CN107186700A - Multi-station rotary industrial robot mechanism with grabbing mechanism convenient to disassemble - Google Patents

Abstract

The invention discloses a multi-station rotary industrial robot mechanism with a conveniently-disassembled grabbing mechanism, which comprises a robot base, wherein a main supporting seat is fixed in the middle of a top plate of the robot base, a rotary motor is fixed on the bottom surface of the middle of the top plate of the main supporting seat, an output shaft of the rotary motor penetrates through the top plate of the main supporting seat and is fixed with a rotary connecting block, a transverse rotating arm is fixed on the outer side wall of the rotary connecting block, a main connecting block is fixed at the end part of the transverse rotating arm, a grabbing main connecting block is arranged at the bottom end of the main connecting block, an upper connecting block is fixed on the top surface of the grabbing main connecting block, and an external spline protrusion is arranged on the outer. The invention can carry the workpiece of one conveyer belt of two adjacent conveyer belts at different stations to the other conveyer belt, which is very convenient; and its main connecting block is dismantled with last connecting block installation convenience, and each part that convenient follow-up will go up connecting block department changes the maintenance, guarantees to snatch the effect.

Description

A multi-station rotary industrial robot mechanism with easy disassembly of the grasping mechanism

Technical field:

The invention relates to the technical field of robot processing equipment, and more specifically relates to a multi-station rotary industrial robot mechanism with a convenient disassembly of a grasping mechanism.

Background technique:

When the existing components are processed, they use assembly line operations. Due to the limited space, a single conveyor belt cannot be used to continue to process a workpiece step by step. It can only be manually picked up and placed on the workpiece on one conveyor belt to another conveyor belt. It is very troublesome and labor-intensive for manpower to transport on the belt.

Invention content:

The purpose of the present invention is to overcome the deficiencies of the prior art, to provide a multi-station rotary industrial robot mechanism with easy disassembly of the grasping mechanism, which can carry the workpiece of one of the two adjacent conveyor belts at different stations It is very convenient to go to another conveyor belt; and the main connecting block and the upper connecting block are easy to install and disassemble, which is convenient for subsequent replacement and maintenance of various parts at the upper connecting block to ensure the grabbing effect.

The scheme that the present invention solves described technical problem is:

A multi-station rotary industrial robot mechanism with easy disassembly of the grasping mechanism, including a robot base, a main support seat is fixed in the middle of the top plate of the robot base, a rotating motor is fixed on the middle bottom surface of the top plate of the main support seat, and the output of the rotating motor The shaft passes through the top plate of the main support base and is fixed with a rotating connection block. The lateral turning arm is fixed on the outer wall of the rotating connecting block. The end of the lateral turning arm is fixed with the main connecting block. The main connection block, grabbing the top surface of the main connection block is fixed with an upper connection block, the outer side wall of the upper connection block has an external spline protrusion, the bottom of the main connection block has a connection concave hole in the middle of the bottom surface, and the inner side wall of the connection concave hole It has a spline groove, the upper connection block is inserted into the connection concave hole, the external spline protrusion is inserted into the corresponding spline groove, the middle top surface of the upper connection block is fixed with a vertical column, and the top surface of the connection concave hole has an upper The concave hole, the upper concave hole is inserted with an electromagnet connecting sleeve, the outer wall of the electromagnet connecting sleeve is fixed on the inner wall of the upper concave hole, the vertical column is inserted into the electromagnet connecting sleeve and adsorbed on the electromagnet connecting sleeve ;

The lower horizontal plate is fixed on the bottom surface of the grasping main connecting block, and horizontal support plates are fixed on both sides of the bottom surface of the lower horizontal plate. Motor, the output shaft of the driving motor is a spline shaft, the spline shaft is inserted into the spline hole at one end of the horizontal screw, the grabbing moving block is screwed in the horizontal screw, and the bottom surface of the grabbing moving block is fixed with two Grab the support plate, a clamping cylinder is fixed on the outer wall of the grasping support plate, and the push rod of the clamping cylinder passes through the grasping support plate and is fixed with the clamping plate.

The middle part of the top plate of the upper concave hole has a central through hole extending upwards, the middle part of the top surface of the main connecting block has an upper screw hole, the screw block is screwed in the upper screw hole, and the middle part of the screw block has a connection with the center. The positioning through hole connected with the through hole, there are multiple positioning transverse screw through holes on the inner wall of the positioning through hole, the ball plunger is screwed in the transverse screw through hole, and the steel ball of the ball plunger is in the positioning through hole Among them, there is a positioning rod in the middle of the top of the vertical column, and the positioning rod is inserted into the positioning through hole and the central through hole, and the steel ball of the ball plunger is nested in the positioning concave hole that the side wall of the positioning rod has.

A self-lubricating block is fixed on the top surface of the grasping and moving block, and the self-lubricating block is pressed against the bottom surface of the lower horizontal plate.

Guide rods are fixed on the outer side walls of the two clamping plates, and the guide rods stretch out to grab the support plate.

Electromagnet plates are fixed on opposite wall surfaces of the two clamping plates.

The opposite walls of the two clamping plates are fixed with elastic clamping blocks, and the electromagnet plate is between the elastic clamping blocks and the clamping plates and nested in the middle part of the elastic clamping blocks fixed on the wall of the clamping plate. in the mounting groove.

The middle part of the top surface of the main support seat is fixed with an annular guide sleeve, the upper part of the outer wall of the annular guide sleeve has an annular groove, the self-lubricating ferrule is inserted in the annular groove, and the inner wall of the self-lubricating ferrule is fixed on the On the inner side wall of the annular groove, an annular sleeve extending downward is fixed on the edge of the bottom surface of the rotating connection block, and the outer side wall of the self-lubricating ring is close to the inner side wall of the annular sleeve.

A bearing is fixed on the inner side wall of the annular guide sleeve, and the output shaft of the rotating electrical machine is fixed on the inner ring of the bearing.

The outstanding effect of the present invention is: compared with the prior art, it can transfer the workpiece of one of the two adjacent conveyor belts of different stations to the other conveyor belt, which is very convenient; and its main connecting block It is easy to install and disassemble with the upper connection block, and it is convenient to replace and repair the various parts at the upper connection block in the future, so as to ensure the grasping effect.

Description of drawings:

Fig. 1 is a structural representation of the present invention;

Figure 2 is a partially enlarged view of Figure 1;

Figure 3 is a partial side view of the present invention.

detailed description:

In the embodiment, as shown in Fig. 1 to Fig. 3, a multi-station rotary industrial robot mechanism with easy disassembly of the grasping mechanism includes a robot base 20, and a main support seat 21 is fixed in the middle of the top plate of the robot base 20. The bottom surface of the middle part of the top plate of the support base 21 is fixed with a rotary motor 22, the output shaft of the rotary motor 22 passes through the top plate of the main support base 21 and is fixed with a rotary connection block 23, and the lateral rotation arm 24 is fixed on the outer wall of the rotary connection block 23 , the end of laterally rotating arm 24 is fixed with main connecting block 25, and the bottom end of main connecting block 25 is provided with grabbing main connecting block 14, and the top surface of grabbing main connecting block 14 is fixed with upper connecting block 10, and upper connecting block The outer side wall of 10 has an external spline protrusion, the middle part of the bottom surface of the bottom end of the main connecting block 25 has a connecting concave hole 251, and the inner side wall of the connecting concave hole 251 has a spline groove, and the upper connecting block 10 is inserted into the connecting concave hole 251, The external spline protrusion is inserted in the corresponding spline groove, and the middle top surface of the upper connection block 10 is fixed with a vertical column 11, and the top surface of the connection concave hole 251 has an upper concave hole 252, and the upper concave hole 252 is inserted with a The electromagnet connecting sleeve 253, the outer side wall of the electromagnet connecting sleeve 253 is fixed on the inner side wall of the upper concave hole 252, the vertical column 11 is inserted in the electromagnet connecting sleeve 253 and adsorbed on the electromagnet connecting sleeve 253;

Grab the bottom surface of main connecting block 14 and be fixed with lower horizontal plate 15, the bottom surface both sides of lower horizontal plate 15 are fixed with horizontal support plate 151, the two ends of horizontal screw rod 16 are hinged on two horizontal support plates 151, one of them horizontal support plate 151 Drive motor 152 is fixed on the outer wall of the drive motor 152, the output shaft of drive motor 152 is a spline shaft, and the spline shaft is inserted in the spline hole that one end of the horizontal screw rod 16 has, and the grabbing moving block 17 is screwed on the horizontal screw rod 16 Among them, two grasping support plates 18 are fixed on the bottom surface of the grasping moving block 17, and a clamping cylinder 181 is fixed on the outer wall of the grasping support plate 18, and the push rod of the clamping cylinder 181 passes through the grasping support plate 18 and A clamping plate 19 is fixed.

Further, the middle part of the top plate of the upper concave hole 252 has a central through hole 254 extending upward, and the middle part of the top surface of the main connecting block 25 has an upper screw hole 255, and the screw block 256 is screwed into the upper screw hole 255 Among them, the middle part of the screw connection block 256 has a positioning through hole 257 communicated with the central through hole 254, and the inner side wall of the positioning through hole 257 has a plurality of positioning transverse screw through holes 258, and the ball plunger 259 is screwed on the transverse screw. In the connection hole 258, the steel ball of the ball-tip plunger 259 is in the positioning through hole 257, the middle part of the top of the vertical column 11 has a positioning rod 111, and the positioning rod 111 is inserted into the positioning through hole 257 and the central through hole 254, The steel ball of the ball plunger 259 is nested in the positioning concave hole on the side wall of the positioning rod 111 .

Furthermore, a self-lubricating block 171 is fixed on the top surface of the grasping and moving block 17 , and the self-lubricating block 171 is pressed against the bottom surface of the lower horizontal plate 15 .

Furthermore, guide rods 191 are fixed on the outer sidewalls of the two clamping plates 19 , and the guide rods 191 extend out to grab the support plate 18 .

Furthermore, electromagnet plates 191 are fixed on opposite walls of the two clamping plates 19 .

Furthermore, elastic clamping blocks 192 are fixed on the opposite walls of the two clamping plates 19, and the electromagnet plate 191 is located between the elastic clamping blocks 192 and the clamping plate 19 and nested in the elastic clamping blocks 192 It is fixed in the mounting groove provided in the middle of the wall surface of the clamping plate 19 .

Further, an annular guide sleeve 26 is fixed in the middle of the top surface of the main support seat 21, and the upper part of the outer wall of the annular guide sleeve 26 has an annular groove, and the self-lubricating collar 27 is inserted in the annular groove. The inner side wall of the lubricating collar 27 is fixed on the inner side wall of the annular groove, and the bottom surface edge of the rotating connection block 23 is fixed with an annular sleeve 231 extending downward, and the outer side wall of the self-lubricating collar 27 is close to the inner side of the annular sleeve 231 wall.

Furthermore, a bearing is fixed on the inner side wall of the annular guide sleeve 26, and the output shaft of the rotating electrical machine 22 is fixed on the inner ring of the bearing.

In this embodiment, the main connecting block 25 and the upper connecting block 10 are fixed by plugging, and the ball plunger 259 and the electromagnet connecting sleeve 253 are used for adsorption and positioning. Repair and maintain the components on it.

Principle of work: through the operation of the rotating motor 22, the horizontal rotating arm 24 is rotated, so that the upper connecting plate 10, that is, the parts below it, moves between two adjacent conveyor belts at one of the stations (the two sides of the robot base 20 The side is divided into two adjacent conveyor belts to form two stations), and the left and right movement of the grabbing moving block 17 can be realized by driving the motor 152, so that the two clamping plates 19 are in the position of one of the conveyor belts. Above, while the workpiece transported on the conveyor belt moves between the two clamping plates 19 when being transported, the workpiece is clamped between the two clamping plates 19 through the movement of the two clamping cylinders 181, wherein the elastic The clamping block 192 ensures that the workpiece will not be damaged during clamping, and the electromagnet plate 191 can absorb the iron workpiece to further improve the gripping firmness. After grabbing the workpiece, the driving motor 152 runs to move the workpiece to On another conveyor belt, the electromagnet plate 191 is closed, and the push rods of the two clamping cylinders 181 are retracted, so that the workpiece can be placed on this conveyor belt to complete the handling.

Finally, the above embodiments are only used to illustrate the present invention, rather than to limit the present invention. Those of ordinary skill in the relevant technical fields can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions also belong to the category of the present invention, and the scope of patent protection of the present invention should be defined by the claims.

Claims (8)

1. A multi-station rotary industrial robot mechanism that is easy to disassemble for a grasping mechanism, comprising a robot base (20), characterized in that: the middle part of the top plate of the robot base (20) is fixed with a main support seat (21), and the main support The bottom surface of the middle part of the top plate of the seat (21) is fixed with a rotary motor (22), and the output shaft of the rotary motor (22) passes through the top plate of the main support seat (21) and is fixed with a rotary connection block (23), and the rotary connection block (23 ) on the outer wall of the horizontal pivot arm (24), the end of the transverse pivot arm (24) is fixed with a main connection block (25), and the bottom end of the main connection block (25) is provided with a grasping main connection block (14 ), grabbing the top surface of the main connecting block (14) is fixed with an upper connecting block (10), the outer side wall of the upper connecting block (10) has an external spline protrusion, and the bottom surface middle part of the bottom end of the main connecting block (25) has The connection concave hole (251), the inner side wall of the connection concave hole (251) has a spline groove, the upper connection block (10) is inserted into the connection concave hole (251), and the external spline protrusion is inserted into the corresponding spline groove , the middle top surface of the upper connection block (10) is fixed with a vertical column (11), the top surface of the connection concave hole (251) has an upper concave hole (252), and an electromagnet is inserted in the upper concave hole (252) to connect Cover (253), the outer wall of the electromagnet connection sleeve (253) is fixed on the inner wall of the upper concave hole (252), and the vertical column (11) is inserted into the electromagnet connection sleeve (253) and adsorbed on the electromagnet connection. Set (253) on; Grab the bottom surface of the main connection block (14) and be fixed with a lower horizontal plate (15), the bottom surface both sides of the lower horizontal plate (15) are fixed with horizontal support plates (151), and the two ends of the horizontal screw rod (16) are hinged on two horizontal supports. On the plate (151), a drive motor (152) is fixed on the outer wall of one of the horizontal support plates (151), the output shaft of the drive motor (152) is a spline shaft, and the spline shaft is sleeved on the horizontal screw rod (16) In the spline hole that one end of one end has, the grab moving block (17) is screwed in the horizontal screw rod (16), and the bottom surface of the grab moving block (17) is fixed with two grab support plates (18), grab support A clamping cylinder (181) is fixed on the outer wall of the plate (18), and the push rod of the clamping cylinder (181) passes through the grasping support plate (18) and is fixed with a clamping plate (19). 2. A multi-station rotary industrial robot mechanism with convenient disassembly of the grab mechanism according to claim 1, characterized in that: the middle part of the top plate of the upper concave hole (252) has an upwardly extending central through hole (254 ), the middle part of the top surface of the main connecting block (25) has an upper screw hole (255), the screw block (256) is screwed in the upper screw hole (255), and the middle part of the screw block (256) has a The positioning through hole (257) that through hole (254) communicates has a plurality of positioning transverse screw through holes (258) on the inner wall of the positioning through hole (257), and the ball plunger (259) is screwed on the horizontal screw connection. In the through hole (258), the steel ball of the ball plunger (259) is in the positioning through hole (257), the top middle of the vertical column (11) has a positioning rod (111), and the positioning rod (111) is inserted into the In the positioning through hole (257) and the central through hole (254), the steel ball of the ball plunger (259) is nested in the positioning concave hole that the side wall of the positioning rod (111) has. 3. A multi-station rotary industrial robot mechanism with convenient disassembly of the grasping mechanism according to claim 1, characterized in that: the top surface of the grasping and moving block (17) is fixed with a self-lubricating block (171), The self-lubricating block (171) is pressed against the bottom surface of the lower horizontal plate (15). 4. A multi-station rotary industrial robot mechanism with convenient disassembly of the grasping mechanism according to claim 1, characterized in that: guide rods (191) are fixed on the outer walls of the two clamping plates (19) ), the guide rod (191) stretches out to grab the support plate (18). 5. A multi-station rotary industrial robot mechanism with convenient disassembly of the grasping mechanism according to claim 1, characterized in that: electromagnet plates (191) are fixed on the opposite walls of the two clamping plates (19) ). 6. A multi-station rotary industrial robot mechanism with convenient disassembly of a grasping mechanism according to claim 5, characterized in that: elastic clamping blocks ( 192), the electromagnet plate (191) is between the elastic clamping block (192) and the clamping plate (19) and is nested in the middle part of the wall surface of the elastic clamping block (192) fixed on the clamping plate (19) in the mounting groove. 7. A multi-station rotary industrial robot mechanism with convenient disassembly of the grasping mechanism according to claim 1, characterized in that: the middle part of the top surface of the top plate of the main support base (21) is fixed with an annular guide sleeve (26) , the upper part of the outer wall of the annular guide sleeve (26) has an annular groove, the self-lubricating collar (27) is inserted into the annular groove, and the inner wall of the self-lubricating collar (27) is fixed on the inner wall of the annular groove On the edge of the bottom surface of the rotating connection block (23), an annular sleeve (231) extending downward is fixed, and the outer sidewall of the self-lubricating collar (27) is close to the inner sidewall of the annular sleeve (231). 8. A multi-station rotary industrial robot mechanism with convenient disassembly of the grasping mechanism according to claim 7, characterized in that: a bearing is fixed on the inner side wall of the annular guide sleeve (26), and the rotating motor (22) The output shaft is fixed on the inner ring of the bearing.