116A CN106003088A CN 106003088 A CN106003088 A CN 106003088A CN 201610500116 A CN201610500116 A CN 201610500116A CN 106003088 A CN106003088 A CN 106003088A
Authority
CN
China
Prior art keywords
mechanical hand
assembling
articulated robot
fuselage
manipulator
Prior art date
Application number
CN201610500116.0A
Other languages
Chinese (zh)
Inventor
苏皓
Original Assignee
江苏捷帝机器人股份有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 江苏捷帝机器人股份有限公司 filed Critical 江苏捷帝机器人股份有限公司
Priority to CN201610500116.0A priority Critical patent/CN106003088A/en
Publication of CN106003088A publication Critical patent/CN106003088A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/005Manipulators for mechanical processing tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/04Viewing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06Safety devices

Abstract

The invention discloses a movable assembling mechanism based on a joint robot, and mainly relates to the technical field of joint robots. The movable assembling mechanism based on the joint robot is characterized in that a first manipulator is fixedly connected to the inner wall of a mechanism body, wherein a second manipulator slides forwards and backwards on slide rails arranged on the first manipulator; a third manipulator slides forwards and backwards on slide rails arranged on the second manipulator; an up-down moving and mounting electric cylinder and a vision sensor are sequentially connected to the third manipulator; a coupling arranged between a motor and a screw is in slide connection with the up-down moving and mounting electric cylinder; a spring is connected to the middle part of the screw in a sleeving manner, and the lower end of the screw is connected with a sleeve in a fitting manner; a control panel and a toolbox are arranged at one side of the mechanism body, a pulley set is connected to the bottom part of the mechanism body, and a handheld programmer is connected to the outer part of the mechanism body; the vision sensor is connected to an outer display. The assembling mechanism is high in positioning accuracy, and a workpiece is hard to be damaged by the assembling mechanism; the assembling mechanism is convenient and quick to carry, repair and maintain; workers can operate the assembling mechanism simply, and can monitor the running state of the assembling mechanism in real time.

Description

A kind of movable assemble mechanism based on articulated robot

Technical field

The present invention relates to the technical field of articulated robot, a kind of movable assemble mechanism based on articulated robot.

Background technology

Articulated robot, also referred to as joint arm robot or joint Manipulator arm, being one of form of modal industrial robot in current industrial circle, it is suitable for the machine automatization equalization of many industrial circles, the most automatically assembles, sprays paint, carries, the work such as welding.Wherein assembling articulated robot produces rotary power by the way of electric or pneumatic, to replace the most manual assembling action, alleviates the working strength of workpiece assembling to a certain extent.

In recent years, along with the development of science and technology, the technology of assembling articulated robot was required more and more higher by every profession and trade, but existing assemble mechanism based on articulated robot there is also following defect:

1, workpiece registration is low, and the downforce that when working, screw rod produces is easy to defective work piece;

2, mechanism's overall volume is huge, it is impossible to move flexibly in workshop, maintains relatively complicated;

3, operator are had the requirement of higher specialty, poor universality, it is impossible to apply on a large scale;

4, its duty cannot be monitored by operator in real time.

Summary of the invention

Goal of the invention: the problem and shortage existed for above-mentioned prior art, it is an object of the invention to provide a kind of movable assemble mechanism based on articulated robot, this assemble mechanism positioning precision is high, it is not easy defective work piece, carry and maintain convenient and swift, and operated by personnel is simple, can monitor its running status in real time.

Technical scheme: in order to realize object above, a kind of movable assemble mechanism based on articulated robot of the present invention, include fuselage, the first mechanical hand, the second mechanical hand and the 3rd mechanical hand;Described first mechanical hand is fixed on fuselage inwall, described second mechanical hand slide anteroposterior on the slide rail that the first mechanical hand is provided with, described 3rd mechanical hand slide anteroposterior on the slide rail that the second mechanical hand is provided with;Described 3rd mechanical hand is connected to transplant electricity cylinder and vision sensor, motor and screw rod up and down successively and is slidably connected with transplanting electricity cylinder up and down by the shaft coupling being provided with between the two;Being socketed with spring in the middle part of described screw rod, lower end is connected with sleeve;Described fuselage side is provided with control panel and workbox, and bottom is connected to one group of pulley, and outside is connected to hand-hold programmer, and described vision sensor is connected with external display.The present invention achieves flexible assembly by spring, thus the screw rod axial impact force damage to workpiece when reducing work, moving of staff is greatly facilitated by pulley;And its cooperating and transplanting the driving of electricity cylinder up and down by three mechanical hands, adds pre-aligned to workpiece of sleeve, thus substantially increases the positioning precision of workpiece;On the other hand, staff carrys out, by hand-hold programmer, the operation that controlling organization is overall, simple to operate, and it is provided with vision sensor and workbox, thus facilitates staff and to its monitoring in real time and maintain.

Heretofore described sleeve is connected by mosaic mode and screw rod are fixing, and its sleeve and screw rod are connected with each other stably firmly, easy to loading and unloading fast can be replaced at any time according to actual needs, and the scope of application is the widest.

Heretofore described fuselage is connected with hand-hold programmer by telescopic folding rod, consequently facilitating the manipulation of staff.

Heretofore described control panel includes start & shutdown through one key button, consequently facilitating staff cuts off the electricity supply in time when fortuitous event occurs, it is to avoid even more serious accident occur.

Heretofore described pulley is provided with four altogether, and is correspondingly provided with tight latch mechanism respectively, thus is fixed by pulley at ad-hoc location by tight latch mechanism, prevents it from being slided by occurring after external force.

Heretofore described fuselage surface is provided with alarm device, and when deviation or fault occurs in mechanism's operation, it sends alarm automatically to point out staff to carry out corresponding operating.

Heretofore described alarm device is acoustooptic alarm, and prompting effect is notable.

Beneficial effect: compared with prior art, the invention have the advantages that

1, heretofore described a kind of based on articulated robot movable assemble mechanism, it achieves flexible assembly by spring, thus the screw rod axial impact force damage to workpiece when reducing work, and greatly facilitate moving of staff by pulley.

2, heretofore described a kind of based on articulated robot movable assemble mechanism, its cooperating and transplanting the driving of electricity cylinder up and down by three mechanical hands, add pre-aligned to workpiece of sleeve, thus substantially increase the positioning precision of workpiece.

3, heretofore described a kind of based on articulated robot movable assemble mechanism, staff carrys out, by hand-hold programmer, the operation that controlling organization is overall, simple to operate, and it is provided with vision sensor and workbox, thus facilitate staff to its monitoring in real time and maintenance.

4, heretofore described a kind of based on articulated robot movable assemble mechanism, its sleeve and screw rod are connected with each other stably firm, easy to loading and unloading fast can be replaced at any time according to actual needs, and the scope of application is the widest;And when fortuitous event occurs, staff can be cut off the electricity supply in time by start & shutdown through one key button, it is to avoid even more serious accident occurs.

5, heretofore described a kind of based on articulated robot movable assemble mechanism, is fixed pulley at ad-hoc location by tight latch mechanism, thus prevents mechanism to be slided by occurring after external force;Additionally when deviation or fault occurs in mechanism's operation, its alarm device automatically sends alarm, thus points out staff to carry out corresponding operating.

Accompanying drawing explanation

Fig. 1 is the overall structure schematic diagram of assemble mechanism in the present invention.

In figure: fuselage the 1, first mechanical hand the 2, second mechanical hand the 3, the 3rd mechanical hand 4, up and down transplanting electricity cylinder 5, motor 6, shaft coupling 7, screw rod 8, sleeve 9, spring 10, vision sensor 11, hand-hold programmer 12, control panel 13, workbox 14, pulley 15.

Detailed description of the invention

Below in conjunction with specific embodiment, the present invention is described in detail; but explanation protection scope of the present invention is not limited to the concrete scope of the present embodiment simultaneously; based on the embodiment in the present invention; the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly falls into the scope of protection of the invention.

Embodiment 1

As shown in Figure 1, a kind of based on articulated robot the movable assemble mechanism of the present embodiment, including: fuselage the 1, first mechanical hand the 2, second mechanical hand the 3, the 3rd mechanical hand 4, up and down transplanting electricity cylinder 5, motor 6, shaft coupling 7, screw rod 8, sleeve 9, spring 10, vision sensor 11, hand-hold programmer 12, control panel 13, workbox 14 and pulley 15.

The annexation of above-mentioned each parts is as follows: described first mechanical hand 2 is fixed on fuselage 1 inwall, described second mechanical hand 3 slide anteroposterior on the slide rail that the first mechanical hand 2 is provided with, described 3rd mechanical hand 4 slide anteroposterior on the slide rail that the second mechanical hand 3 is provided with;Described 3rd mechanical hand 4 is connected to transplant electricity cylinder 5 and vision sensor 11 up and down successively, and motor 6 and screw rod 8 are slidably connected with transplanting electricity cylinder 5 up and down by the shaft coupling 7 being provided with between the two;Being socketed with spring 10 in the middle part of described screw rod 8, lower end is connected with sleeve 9;Described fuselage 1 side is provided with control panel 13 and workbox 14, and bottom is connected to one group of pulley 15, and outside is connected to hand-hold programmer 12, and described vision sensor 11 is connected with external display.Wherein said sleeve 9 is connected by mosaic mode is fixing with screw rod 8, and described fuselage 1 is connected with hand-hold programmer 12 by telescopic folding rod;Described control panel 13 includes start & shutdown through one key button, and described pulley 15 is provided with four altogether, and is correspondingly provided with tight latch mechanism respectively, and described fuselage 1 surface is provided with audible-visual annunciator.

Embodiments of the invention are given for example with for the sake of describing, and are not exhaustively or limit the invention to disclosed form.Many modifications and variations are apparent from for the ordinary skill in the art.Selecting and describing embodiment is in order to the principle of the present invention and actual application are more preferably described, and makes those of ordinary skill in the art it will be appreciated that the present invention thus design are suitable to the various embodiments with various amendments of special-purpose.

Claims (7)

1. a movable assemble mechanism based on articulated robot, it is characterised in that: including: fuselage (1), the first mechanical hand (2), the second mechanical hand (3) and the 3rd mechanical hand (4);
Described first mechanical hand (2) is fixed on fuselage (1) inwall, described second mechanical hand (3) slide anteroposterior on the slide rail that the first mechanical hand (2) is provided with, described 3rd mechanical hand (4) slide anteroposterior on the slide rail that the second mechanical hand (3) is provided with;Described 3rd mechanical hand (4) is connected to transplant electricity cylinder (5) and vision sensor (11), motor (6) and screw rod (8) up and down successively and is slidably connected with transplanting electric cylinder (5) up and down by the shaft coupling (7) being provided with between the two;Described screw rod (8) middle part is socketed with spring (10), and lower end is connected with sleeve (9);Described fuselage (1) side is provided with control panel (13) and workbox (14), and bottom is connected to one group of pulley (15), and outside is connected to hand-hold programmer (12), and described vision sensor (11) is connected with external display.
A kind of movable assemble mechanism based on articulated robot the most according to claim 1, it is characterised in that: described sleeve (9) is connected by mosaic mode and screw rod (8) are fixing.
A kind of movable assemble mechanism based on articulated robot the most according to claim 1, it is characterised in that: described fuselage (1) is connected with hand-hold programmer (12) by telescopic folding rod.
A kind of movable assemble mechanism based on articulated robot the most according to claim 1, it is characterised in that: described control panel (13) includes start & shutdown through one key button.
A kind of movable assemble mechanism based on articulated robot the most according to claim 1, it is characterised in that: described pulley (15) is provided with four altogether, and is correspondingly provided with tight latch mechanism respectively.
A kind of movable assemble mechanism based on articulated robot the most according to claim 1, it is characterised in that: described fuselage (1) surface is provided with alarm device.
A kind of movable assemble mechanism based on articulated robot the most according to claim 6, it is characterised in that: described alarm device is acoustooptic alarm.
CN201610500116.0A 2016-06-30 2016-06-30 Movable assembling mechanism based on joint robot CN106003088A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610500116.0A CN106003088A (en) 2016-06-30 2016-06-30 Movable assembling mechanism based on joint robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610500116.0A CN106003088A (en) 2016-06-30 2016-06-30 Movable assembling mechanism based on joint robot

Publications (1)

Publication Number Publication Date
CN106003088A true CN106003088A (en) 2016-10-12

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107186463A (en) * 2017-06-30 2017-09-22 苏州科易特自动化科技有限公司 A kind of durable type for assembling motor vehicle lamp socket sealing ring assembles device
CN107199531A (en) * 2017-06-30 2017-09-26 苏州科易特自动化科技有限公司 A kind of method of work of high-precision Automobile lamp holder device for assembling sealing ring
CN107378450A (en) * 2017-06-30 2017-11-24 苏州科易特自动化科技有限公司 A kind of method of work with warning function Automobile lamp holder device for assembling sealing ring
TWI673706B (en) * 2017-02-06 2019-10-01 日商川崎重工業股份有限公司 Robot system and robot dialogue method

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01177933A (en) * 1987-12-29 1989-07-14 Nec Home Electron Ltd Automatic screw fastening device
JP2000190142A (en) * 1998-12-25 2000-07-11 Nitto Seiko Co Ltd Automatic screwing machine
CN201217145Y (en) * 2008-05-30 2009-04-08 比亚迪股份有限公司 Automatic screwing down apparatus
CN202952039U (en) * 2012-12-12 2013-05-29 昆山威典电子有限公司 Screw locking platform
CN103537892A (en) * 2013-10-12 2014-01-29 中国科学院深圳先进技术研究院 Automatic screw and nut combination locking device
CN103659256A (en) * 2013-12-13 2014-03-26 安徽巨一自动化装备有限公司 Main core nut differential screwing mechanism of drive axle assembly

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01177933A (en) * 1987-12-29 1989-07-14 Nec Home Electron Ltd Automatic screw fastening device
JP2000190142A (en) * 1998-12-25 2000-07-11 Nitto Seiko Co Ltd Automatic screwing machine
CN201217145Y (en) * 2008-05-30 2009-04-08 比亚迪股份有限公司 Automatic screwing down apparatus
CN202952039U (en) * 2012-12-12 2013-05-29 昆山威典电子有限公司 Screw locking platform
CN103537892A (en) * 2013-10-12 2014-01-29 中国科学院深圳先进技术研究院 Automatic screw and nut combination locking device
CN103659256A (en) * 2013-12-13 2014-03-26 安徽巨一自动化装备有限公司 Main core nut differential screwing mechanism of drive axle assembly

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI673706B (en) * 2017-02-06 2019-10-01 日商川崎重工業股份有限公司 Robot system and robot dialogue method
CN107186463A (en) * 2017-06-30 2017-09-22 苏州科易特自动化科技有限公司 A kind of durable type for assembling motor vehicle lamp socket sealing ring assembles device
CN107199531A (en) * 2017-06-30 2017-09-26 苏州科易特自动化科技有限公司 A kind of method of work of high-precision Automobile lamp holder device for assembling sealing ring
CN107378450A (en) * 2017-06-30 2017-11-24 苏州科易特自动化科技有限公司 A kind of method of work with warning function Automobile lamp holder device for assembling sealing ring

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Application publication date: 20161012

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