CN107378444A - Robot manipulator structure and foot-operated assembling device - Google Patents
Robot manipulator structure and foot-operated assembling device Download PDFInfo
- Publication number
- CN107378444A CN107378444A CN201710818031.1A CN201710818031A CN107378444A CN 107378444 A CN107378444 A CN 107378444A CN 201710818031 A CN201710818031 A CN 201710818031A CN 107378444 A CN107378444 A CN 107378444A
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- Prior art keywords
- foot
- operated
- manipulator
- guide rail
- mechanical arm
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- 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
- B23P19/006—Holding or positioning the article in front of the applying tool
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- 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
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
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- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of robot manipulator structure and foot-operated assembling device.Foot-operated assembling device includes frame, and frame offers mounting groove and finished product frame, and mounting groove is used to place foot-operated and assembled, and finished product frame is used to being put into riding of being completed.Robot manipulator structure includes manipulator main body and two mechanical arms, two mechanical arms are fixedly installed in manipulator main body, two mechanical arms are located along the same line and keep same working condition, mechanical arm captures to ride respectively simultaneously treats riding on catching block and mounting groove, and under the drive of manipulator main body, treat that the foot-operated of catching block is placed on mounting groove by foot-operated, foot-operated on mounting groove is placed into finished product frame.The robot manipulator structure of embodiment of the present invention is captured and placed by mechanical arm and ridden, and alleviates hand labor intensity, reduces the cost of enterprise's production.
Description
Technical field
The present invention relates to foot-operated assembling field, more particularly to a kind of robot manipulator structure and foot-operated assembling device.
Background technology
In the related art, assembly working is ridden, for example pearl bowl and reflecting piece are assembled into the work on foot-operated, typically pass through
Manpower has been manually done, in this way, foot-operated assembling is less efficient, leverages the productivity effect of enterprise.Meanwhile manpower craft group
Dress is foot-operated, and foot-operated assembling quality is difficult to control, it is also difficult to unification, causes enterprise product quality cannot be guaranteed really up to the mark, influences
The competitiveness of enterprise.Furthermore during manpower craft assembling is foot-operated, the work such as percussion, drilling is easy to that human body is caused to hinder
Evil, it is prone to production accident, influence the health of worker.
In documents CN2695187Y, a kind of manipulator for plumbing Mechanical processing of casting, but this machinery are described
Hand can not realize that processing or assembling are foot-operated.
The content of the invention
Embodiment of the present invention provides a kind of robot manipulator structure and foot-operated assembling device.
A kind of robot manipulator structure that embodiment of the present invention provides, for riding assembling device, the foot-operated assembling device
Including frame, the frame offers mounting groove and finished product frame, and the mounting groove is used to place described foot-operated and assembled, institute
State finished product frame be used to be put into be completed it is described foot-operated, it is characterised in that
The robot manipulator structure includes manipulator main body and two mechanical arms, and two mechanical arms are fixedly installed on described
In manipulator main body, two mechanical arms are located along the same line and kept for same working condition, the mechanical arm same time-division
Do not capture it is described it is foot-operated treat it is described foot-operated on catching block and the mounting groove, will and under the drive of the manipulator main body
Foot-operated described ride for treating catching block is placed on the mounting groove, and described ride on the mounting groove is placed into institute
State finished product frame.
The robot manipulator structure of embodiment of the present invention is captured and placed by mechanical arm and ridden, and it is strong to alleviate hand labor
Degree, reduce the cost of enterprise's production.
In some embodiments, the robot manipulator structure includes robot drives and manipulator guide rail, the manipulator
Driving and the manipulator main body are arranged on the manipulator guide rail, and the robot drives drive the manipulator main body to exist
Moved on the manipulator guide rail to drive the manipulator motion.
In some embodiments, the manipulator guide rail includes the first guide rail and the second guide rail, the manipulator main body
Including the first auxiliary section and the second auxiliary section, first auxiliary section and first guide rail coordinate, second auxiliary section and
Second guide rail coordinates so that manipulator Soil stability movement is arranged on the manipulator guide rail.
In some embodiments, first guide rail is located at the top surface of the manipulator guide rail, the second guide rail position
In being provided with the first induction pieces and the second induction pieces on the side of the manipulator guide rail, second guide rail, described first feels
Part and second induction pieces are answered to be arranged at intervals, first induction pieces are arranged on the top of the mounting groove, second sense
Part is answered to be arranged on the top of the finished product frame.
In some embodiments, the robot drives are servo motor, and the mechanical arm is standard double action band guide rail
Parallel type mechanical arm.
In some embodiments, between the distance between described mechanical arm and the mounting groove and the finished product frame away from
From equal.
In some embodiments, the robot manipulator structure drives including mechanical arm, and the mechanical arm passes through the machinery
Manipulator main body described in arm drive connection, the mechanical arm driving drive the mechanical arm lifting.
In some embodiments, the mechanical arm driving includes connecting shaft, and the mechanical arm is connected by the connecting shaft
The manipulator main body is connect, the connecting shaft is scalable.
In some embodiments, when the mechanical arm is reduced to extreme lower position, the bottom of the mechanical arm and the machine
Frame is arranged at intervals.
A kind of foot-operated assembling device of embodiment of the present invention, including the manipulator knot that as above any embodiment is implemented
Structure.
The foot-operated assembling device of embodiment of the present invention is captured and placed by mechanical arm and ridden, and it is strong to alleviate hand labor
Degree, reduce the cost of enterprise's production.
The additional aspect and advantage of embodiment of the present invention will be set forth in part in the description, partly by from following
Become obvious in description, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention is from combining in description of the accompanying drawings below to embodiment by change
Obtain substantially and be readily appreciated that, wherein：
Fig. 1 is the schematic perspective view of the foot-operated assembling device of embodiment of the present invention；
Fig. 2 is enlarged diagram of the foot-operated assembling device of embodiment of the present invention at I；
Fig. 3 is the floor map of the foot-operated assembling device of embodiment of the present invention；
Fig. 4 is the schematic perspective view of the mounting groove of embodiment of the present invention.
Embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning
Same or similar element is represented to same or similar label eventually or there is the element of same or like function.Below by ginseng
The embodiment for examining accompanying drawing description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise " are based on orientation shown in the drawings or position relationship, are for only for ease of
Description is of the invention to be described with simplified, rather than the device or element of instruction or hint meaning must be with specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second " are only used for
Purpose is described, and it is not intended that instruction or hint relative importance or the implicit quantity for indicating indicated technical characteristic.
Thus, " first " is defined, the feature of " second " can be expressed or implicitly includes one or more feature.
In description of the invention, " multiple " are meant that two or more, unless otherwise specifically defined.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection or can mutually communicate；Can be joined directly together, can also be by between intermediary
Connect connected, can be connection or the interaction relationship of two elements of two element internals.For the ordinary skill of this area
For personnel, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the description of the invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or
It " under " can directly be contacted including the first and second features, can also include the first and second features not be direct contact but
Pass through the other characterisation contact between them.Moreover, fisrt feature second feature " on ", " top " and " above " include
Fisrt feature is directly over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.First
Feature second feature " under ", " lower section " and " below " include fisrt feature immediately below second feature and obliquely downward, or only
Only represent that fisrt feature level height is less than second feature.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.In order to
Simplify disclosure of the invention, hereinafter the part and setting of specific examples are described.Certainly, they are only example, and
And purpose does not lie in the limitation present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, between itself not indicating discussed various embodiments and/or setting
Relation.In addition, the invention provides various specific techniques and material examples, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
Refer to Fig. 1-Fig. 4, a kind of robot manipulator structure 70 that embodiment of the present invention provides, for riding assembling device
100, foot-operated assembling device 100 includes frame 10, and frame 10 offers mounting groove 14 and finished product frame 16, and mounting groove 14 is used to place
Ride and assembled, finished product frame 16 be used to be put into be completed it is foot-operated.Robot manipulator structure 70 includes the He of manipulator main body 72
Two mechanical arms 74, two mechanical arms 74 are fixedly installed in manipulator main body 72, and two mechanical arms 74 are located along the same line
And same working condition is kept, mechanical arm 74 captures to ride respectively simultaneously treats riding on catching block 12 and mounting groove 14, and
Under the drive of manipulator main body 72, treat that the foot-operated of catching block 12 is placed on mounting groove 14 by foot-operated, by the pin on mounting groove 14
Step on and be placed into finished product frame 16.
70 two mechanical arms 74 of robot manipulator structure of embodiment of the present invention can be by the foot-operated foot-operated shifting treated on catching block 12
The installation operation that reflecting piece and pearl bowl are carried out on mounting groove 14 is moved, finish foot-operated will have been assembled on mounting groove 14 and has been moved into
Product frame 16, finish foot-operated will be assembled and focused on, improved the efficiency of foot-operated assembling.
Specifically, in present embodiment, it is foot-operated on mounting groove 14 when time for assembling it is shorter, about 1-3 seconds, machine
It is also shorter that tool arm 74 captures and put down the foot-operated time, about 1.5 seconds, so two mechanical arms 74 can synchronously capture foot-operated treat
It is foot-operated on catching block 12 and mounting groove 14.
In some embodiments, foot-operated long side and conveyer belt 22 are carried out gap and coordinated.
In this way, foot-operated smooth from other transport establishments can enter on foot-operated structure for conveying 20, ensure foot-operated structure for conveying
20 stability, too small, friction is too big without occurring to be spaced between foot-operated long side and conveyer belt 22, and causes to ride and passing
Send the operation portion on band 22 smooth, influence the progress of flow below.
Certainly, the interval between foot-operated long side and conveyer belt 22 is also unsuitable excessive, otherwise can cause foot-operated to be placed into biography
Rear on band 22 is sent to being easily changed, to influence the later stage to foot-operated performance accuracy.
In some embodiments, riding includes pearl bowl installation portion, and pearl bowl installation portion protrudes foot-operated setting, rides conveyer
Structure includes conveyer belt 22 and baffle plate 24, and the top of baffle plate 24 is parallel with conveyer belt 22, and pearl bowl installation portion stretches into the top of baffle plate 24
Lower section.
In this way, ensure that in the transportation ridden on conveyer belt 22, it can stablize and be placed on conveyer belt 22, Bu Huiyin
Dropped to for slight shake or shock outside conveyer belt 22, avoid the need for manually keeping an eye on what the transport of conveyer belt 22 was ridden
Trouble, further mitigates cost of labor, improves the productivity effect of enterprise.
Further, moreover it is possible to anti-skidding processing is carried out to conveyer belt 22, in this way, improve it is foot-operated be placed on it is steady on conveyer belt 22
It is qualitative.
In some embodiments, the end of conveyer belt 22 forms foot-operated push area 26, rides push area 26 in short side side
Coordinate upwards with foot-operated gap of carrying out.
In this way, foot-operated push area 26 can and be only capable of, placement one is foot-operated, is conveniently placed at the foot-operated quilt in foot-operated push area 26
It is pushed to next flow.
Specifically, the Assurance of Size in push area 26 accuracy of foot-operated push is ridden in present embodiment, avoids pin
Step on push area 26 it is foot-operated it is off size fit during push influence ride be pushed to the next position.
In some embodiments, the end of conveyer belt 22 is provided with foot-operated first detection structure (not shown), rides the
One detection structure is used to detect that foot-operated whether reach rides push area 26.
In this way, foot-operated first detection structure can accurately detect foot-operated position, and carry out next operation.
Specifically, in present embodiment, foot-operated assembling device 100 includes control unit, and control unit is electrically connected with foot-operated first
Structure etc. is detected, rides the first detection structure detection to after riding the foot-operated push area 26 of arrival, the structure that control unit control pushes
Push is foot-operated, carries out the operation of next step, ensure that the accurate operation of foot-operated assembling device 100.
Specifically, riding the first detection structure can be by the way of light-illuminating.For example foot-operated first detection structure is to putting
Foot-operated position transmitting laser is put, if laser is blocked, laser can not be received by being arranged on the laser receiver of opposite side,
Then the foot-operated push area 26 of explanation is placed with foot-operated, whereas if the laser of transmitting is arranged on the laser receiver of opposite side
Receive, then the foot-operated push area 26 of explanation is not placed foot-operated.
Certainly, ride the first detection structure and be not limited to above-mentioned embodiment, and can be selected according to actual conditions different
The detection structure of structure.
In some embodiments, it is provided with to ride in frame 10 and treats catching block 12, the connection of foot-operated push area 26 is foot-operated is treated
Catching block 12, it is foot-operated to treat that catching block 12 and the short side in foot-operated push area 26 are in the same size so that foot-operated happy from foot-operated push area 26
It is moved to ride and treats catching block 12.
In this way, ensure that the foot-operated smooth degree for being moved to from conveyer belt 22 and riding and treating catching block 12, foot-operated group is improved
The operating efficiency of assembling device 100.
In some embodiments, ride and treat that catching block 12 is provided with foot-operated second detection structure (not shown), ride the
Two detection structures, which are used to detect, to be ridden in the foot-operated laying state for treating catching block 12.
In this way, foot-operated second detection structure can detect treats the foot-operated positive and negative of catching block 12 positioned at foot-operated, ensure foot-operated
When carrying out next flow, state keeps unified, and then ensures the quality and efficiency of foot-operated assembling.
Specifically, the foot-operated second detection structure in present embodiment is detected foot-operated by optical fiber and fiber amplifier
It is positive and negative.Ride when by optical fiber, the feux rouges of optical fiber is mapped on foot-operated and can show a numerical value in fiber amplifier, foot-operated
Different numerical value can just or be instead shown respectively, when detecting foot-operated positive opposite state, for example the setting value of fiber amplifier is 55,
Be normal when detected value is more than 55, that is to say, that it is foot-operated to place correct, illustrate to ride during less than 55 and put back.Certainly, optical fiber is put
The concrete numerical value of big device need to be set according to actual requirement, so numerical value is not general numerical value.
In some embodiments, ride push area 26 and ride and treat that the junction of catching block 12 is provided with guide member, lead
Draw part and be used to guiding foot-operated smooth be moved to and foot-operated treat catching block 12.
Catching block 12 is treated in this way, being easy to ride more swimmingly to be moved to ride from foot-operated push area 26, improves foot-operated group
The operating efficiency of assembling device 100.
In some embodiments, riding push structure 60 includes pushing piece, and pushing piece includes push first 62, push first 62
Catching block 12 is treated for contacting to ride and foot-operated will be pushed to ride from foot-operated push area 26.
So, it is only necessary to pushing first 62 contact, simultaneously movement is foot-operated, is moved without the foot-operated entirety of push structure 60,
Reduce the space for the foot-operated assembling device 100 that foot-operated push structure 60 takes, simplify foot-operated assembling device 100.
Specifically, push first 62 be in cuboid in present embodiment, formed with track in frame 10, pushes first 62 in track
Upper movement is foot-operated to push.In this way, it ensure that the degree of accuracy of foot-operated push.
In some embodiments, pushing piece also includes connecting rod 64, the connection of connecting rod 64 push first 62 and driving structure,
Push track 66 is provided with frame 10, driving structure drive connection bar 64 is moved on push track 66 to drive push first 62
Push is foot-operated.
In this way, connecting rod 64 moves on push track 66, it ensure that connecting rod 64 and be fixedly connected with connecting rod 64
Connector the moving stability, and then ensure that it is foot-operated can it is accurate from foot-operated push area 26, swimmingly be pushed to and foot-operated wait to grab
Take area 12.
In some embodiments, push and finite place piece is set on track 66, locating part moves for limiting connecting rod 64.
In this way, locating part limitation connecting rod 64 moves, avoid connecting rod 64 and move and excessively cause push first 62 to strike
Other positions, the situation for causing pushing piece to damage, so as to extend the service life of foot-operated assembling device 100.
In some embodiments, mounting groove 14 includes upper mounting groove 142 and upper mounting groove 144, upper mounting groove 142 and upper
Mounting groove 144 is arranged at intervals.
In this way, the interval between upper mounting groove 142 and upper mounting groove 144 is easy to the crawl of mechanical arm 74 foot-operated.
In some embodiments, mounting groove 14 and foot-operated gap of carrying out coordinate, and the foot-operated 3rd is provided with mounting groove 14
Structure is detected, foot-operated 3rd testing agency is used to detect ride whether be placed into mounting groove 14.
In this way, the inwall of mounting groove 14 and it is foot-operated between interval be easy to the installation of reflecting piece and pearl bowl.
Specifically, foot-operated 3rd testing agency in present embodiment is touch sensor.Installation is placed into when foot-operated
After on groove 14, ride and pressure is applied to foot-operated 3rd testing agency, foot-operated 3rd testing agency is detected foot-operated presence.
In some embodiments, the center that the 3rd testing agency is arranged on mounting groove 14 is ridden.
In this way, the center of mounting groove 14 can accurately detect foot-operated presence, foot-operated distribution of weight is avoided not
Uniformly cause foot-operated 3rd testing agency detection inaccurate.
In some embodiments, upper mounting groove 142 offers reflecting piece area 146 to be installed and upper pearl bowl area 148 to be installed, on
Mounting groove 144 offers lower pearl bowl area 141 to be installed, and reflecting piece area 146 to be installed is symmetrically set relative to the axis direction of mounting groove 14
Put.
In this way, the reflecting piece of foot-operated both sides is installed by reflecting piece area 146 to be installed, the pearl bowl at foot-operated both ends passes through upper
Pearl bowl area 148 to be installed and lower pearl bowl area 141 to be installed are installed respectively, simplify the structure of foot-operated assembling device 100.
In some embodiments, upper pearl bowl area 148 to be installed and lower pearl bowl area 141 to be installed are located on straight line.
In this way, upper pearl bowl area 148 to be installed and lower pearl bowl area 141 to be installed can improve foot-operated upper pearl bowl and the installation of lower pearl bowl
The degree of accuracy, improve foot-operated packaging efficiency and quality.
In some embodiments, robot manipulator structure 70 includes robot drives 18 and manipulator guide rail 76, and manipulator drives
Dynamic 18 and manipulator main body 72 be arranged on manipulator guide rail 76, the driving manipulator main body 72 of robot drives 18 is led in manipulator
Motion is moved with driving mechanical arm 74 on rail 76.
In this way, manipulator stable on manipulator guide rail 76 can move, so as to move foot-operated operation, pin ensure that
The stability stepped on, avoid to ride and dropped in moving process because robot drives 18 move unstable from mechanical arm 74
Situation.
In some embodiments, robot drives 18 are servo motor, and mechanical arm 74 is standard double action band guide rail parallel
Type mechanical arm 74.
In this way, robot drives 18 have the characteristics of electromechanical time constant is small and the linearity is high, foot-operated assembling dress is improved
Put 100 assembly precision.Mechanical arm 74 ensure that mechanical arm 74 is capturing using standard double action band guide rail parallel type mechanical arm 74
Precision in being operated with relieving, movement can be stablized by ensureing to ride.
In some embodiments, mechanical arm 74 includes gripper 742, and gripper 742 is captured by cylinder driving
Operated with decontroling.
In this way, the gripper 742 being arranged on mechanical arm 74 can perform crawl and decontrol foot-operated action, and can realize
Large-scale automation mechanized operation, reduce hand labor cost, improve the packaging efficiency of foot-operated assembling device 100.
Specifically, the parameter such as foot-operated dynamics of the crawl of gripper 742 can be adjusted according to foot-operated unlike material etc.,
To ensure that it is mobile foot-operated that gripper 742 can be stablized.
In some embodiments, the distance between mechanical arm 74 and the distance between mounting groove 14 and finished product frame 16 phase
Deng.
In this way, two mechanical arms 74, which can be performed from foot-operated, treats that catching block 12 and the crawl of mounting groove 14 are foot-operated simultaneously, and pacifying
Foot-operated action is decontroled simultaneously in the top of tankage 14 and finished product frame 16.
In some embodiments, manipulator guide rail 76 includes the first guide rail and the second guide rail, and manipulator main body 72 includes
First auxiliary section and the second auxiliary section, the first auxiliary section and the first guide rail coordinate, the second auxiliary section and the second guide rail coordinate so that
The stable movement of manipulator main body 72 is arranged on manipulator guide rail 76.
In this way, realize the manipulator guide rail 76 of double guide rails so that manipulator main body 72 can more stably be arranged on machinery
On hand guide rail 76, and moved along manipulator guide rail 76, realize mobile foot-operated operation.
Compared to the manipulator guide rail 76 of monorail, the manipulator guide rail 76 in present embodiment can also improve robot drives
The stability of 18 movements, ensure robot drives 18 in moving process, it is foot-operated to keep stable, avoid the occurrence of and ride in movement
During drop to other positions of foot-operated assembling device 100, influence the situation of the mechanical performance of foot-operated assembling device 100.
In some embodiments, the first guide rail is located at the top surface of manipulator guide rail 76, and the second guide rail is led positioned at manipulator
The side of rail 76, the first induction pieces (not shown) and the second induction pieces (not shown), the first induction pieces are provided with the second guide rail
It is arranged at intervals with the second induction pieces, the first induction pieces are arranged on the top of mounting groove 14, and the second induction pieces are arranged on finished product frame 16
Top.
In this way, when manipulator main body 72 moves to the position of the first induction pieces and the second induction pieces along manipulator guide rail 76,
Mechanical arm 74 acts corresponding to performing, and ensures the operation of full-automatic foot-operated assembling device 100.
Specifically, when manipulator main body 72 is moved to the position of the first induction pieces, control unit senses the position of mechanical arm 74
Ensure that manipulator main body 72 reaches origin position i.e. mechanical arm 74 and is centrally located at the foot-operated overcentre for treating catching block 12, to protect
Card mechanical arm 74 can just be caught foot-operated after completing descending operation, and another mechanical arm 74 just captures the completion in mounting groove 14
Product.When manipulator main body 72 is moved to the position of the second induction pieces along manipulator guide rail 76, manipulator main body 72 stops movement, grabs
Take unassembled foot-operated mechanical arm 74 to lift to be placed into foot-operated in mounting groove 14, capture mounted foot-operated mechanical arm 74
Lifting is placed into foot-operated in finished product frame 16.
In some embodiments, driving structure drives including mechanical arm, and mechanical arm 74 passes through mechanical arm drive connection machine
Tool hand main body 72, mechanical arm driving driving mechanical arm 74 lift.
In this way, mechanical arm driving energy driving mechanical arm 74 completes descending operation, when ensure that crawl and decontrol foot-operated
It is foot-operated apart from the in small distance of mechanical arm 74, it is foot-operated so as to protect, also protect the service life of foot-operated assembling device 100.
In some embodiments, mechanical arm driving includes connecting shaft (not shown), and mechanical arm 74 is by connecting axis connection
Manipulator main body 72, connecting shaft is scalable.
In this way, mechanical arm is driven through cylinder driving so that connecting shaft occurs to stretch, and then driving mechanical arm 74 lifts,
It is simple in construction, it is easy to accomplish.
In some embodiments, mechanical arm is driven through cylinder powered motion and driving mechanical arm 74 lifts.
So so that mechanical arm driving more energy-conservation, service life more lengthen, reliability is higher, meanwhile, the volume of cylinder
It is small, in light weight, be advantageous to simplify the structure of foot-operated assembling device 100, mitigate the weight of foot-operated assembling device 100, also reduce
The manufacturing cost of foot-operated assembling device 100.
In some embodiments, when mechanical arm 74 is reduced to extreme lower position, the bottom of mechanical arm 74 and frame 10 are spaced
Set.
In this way, mechanical arm 74 will not be in contact with frame 10, when avoiding mechanical arm 74 reduces, hit with initial velocity
Frame 10, the situation that mechanical arm 74 is damaged or frame 10 is damaged is caused, extend the service life of mechanical arm 74.
In some embodiments, ride assembling device 100 include pearl bowl vibrating disk 11, pearl bowl test section (not shown) and
Pearl bowl installation portion, pearl bowl vibrating disk 11 is used to contain pearl bowl to be installed and vibrating pearl bowl makes pearl bowl enter the detection of pearl bowl in order
Portion, pearl bowl test section are used for whether in place detecting pearl bowl, and pearl bowl installation portion, which is used to pearl bowl being installed to, to be ridden.
In this way, pearl bowl enters pearl bowl installation portion after screening, and is assembled on foot-operated, the matter of foot-operated assembling ensure that
Amount.
In some embodiments, pearl bowl vibrating disk 11 includes electromagnetic vibrator and hopper, and hopper includes helical orbit, spiral shell
Track is revolved to set in direction from low to high.
In this way, under electromagnetic vibrator effect, hopper makees torsional mode up-down vibration, make it is foot-operated along helical orbit by it is low to
Height is mobile, and auto arrangement orients, until being located at the discharging opening on hopper top and entering feeding groove, is then transported by feeding groove
Relevant position.
In some embodiments, pearl bowl vibrating disk 11 includes upper pearl bowl vibrating disk 112 and lower pearl bowl vibrating disk 114, pearl
Bowl installation portion includes upper pearl bowl installation portion and lower pearl bowl installation portion, and upper pearl bowl vibrating disk 112 and lower pearl bowl vibrating disk 114 interval are set
Put, upper pearl bowl installation portion is used to install foot-operated upper pearl bowl, and lower pearl bowl installation portion is used to install foot-operated lower pearl bowl, and upper pearl bowl shakes
Moving plate 112 provides pearl bowl for upper pearl bowl installation portion, and lower pearl bowl vibrating disk 114 provides down pearl bowl for lower pearl bowl installation portion.
In this way, upper pearl bowl installation portion and lower pearl bowl installation portion provide pearl by upper pearl bowl vibration section and lower pearl bowl vibration section respectively
Bowl, it ensure that the speed of foot-operated pearl bowl installation.
In some embodiments, for pearl bowl detection position in pearl bowl installation portion, pearl bowl test section uses contactless biography
Sensor.
In this way, pearl bowl test section can detect whether pearl bowl in place and selects to perform next number of assembling steps.
In some embodiments, pearl bowl installation portion includes pearl bowl installed part 13, and pearl bowl installed part 13 is used to drive pearl bowl
Pearl bowl is installed on foot-operated by upper pearl bowl area 148 to be installed and lower pearl bowl area 141 to be installed.
In this way, upper pearl bowl and lower pearl bowl can be installed on foot-operated by pearl bowl installed part 13 respectively simultaneously, pearl bowl peace is saved
The time of dress, while also ensure that the intensity of pearl bowl installation.
Specifically, in present embodiment, pearl bowl installed part 13 is in shaft-like, upper pearl bowl vibrating disk 112 and lower pearl bowl vibrating disk
Pearl bowl in 114 is transported on pearl bowl installed part 13 after screening by pearl bowl feeding portion, and pearl bowl installed part 13 is flexible and will
Upper pearl bowl and lower pearl bowl squeeze into foot-operated top and lower position respectively.
In some embodiments, driving structure is driven including pearl bowl, and pearl bowl is driven for driving pearl bowl installed part 13 to transport
Dynamic, pearl bowl is driven through cylinder moving.
In this way, pearl bowl installed part 13 does stretching motion in the presence of the driving of pearl bowl, and drive upper pearl bowl and lower pearl bowl fortune
It is dynamic, foot-operated top and lower position are squeezed into, completes the installation of pearl bowl up and down.
In some embodiments, riding assembling device 100 includes reflecting piece vibrating disk 15, reflecting piece test section and reflective
Piece installation portion, reflecting piece vibrating disk 15 is used to contain reflecting piece to be installed and vibrating reflective piece is so that reflecting piece enters instead in order
Mating plate test section, reflecting piece test section are used for the state for detecting reflecting piece, and reflecting piece installation portion is used to reflecting piece being installed to pin
Set foot on.
In this way, after the screening of reflecting piece vibrating disk 15 and reflecting piece test section, reflecting piece can keep same direction to enter
Enter reflecting piece installation portion, and the foot-operated left and right sides is squeezed into by reflecting piece installation portion.
In some embodiments, reflecting piece vibrating disk 15 includes electromagnetic vibrator and hopper, and hopper includes helical duct,
Helical duct is set in direction from low to high.
The operation principle and structure and pearl bowl vibrating disk 11 of reflecting piece vibrating disk 15 are similar, above to pearl bowl vibrating disk 11
It is described in detail, will not be repeated here.
In some embodiments, reflecting piece vibrating disk 15 includes left reflecting piece vibrating disk 152 and right reflecting piece vibrating disk
154, left reflecting piece vibrating disk 152 is used for the reflecting piece for installing the foot-operated left side, and right reflecting piece vibrating disk 154 is used to install foot-operated right
The reflecting piece on side, left reflecting piece vibrating disk 152 and right reflecting piece vibrating disk 154 are arranged at intervals.
In this way, left reflecting piece reflecting piece vibrating disk 15 and right reflecting piece vibrating disk 154 are respectively the reflecting piece of foot-operated left and right
Installation provides material, ensure that the reflecting piece installation of foot-operated left and right is carried out in order, improve foot-operated reflecting piece installation efficiency and
Quality.
In some embodiments, reflecting piece test section includes reflecting piece the first detection piece (not shown), reflecting piece first
Detection piece is located on hopper and close to the outlet of reflecting piece vibrating disk 15, and the detection piece of reflecting piece first is used to detect reflecting piece just
Instead.
In this way, the detection piece of reflecting piece first can detect the positive and negative of the reflecting piece that will enter reflecting piece feeding portion, avoid
The reflecting piece that direction is put back enters reflecting piece installation portion, thereby ensures that the installation quality of foot-operated upper reflecting piece.
In some embodiments, the detection piece of reflecting piece first includes optic fibre detector, amplifier and blowning installation, optical fiber
Detector is used to launch feux rouges to reflecting piece and receives the feux rouges of reflection, and amplifier is used for the feux rouges according to reflection with numeric form
The positive and negative of reflecting piece is shown, blowning installation is used to anti-reflecting piece blowing back reflecting piece vibrating disk 15.
In this way, reflecting piece, when by optic fibre detector, the feux rouges of optic fibre detector is mapped in reflecting piece can be in amplifier
On shown with numerical value, reflecting piece can just or instead show different numerical value respectively, be shown according to default value and amplifier
The numerical value shown is compared, to judge that reflecting piece is just or instead, such as to judge that reflecting piece is anti-, then blowning installation can be blown
Action, anti-reflecting piece is eliminated to come, is blown to again in reflecting piece vibrating disk 15 and is vibrated and arranged.
In some embodiments, reflecting piece test section includes reflecting piece the second detection piece (not shown), reflecting piece second
Detection piece is located in reflecting piece installation portion, and the detection piece of reflecting piece second is used for whether in place detecting reflecting piece.
In this way, whether in place the detection piece of reflecting piece second can detect reflecting piece, and sends signal to control unit, make control
Portion controls the progress of downstream.
In some embodiments, reflecting piece installation portion includes reflecting piece installed part (not shown), and reflecting piece installed part is used
Reflecting piece is installed on foot-operated by upper reflecting piece area 146 to be installed and lower reflecting piece area 146 to be installed in driving reflecting piece.
In this way, the reflecting piece area 146 to be installed that reflecting piece installed part drives reflecting piece to be opened up from mounting groove 14 enters installation
Groove 14, and squeeze on foot-operated, complete the installation of reflecting piece.
In some embodiments, driving structure is driven including reflecting piece, and reflecting piece is driven for driving reflecting piece to install
Part moves, and reflecting piece is driven through cylinder moving.
Drive reflecting piece to stretch in this way, reflecting piece is driven through cylinder moving, into mounting groove 14, reflecting piece is squeezed into pin
Step on, complete the installation of reflecting piece.
To sum up, the substantially workflow of the foot-operated assembling device 100 of embodiment of the present invention is as follows：
Conveyer belt 22 transport it is to be assembled foot-operated, into foot-operated push area 26, foot-operated first detection of the end of conveyer belt 22
In place whether mechanism detection foot-operated；The pushing piece of rear delivery device foot-operated will be pushed to foot-operated under the drive of connecting rod 64 in place
Catching block 12 is treated, whether the foot-operated foot-operated second detection structure detection for treating catching block 12 is ridden puts just；Manipulator main body 72 is in machine
Moved on tool hand guide rail 76, driving mechanical arm 74 moves, and mechanical arm 74, which is moved to ride, treats the top of catching block 12, is driven in mechanical arm
Under dynamic driving, mechanical arm 74 is reduced, and gripper 742 is stretched out, and crawl is foot-operated, and gripper 742 clamps, in the driving of mechanical arm 74
Lower mechanical arm 74 rises, and under the driving of robot drives 18, manipulator main body 72 moves, and drives to ride and be moved to mounting groove
14 tops, mechanical arm 74 reduce, and gripper 742 unclamps, and are placed into foot-operated in mounting groove 14, meanwhile, another mechanical arm 74
The foot-operated of assembling will have been completed in mounting groove 14 to be placed into finished product frame 16；Foot-operated 3rd detection structure detection in mounting groove 14
Whether in place to ride；Pearl bowl vibrating disk 11, which vibrates, causes pearl bowl sequentially to export, and reflecting piece vibrating disk 15, which vibrates, causes reflecting piece to press
Sequence exports, and whether in place pearl bowl test section detection pearl bowl whether, put just by reflecting piece test section detection reflecting piece, the driving driving of pearl bowl
Pearl bowl installed part 13 pearl bowl is squeezed into it is foot-operated, meanwhile, whether put just and reflecting piece through the detection piece of reflecting piece first detection reflecting piece
Second detection piece whether in place after, reflecting piece driving driving reflecting piece installed part squeezes into reflecting piece foot-operated, completes foot-operated group
Dress；Finally, the foot-operated crawl that installation has been completed in mounting groove 14 is placed into finished product frame 16 by mechanical arm 74, and is treated simultaneously by foot-operated
Catching block 12 etc. it is to be installed it is foot-operated be placed into mounting groove 14, circulation carries out assembly operation.
In the description of this specification, reference term " embodiment ", " some embodiments ", " schematically implementation
The description of mode ", " example ", " specific example " or " some examples " etc. means with reference to the embodiment or example description
Specific features, structure, material or feature are contained at least one embodiment or example of the present invention.In this specification
In, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.Moreover, the specific spy of description
Sign, structure, material or feature can combine in an appropriate manner in any one or more embodiments or example.
While embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that：
These embodiments can be carried out with a variety of changes, modification in the case of not departing from the principle and objective of the present invention, replace and become
Type, the scope of the present invention are limited by claim and its equivalent.
Claims (10)
1. a kind of robot manipulator structure, for riding assembling device, the foot-operated assembling device includes frame, and the frame offers
Mounting groove and finished product frame, the mounting groove are used to place described foot-operated and assembled, and the finished product frame is used to be put into have assembled
Into it is described foot-operated, it is characterised in that
The robot manipulator structure includes manipulator main body and two mechanical arms, and two mechanical arms are fixedly installed on the machinery
In hand main body, two mechanical arms are located along the same line and keep same working condition, and the mechanical arm is grabbed respectively simultaneously
Take it is described it is foot-operated treat it is described foot-operated on catching block and the mounting groove, and under the drive of the manipulator main body, will described in
It is foot-operated treat catching block it is described it is foot-operated be placed on the mounting groove, by the mounting groove it is described it is foot-operated be placed into it is described into
Product frame.
2. robot manipulator structure as claimed in claim 1, it is characterised in that the robot manipulator structure includes robot drives and machine
Tool hand guide rail, the robot drives and the manipulator main body are arranged on the manipulator guide rail, the robot drives
The manipulator main body is driven to be moved on the manipulator guide rail to drive the manipulator motion.
3. robot manipulator structure as claimed in claim 2, it is characterised in that the manipulator guide rail includes the first guide rail and second
Guide rail, the manipulator main body include the first auxiliary section and the second auxiliary section, and first auxiliary section and first guide rail are matched somebody with somebody
Close, second auxiliary section and second guide rail cooperation are arranged on the manipulator so that the manipulator Soil stability moves
On guide rail.
4. robot manipulator structure as claimed in claim 3, it is characterised in that first guide rail is located at the manipulator guide rail
Top surface, second guide rail are located at the side of the manipulator guide rail, and the first induction pieces and are provided with second guide rail
Two induction pieces, first induction pieces and second induction pieces are arranged at intervals, and first induction pieces are arranged on the installation
The top of groove, second induction pieces are arranged on the top of the finished product frame.
5. robot manipulator structure as claimed in claim 2, it is characterised in that the robot drives are servo motor, the machine
Tool arm is standard double action band guide rail parallel type mechanical arm.
6. robot manipulator structure as claimed in claim 1, it is characterised in that the distance between described mechanical arm and the mounting groove
The distance between the finished product frame is equal.
7. robot manipulator structure as claimed in claim 1, it is characterised in that the robot manipulator structure drives including mechanical arm, institute
State mechanical arm and the mechanical arm liter is driven by manipulator main body described in the mechanical arm drive connection, the mechanical arm driving
Drop.
8. robot manipulator structure as claimed in claim 7, it is characterised in that the mechanical arm driving includes connecting shaft, the machine
Tool arm is scalable by manipulator main body, the connecting shaft described in the connection axis connection.
9. robot manipulator structure as claimed in claim 1, it is characterised in that described when the mechanical arm is reduced to extreme lower position
The bottom of mechanical arm and the bay interval are set.
10. a kind of foot-operated assembling device, it is characterised in that including the robot manipulator structure as described in claim any one of 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710818031.1A CN107378444A (en) | 2017-09-12 | 2017-09-12 | Robot manipulator structure and foot-operated assembling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710818031.1A CN107378444A (en) | 2017-09-12 | 2017-09-12 | Robot manipulator structure and foot-operated assembling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107378444A true CN107378444A (en) | 2017-11-24 |
Family
ID=60351621
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710818031.1A Pending CN107378444A (en) | 2017-09-12 | 2017-09-12 | Robot manipulator structure and foot-operated assembling device |
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| CN (1) | CN107378444A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109160243A (en) * | 2018-06-11 | 2019-01-08 | 东南大学 | Motorcycle steering bearing pearl bowl auto arrangement and palletizing apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109160243A (en) * | 2018-06-11 | 2019-01-08 | 东南大学 | Motorcycle steering bearing pearl bowl auto arrangement and palletizing apparatus |
| CN109160243B (en) * | 2018-06-11 | 2019-07-12 | 东南大学 | Motorcycle steering bearing pearl bowl auto arrangement and palletizing apparatus |
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Effective date of registration: 20220601 Address after: 215000 Banqiao fanfa Road, Taicang Economic Development Zone, Suzhou City, Jiangsu Province Applicant after: Taicang Shangguang packaging and printing materials Co.,Ltd. Address before: 215000 south side of Xuan highway, Banqiao District, Chengxiang Town, Taicang City, Suzhou City, Jiangsu Province Applicant before: SUZHOU HUISHUO INDUSTRIAL CO.,LTD. |