CN107717448B - A kind of continuous high-efficient rate automated arm - Google Patents

A kind of continuous high-efficient rate automated arm Download PDF

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Publication number
CN107717448B
CN107717448B CN201711086306.3A CN201711086306A CN107717448B CN 107717448 B CN107717448 B CN 107717448B CN 201711086306 A CN201711086306 A CN 201711086306A CN 107717448 B CN107717448 B CN 107717448B
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China
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gear
annulus
lifting support
adjutage
hollow
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CN201711086306.3A
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CN107717448A (en
Inventor
储建华
高霞
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Suzhou Aijia Automation Technology Co Ltd
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Suzhou Aijia Automation Technology Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/004Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed

Abstract

The invention discloses a kind of continuous high-efficient rate automated arms, it include: a pair of of annulus, its interval is oppositely arranged, several cylindrical holes are symmetrically offered on first annulus, rotation is provided with one for grabbing the hollow of assembly parts, material jacking mechanism in the cylindrical hole, it is symmetricly set on the second annulus inner face, the material jacking mechanism extends horizontally outward from the second annulus inner face, and the material jacking mechanism and the cylindrical hole correspond, and the material jacking mechanism is selectively inserted into the hollow;Pedestal, cavity normally opened upwards is arranged inside, cavity bottom movement is provided with a pair of of lifting support, lifting support is located at the positive lower end of rotary support, lifting support is provided with first gear in end, the second gear of a longitudinal movement synchronous with first gear is vertically arranged on the outside of lifting support end, first gear and second gear rotate synchronously.The present invention solves the low technical problem of automated arm assembly efficiency.

Description

A kind of continuous high-efficient rate automated arm
Technical field
The present invention relates to a kind of automation equipments, it is more particularly related to which a kind of continuous high-efficient rate is disguised automatically It is standby.
Background technique
In modern automation assembling line, " crawl-placement " assembly is usually completed by industrial robot or servo-system Movement.In order to complete fittage, robot or servo-system first must be known by object by preoperative pose, to guarantee machine Device people accurately grabs;It must be known by the object pose after object is operated, followed by guarantee robot accurately by object It is assembled to designated position, to complete task.In most application, due to the influence of positioning accuracy, robot can only be grabbed An object is taken individually to be assembled, until completing whole assembling process, assembly efficiency is low.
Summary of the invention
It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.
A further object of the invention is the design defect for the above automatic assembling apparatus, provides a kind of continuous high-efficient rate Automated arm cooperates assembly to position by multiple ball bar systems, raising positioning accuracy, assembly while realizing more objects, The present invention solves the low technical problem of automated arm assembly efficiency.
In order to realize these purposes and other advantages according to the present invention, provides a kind of continuous high-efficient rate and disguise automatically It is standby, comprising:
A pair of of annulus, interval are oppositely arranged, and are symmetrically arranged with several rinforcement bars, Mei Gesuo in each annulus inner ring It states outside horizontal extraction one on annulus and rolls pillar, the center for rolling pillar and each rinforcement bar being set, the rolling Column is cylindrical structure, is provided with rotary support on the outside of the rolling pillar, is provided with first on the rotary support lateral wall End-side teeth, two annulus outer dimensions are consistent, wherein several cylindrical holes are symmetrically offered on the first annulus, the cylinder The axial sides wall of first annulus is run through in hole, and the radial outside of the cylindrical hole is outside through the diameter of first annulus Side wall, the interior rotation of the cylindrical hole are provided with one for grabbing the hollow of assembly parts, the hollow lateral wall and the circle Post holes inner sidewall is bonded, and the hollow and cylindrical hole axial restraint, is run through in the hollow and is offered a fluting, described The length of fluting is consistent with the length of the hollow, extends outwardly on the first side of opening of the fluting and is provided with the first extension Arm extends outwardly on the second side of opening of the fluting and is provided with the second adjutage, first adjutage and the second adjutage Respectively to inclination on the inside of the fluting, the development length of first adjutage is greater than the development length of second adjutage, And second adjutage and the fluting junction inner end are provided with an elastic component, second adjutage and the fluting connect The place of connecing outer end is provided with a locating part, and under normal condition, the spacing between the first adjutage and the second adjutage is less than the dress Second adjutage is kept contacting with the locating part by the width of accessory, the elastic component;
Material jacking mechanism is symmetricly set on the second annulus inner face, and the material jacking mechanism is from second annulus inner end Face extends horizontally outward, and the material jacking mechanism and the cylindrical hole correspond, and the material jacking mechanism is selectively inserted into institute It states in hollow;
Cavity normally opened upwards is arranged inside in pedestal, and the cavity bottom movement is provided with a pair of of lifting support, described A lift drive mechanism is provided in pedestal, the lift drive mechanism is connect with the lifting support, the lifting support position In being provided with a longitudinally movable first gear, the liter in the positive lower end of the rotary support, the lifting support end Be vertically arranged with the second gear of a longitudinal movement synchronous with the first gear on the outside of descending branch seat end, the first gear and The second gear rotates synchronously, and the second gear is connected on the outside of the lifting support end by a transversal stretching mechanism On wall, second end face teeth, the second end face teeth and the first end face are provided on the inner sidewall of the second gear Teeth selectively engage;
Wherein, the rotary support outboard end is provided with a circle inner groovy, is provided with pinion stand in the inner groovy, described Pinion stand is non-bulging in the rotary support side wall, and the first gear and the pinion stand selectively engage linkage, and described the One annulus is rotated along the direction that first adjutage is inclined outwardly, and first annulus and the second annulus rotate synchronously, institute It states inner groovy two sides periphery and is respectively arranged with a ring-shaped guide rail, the lifting support is located at the positive lower end of the inner groovy, both ends The rotary support is supported on the lifting support, and one end outer radial periphery is provided with a circle angular displacement ball in the second gear Grid ruler, the second gear bottom are fixedly installed one first reading head, and first reading head is set in the angular displacement ball On grid ruler.
Preferably, the outboard end of the rotary support is provided with block, and the first end face teeth are arranged in the block On lateral wall.
Preferably, the lifting support end is set as rolling the u shaped connector structure of cooperation with the rolling pillar, described Lifting support end offers a U-shaped notch, and the U-shaped notch two sides protrusion is provided with ball, and the first gear is flexible to be set It sets in the U-shaped notch.
Preferably, the lifting support lateral wall longitudinally offers an opening, and a driving is horizontally arranged in the opening Device, the lifting support top are provided with a longitudinal extension mechanism, the telescopic end of the longitudinal extension mechanism and the driving Bottom of device connection.
Preferably, a driving motor and one the 4th gear, the driving of the driving motor are provided in the driving device Axis first end is extend into the lifting support end, and the drive shaft first end connects the center of a third gear, and described the The engagement of one gear is connected to third gear upper end, and the drive shaft second end connects the 4th gear centre.
Preferably, further include a linkage, it is longitudinally disposed and be arranged activity in the driving device, the transverse direction Telescoping mechanism is arranged in the driving device, and the telescopic end of the transversal stretching mechanism is connect with the linkage, described The 5th gear and the 6th gear are vertically arranged in linkage, the 5th gear engagement is connected on the 4th gear End, the 6th gear engagement are connected between the 5th gear and second gear, the second gear, the 4th gear, the The size of five gears and the 6th gear is configured, described first with that can rotate synchronously the first gear and second gear The upper end of the linkage is arranged in reading head.
Preferably, the lift drive mechanism synchronizes the lifting support of driving two sides, longitudinal direction on the lifting support It is provided with a straight shot grid ruler, the second reading head is provided on the pedestal, second reading head is set in the straight shot On grid ruler.
Preferably, be additionally provided with a transversal driving mechanism in the pedestal, the moving direction of the transversal driving mechanism with Horizontal line between two lifting supports is consistent, the lifting support of second annulus side and the laterally driven machine The movable end of structure connects.
Preferably, the material jacking mechanism includes:
Material ejecting rod is horizontally installed on the second annulus inner face, and the material ejecting rod is by continuous first segment and Two sections of compositions, the radial dimension of the first segment are less than the radial dimension of the second segment, and the first segment lateral wall setting exists On the second annulus inner face;
Auxiliary block is made of a lasso and a curved support platform, and the lasso rotation is set on the first segment, institute The internal diameter for stating lasso is less than the outer diameter of the second segment, and the curved support platform is connected on the end face of the lasso and to described Second segment direction extends, and the length of the curved support platform is greater than the length of the second segment, the internal diameter of the curved support platform Not less than the outer diameter of the second segment;And
Compressed spring, limitation are set on the first segment, and the compressed spring is arranged in second annulus inner end Between face and the ring face, the internal diameter of the compressed spring is less than the outer diameter of the lasso;
Wherein, the length of the material ejecting rod is greater than the length of the cylindrical hole, and the outer diameter of the second segment is less than in described The internal diameter of empty part, the outer diameter of the curved support platform are greater than the internal diameter of the cylindrical hole.
Preferably, it is horizontally arranged with a telescopic cylinder on the second annulus inner sidewall, material ejecting rod described at least one is set It sets on the telescopic end of the telescopic cylinder.
The present invention is include at least the following beneficial effects:
1, the positioning accuracy of automated arm of the invention is high, in favor of the synchronous assembly of more assembly parts, improves automatic Disguise standby assembly efficiency;
2, using more ball bar measuring systems, assembly height and angle of assembling is monitored, the assembly of assembly parts is improved The quality of product after precision and assembly.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is the side view of the first annulus;
Fig. 2 is the side view of the second annulus;
Fig. 3 is the structural schematic diagram of rotary support;
Fig. 4 is the three-dimensional structure side view of the first annulus;
Fig. 5 is the front view after hollow is mounted in the first annulus;
Fig. 6 is the structural schematic diagram of hollow;
Fig. 7 is that material jacking mechanism is mounted on the three dimensional structure diagram on the second annulus;
Fig. 8 is the structural schematic diagram of material jacking mechanism;
Fig. 9 is the explosive view of material jacking mechanism;
Figure 10 is the structural side view after two annulus are mounted on the base;
Figure 11 is the top view of lifting support;
Figure 12 is the assembling structure schematic diagram of lifting support, driving device and linkage;
Figure 13 is the structural schematic diagram after present invention equipment crawl assembly parts;
Figure 14 is structural schematic diagram of present invention equipment during liftout;
Figure 15 is the structural schematic diagram after the completion of present invention equipment liftout.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text Word can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more The presence or addition of a other elements or combinations thereof.
The present invention provides a kind of continuous high-efficient rate automated arm, and as shown in figures 1-15, a pair of of annulus 110,120 is spaced phase To setting, several rinforcement bars 130, horizontal extraction one outward on each annulus are symmetrically arranged in each annulus inner ring Pillar 180 is rolled, entire annulus is used to support, rotation is worked as at the center for rolling pillar 180 and being fixed at each rinforcement bar Rolling pillar 180 may make that rolling pillar 180 and annulus rotates synchronously, and the rolling pillar 180 is cylindrical structure, described It rolls and is provided with rotary support 183 on the outside of pillar 180, be provided with first end face teeth on 183 lateral wall of rotary support 185。
Two annulus outer dimensions are consistent, and are just oppositely arranged, if wherein symmetrically offering on the first annulus 120 Dry cylindrical hole 121, the cylindrical hole 121 run through the axial sides wall of first annulus 120, and the diameter of the cylindrical hole 121 The radial outside wall for running through first annulus 120 outward, forms an aperture on the radial outside wall of the first annulus 120, The width of the aperture is greater than the width of assembly parts, enables assembly parts smoothly from being imported into cylindrical hole 121 in aperture, so that 121 two sides of cylindrical hole and outside are all opened wide with external, and rotation is provided with one for grabbing in assembly parts in the cylindrical hole 121 Empty part 150,150 lateral wall of hollow are bonded rotation, and the hollow 150 and circle with 121 inner sidewall of cylindrical hole 121 axial restraint of post holes, so that the limitation rotation of hollow 150 is in cylindrical hole 121.
Through a fluting is offered in the hollow 150, the span of fluting is greater than the width of assembly parts, the fluting Length is consistent with the length of the hollow 150, extends outwardly on the first side of opening of the fluting and is provided with the first adjutage 160, extend outwardly on the second side of opening of the fluting and is provided with the second adjutage 170, first adjutage 160 and second Adjutage 170 is mutually inclined to inclination on the inside of the fluting, that is, the first adjutage 160 and the second adjutage 170 respectively, is made The span that gap between the two is less than fluting is obtained, and the first adjutage 160 is outwardly protruded in aperture.
The development length of first adjutage 160 is greater than the development length of second adjutage 170, and described second Adjutage 170 and the fluting junction inner end are provided with an elastic component, second adjutage 170 and the fluting junction Outer end is provided with a locating part, and under normal condition, the spacing between the first adjutage 160 and the second adjutage 170 is less than described The width of assembly parts, second adjutage 170 is kept contacting with the locating part by the elastic component, by the second adjutage 170 outwardly open.
Material jacking mechanism 200 is symmetricly set on 110 inner face of the second annulus, and the material jacking mechanism 200 is round from described second 110 inner face of ring extends horizontally outward, and 120 shape of the second annulus 110 and the first annulus, position and height are consistent, and set relatively It sets, the first annulus 120 and the second annulus 110 rotate synchronously, thus one by one by the material jacking mechanism 200 and the cylindrical hole 121 It is corresponding, and the material jacking mechanism 200 is selectively inserted into the hollow 150.
Specifically, the material jacking mechanism 200 includes: material ejecting rod 210, auxiliary block 230 and compressed spring 220, material ejecting rod 210 It is horizontally installed on 110 inner face of the second annulus, the material ejecting rod 210 is by continuous first segment 211 and 212 groups of second segment At the radial dimension of the first segment 211 is less than the radial dimension of the second segment 212,211 lateral wall of the first segment setting On 110 inner face of the second annulus, material ejecting rod 210 is for pushing into the assembly parts grabbed in distribution to be installed.
Auxiliary block 230 is made of a lasso 231 and a curved support platform 232, and the lasso 231 rotation is set in described the On one section 211, the internal diameter of the lasso 231 is less than the outer diameter of the second segment 212, so that lasso 231 can only be in first end Rotation, drive curved support platform 232 rotate synchronously, the curved support platform 232 be connected on the end face of the lasso 231 and to 212 direction of second segment extends, simultaneously as the gravity of curved support platform 232, so that curved support platform 232 is always It is maintained at lowest order, in 120 rotation process of the first annulus, drives lasso 231 to rotate on first segment 211, by curved support Platform 232 is maintained at lowest order;The internal diameter of the curved support platform 232 is not less than the outer diameter of the second segment 212, so that arc branch Support platform 232 rotates on the outside of second segment 212, meanwhile, the length of the curved support platform 232 is greater than the second segment 212 Length, so that curved support platform 232 protrudes from 212 certain distance of second segment, the part that curved support platform 232 protrudes is for carrying Assembly parts 400.
The limitation of compressed spring 220 is set on the first segment 211, and the setting of compressed spring 220 is in second circle Between 231 end face of 110 inner face of ring and the lasso, the internal diameter of the compressed spring 220 is less than the outer diameter of the lasso 231, Lasso 231 is kept contacting with 212 side wall of second segment, wherein the length of the material ejecting rod 210 is greater than the cylindrical hole 121 Length is assembled in distribution to be installed convenient for ejecting the assembly parts in hollow 150 completely, and the outer diameter of the second segment 212 is small In the internal diameter of the hollow 150, material ejecting rod 210 is successfully inserted in hollow 150, by the assembly parts top in it Out.The outer diameter of the curved support platform 232 is greater than the internal diameter of the cylindrical hole 121, and curved support platform 232 is avoided to be inserted into cylinder In hole 121.
When driving the first annulus 120 and the second annulus 110 rotates synchronously, first annulus 120 is along described first The direction rotation that adjutage 160 is inclined outwardly, in annulus rotation process, since the first adjutage 160 is outwardly protruded in aperture, And first adjutage 160 to the inclination of fluting inside, thus when the first adjutage 160 rotates through the assembly parts of placement, protrusion The first adjutage 160 can pick up the first ends of an assembly parts, it is convex that the second end of assembly parts is supported on curved support platform 232 On part out, to automatically grab to an assembly parts, the first ends of assembly parts is along the first adjutage 160 to opening direction It falls, is fallen into 150 internal procedure of hollow in assembly parts, assembly parts can oppress the second inwardly rotation of adjutage 170, shrink elasticity Part is fully contemplated to hollow until assembly parts pass through the gap between the first adjutage 160 and the second adjutage 170 In 150, hereafter, elastic component resets, and the second adjutage 170 is outwardly opened, and second adjutage 170 is kept and the limit Part contact, at this time since the spacing between the first adjutage 160 and the second adjutage 170 is less than the width of assembly parts, second prolongs Semi-girder 170 by locating part limit and can not further open, in annulus rotation process, automatically grabbed to hollow 150 In assembly parts can not be maintained in hollow 150 from being fallen in fluting, and 232 synchronous rotation of curved support platform, cooperation branch Support assembly parts can be automatically grabbed in each hollow 150 with continuing to rotate for annulus to an assembly parts.
After being mounted with assembly parts in hollow 150, the angle of annulus is adjusted, the hollow being plugged in cylindrical hole 121 150 are aligned with distribution to be installed, since the first annulus 120 and the second annulus 110 are synchronizing moving in fore-and-aft plane, so that top 150 inner hole of hollow on charge bar 210 and the annulus corresponds, and hereafter, controls the second annulus 110 towards hollow 150 Direction it is mobile, material ejecting rod 210 is inserted into hollow 150, the assembly parts in it are ejected from 150 other end of hollow, It is gradually inserted in distribution to be installed, the moving distance of the second annulus 110 is controlled, until material ejecting rod 210 heads into assembly parts completely Into distribution to be installed, control material ejecting rod 210 bounces back, to complete the assembling work of single, assemble is may be implemented in single assembly more The assembly of part, improves assembly efficiency.
It should be noted that hollow 150 on annulus can according to the regularity of distribution of pilot hole on device to be assembled come Specific design, enables the hollow 150 on annulus to be able to satisfy assembly while to device single to be assembled more assembly parts always, Similarly, the material ejecting rod 210 on material jacking mechanism 200 cooperates 150 regularity of distribution of hollow on annulus to be designed.
Cavity normally opened upwards is provided in pedestal 300, the cavity bottom movement is provided with a pair of of lifting support 320, First lifting support 320 supports the first annulus 120, and the second lifting support 320 supports the second annulus 110, in the pedestal 300 It is provided with a lift drive mechanism, the lift drive mechanism is connect with the lifting support 320, and lifting support 320 can be Transverse shifting in cavity, to cooperate the position of the rotary support 183, the lifting support 320 is located at the rotary support 183 Positive lower end, 320 upper end of lifting support is contradicted in the lower end of the rotary support 183, to support entire annulus.
Specifically, the outboard end of each rotary support 183 is provided with block 182, to avoid 320 upper end of lifting support It is detached from the rotary support 183, the first end face teeth 185 are arranged on the block lateral wall.
A longitudinally movable first gear 323, the lifting support 320 are provided in 320 end of lifting support The second gear 350 of a longitudinal movement synchronous with the first gear 323, the first gear are vertically arranged on the outside of end 323 rotate synchronously with the second gear 350, and the second gear 350 is connected to the liter by a transversal stretching mechanism 600 On 320 end lateral wall of descending branch seat, to drive 350 transverse shifting of second gear, it is arranged on the inner sidewall of the second gear 350 There are second end face teeth 351.
183 outboard end of rotary support is provided with a circle inner groovy 184, is provided with pinion stand in the inner groovy 184 186, the pinion stand 186 is non-bulging in 183 side wall of rotary support, and the first gear 323 is selected with the pinion stand 186 The engagement linkage of selecting property, drives the annulus to rotate along the direction that first adjutage 160160 is inclined outwardly, the indent 184 two sides periphery of slot is respectively arranged with a ring-shaped guide rail 187, after pinion stand is engaged with first gear, second end face teeth 351 It is oppositely arranged with first end face teeth 185, the second end face teeth 351 can be by laterally stretching with the first end face teeth Contracting mechanism 600 selectively engages.
When lifting support end is contradicted in the lower end of the rotary support 183, first gear is driven to move up until the One gear is engaged with pinion stand, and second gear 350 is placed exactly in 185 outside of first end face teeth at this time, at this point, driving is laterally stretched The movement of contracting mechanism 600 moves inward second gear 350, so that first end face teeth 185 connect with second end face teeth 351 It closes, is rotated synchronously so that rolling pillar 180, second gear 350, the first annulus 120 and the second annulus 110.
After two annulus are by rolling 180 flying shore of pillar on 320 end of lifting support, the first tooth of two sides is controlled Wheel 323 moves upwards, until first gear 323 engages linkage with pinion stand 186, at this point, second end face teeth 351 and first end Face teeth 185 are oppositely arranged, while being controlled second gear 350 and being moved horizontally inwardly, until second end face teeth 351 and first The engagement linkage of end-side teeth 185, annulus are rotatably supported on 320 upper end of lifting support, pinion stand by rotary support 183 Connection is engaged with first gear 323, when driving first gear 323 to rotate, first gear 323 is engaged company with the teeth of pinion stand It connecing, driving rolls pillar 180 and two annulus rotate synchronously, meanwhile, the second end face teeth 351 and first gear 323 of two sides It rotates synchronously, and the second end face teeth 351 of two sides engage linkage with first end face teeth 185, so that it is guaranteed that rolling pillar 180 It will not skid with first gear 323 or stress is turned round, effectively prevent revolution of the annulus in rotary course, ensure that annulus turns Assembly parts orientation to be assembled is placed on annulus bottom, the placement direction of assembly parts and the side of hollow 150 by dynamic stability To consistent, when driving annulus rotation, the first adjutage 160 for turning to the positive lower end of annulus automatically grabs an assembly parts into In empty part 150, with the rotation of annulus, 232 synchronous rotation of curved support platform cooperates and supports assembly parts, in each hollow 150 An assembly parts can be grabbed, and assembly parts are locked in hollow 150, be achieved in continuously automatically grabbing for assembly parts.
It is additionally provided with hydraulic pressure lifting device and level indicator on the pedestal 300, is provided with control in the pedestal 300 Device is connect with the control terminal of lift drive mechanism, hydraulic pressure lifting device, and hydraulic pressure lifting device is used to adjust the height of pedestal, horizontal Indicator is for cooperating adjustment base to be in a horizontal position.
320 end of lifting support is set as rolling the u shaped connector structure of cooperation with the rolling pillar 180, described 320 end of lifting support offers a U-shaped notch 321, and U-shaped 321 two sides of the notch protrusion is provided with ball 322, and described the One gear 323 is flexible to be arranged in the U-shaped notch 321.When rolling pillar is mounted on lifting support, the rotation at both ends Turn support 183 to be supported on the lifting support 320, so that under the lifting support 320 is placed exactly in the inner groovy 184 just The ball 322 at end, U-shaped 321 two sides of notch protrusion is just fastened in the ring-shaped guide rail 187, is rolled pillar 180 and is passed through ball 322 roll rotation in U-shaped notch 321, to realize the rotation of hollow 150.
One end outer radial periphery is provided with a circle angular displacement ball bar ruler 720, the second gear in the second gear 350 350 bottoms are fixedly installed one first reading head 710, and first reading head 710 is set in the angular displacement ball bar ruler 720 On, angular displacement ball bar ruler 720 is rotated synchronously with second gear 350, and second gear and rolling pillar and annulus rotate synchronously, and is led to Crossing angular displacement ball bar ruler 720 and the first reading head 710 i.e. can measure the rotational angle of annulus, i.e., the angle position of middle keyholed back plate, just In the angle of adjustment annulus hollow 150 and distribution to be installed on annulus are corresponded, it should be noted that on annulus Cylindrical hole 121 is arranged according to the regularity of distribution of distribution to be installed, so that at least correspondence of the hollow 150 on annulus is more A distribution to be installed, so that when completing primary assembly movement, assembly while being able to achieve multiple assembly parts improves assembly efficiency.
First annulus 120 and the second annulus 110 rotate synchronously, but 720 He of angular displacement ball bar ruler in 120 outside of the first annulus The angular displacement ball bar ruler 720 and the first reading head 710 in 110 outside of the first reading head 710 and the second annulus can detect two respectively The rotational angle of a annulus and position, to eliminate the angular error of two annulus in time so that material ejecting rod 210 always with hollow 150 correspond.
In above-mentioned technical proposal, 320 lateral wall of lifting support longitudinally offers an opening, laterally sets in the opening It is equipped with a driving device 330, the lifting support top is provided with a longitudinal extension mechanism 325, the longitudinal extension mechanism 325 Telescopic end connect with 330 bottom of driving device, by longitudinal extension mechanism 325 drive driving device 330 in the opening It moves up and down.
A driving motor 331 and one the 4th gear 343 are provided in the driving device 330, the driving motor 331 332 first end of drive shaft is extend into 320 end of lifting support, and 332 first end of drive shaft connects a third gear 324 center, drive shaft 332 drive third gear 324 to rotate, and the first gear engagement is connected to the third gear 324 Upper end, so that first gear rotation is finally driven, meanwhile, first gear and third gear are moved up and down with driving device, with The height for adjusting first gear, when 320 end of lifting support contradicts behind 183 lower end of rotary support, by controlling longitudinal extension Mechanism 325 adjusts the height of driving device, so that the height of first gear and third gear is driven, until first gear and gear Seated connection closes linkage, when driving motor 331 drives first gear rotation, can drive and roll pillar 180 and entire annulus, hollow Part 150 rotates, and rolls pillar and is supported on lifting support 320 entirely through ball 322, and ball 322 rolls in ring-shaped guide rail, To reduce the frictional resistance for rolling pillar on 320 end of lifting support.
Meanwhile 332 second end of drive shaft connects 343 center of the 4th gear, driving motor drives the 4th gear Rotation, the invention also includes a linkage 340, the linkage is longitudinally disposed and is arranged activity in the driving device 330 On, the transversal stretching mechanism 600 is arranged in the driving device 330, the telescopic end of the transversal stretching mechanism with it is described Linkage 340 connects, and 600 driven linkage 340 of transversal stretching mechanism transverse shifting in driving device 330 is described It is vertically arranged with the 5th gear 342 and the 6th gear 341 in dynamic device 340, the 5th gear 342 engagement is connected to described the Four gears, 343 upper end, the 6th gear 341 engagement are connected between the 5th gear 342 and second gear, and described second Gear, the 4th gear 343, the 5th gear 342 and the 6th gear 341 size be with by the first gear and second gear energy It rotates synchronously and configures, but when driving motor rotates, while driving first gear and the second gear to rotate synchronously.
The periphery of second gear outboard end is arranged in angular displacement ball bar ruler, and first reading head 710 is arranged described The top of dynamic device, so that the first reading head 710 is just set on angular displacement ball bar ruler, with the rotation of second gear, the Two reading heads read the angle position of second gear, that is to say the angle position of hollow 150 on annulus, in order to by assembly parts It is positioned with distribution to be installed.
In above-mentioned technical proposal, the lifting support 320 of the synchronous driving two sides of the lift drive mechanism, so that two sides Lifting support synchronization lifting be vertically arranged with one on the lifting support 320 of every side so that hollow 150 keeps horizontal Straight line ball bar ruler 311, the second reading head 310 is provided on the pedestal 300, and second reading head 310 is set in described straight On line ball bar ruler 311, straight line ball bar ruler 311 moves up and down in the second reading head with lifting support, is gone up and down with real-time measurement The adjustable height of support, that is, the height of annulus is accurately monitored, in order to adjust the height of annulus, so that on annulus Hollow 150 it is consistent with distribution height to be installed.
Two 320 synchronization liftings of lifting support, but straight line ball bar ruler 311 and the second reading on two lifting supports 320 Head can detect the adjustable height and position of two annulus respectively, to eliminate the height error of two annulus in time, so that liftout Stick 210 is corresponded with hollow 150 always.
A transversal driving mechanism is additionally provided in the pedestal, described in the moving direction of the transversal driving mechanism and two Horizontal line between lifting support is consistent, lifting support and the transversal driving mechanism of 110 side of the second annulus Movable end connection.The horizontal position of material ejecting rod 210 is adjusted by transversal driving mechanism, to complete liftout movement, is finally completed Assembly movement, to realize assembly continuity and simplify entire automated arm.
Before assembly, the height of two annulus is adjusted come assist in synchronization by straight line ball bar ruler 311 and the second reading head 310, So that the hollow 150 on annulus is consistent with distribution height to be installed.Hereafter, control first gear 323 moves upwards, until first Gear 323 engages linkage with pinion stand 186, at this point, second end face teeth 351 are oppositely arranged with first end face teeth 185, simultaneously Control second gear 350 moves horizontally inwardly, until second end face teeth 351 engage linkage with first end face teeth 185, justifies Ring is rotatably supported on 320 upper end of lifting support by rotary support 183, and pinion stand engages connection with first gear 323, When driving first gear 323 to rotate, first gear 323 and the teeth of pinion stand are connected, and driving rolls pillar 180 and circle Ring rotates synchronously, meanwhile, the second end face teeth 351 and first gear 323 of two sides rotate synchronously, and the second end face tooth of two sides Tooth 351 engages linkage with first end face teeth 185, so that it is guaranteed that rolling pillar 180 will not be with the skidding of first gear 323 or stress Revolution, effectively prevents revolution of the annulus in rotary course, ensure that the stability of annulus rotation.Pass through angular displacement ball bar ruler The angle of adjustment annulus is assisted with the first reading head, so that the hollow 150 on annulus is consistent with orifice angle to be assembled, so that Hollow 150 and distribution to be installed on annulus correspond.
Assembly parts orientation to be assembled is placed on annulus bottom, the placement direction of assembly parts and the direction of hollow 150 Unanimously, when driving annulus rotation, the first adjutage 160 for turning to the positive lower end of annulus automatically grabs an assembly parts to hollow In part 150, with the rotation of annulus, an assembly parts can be grabbed in each hollow 150, and assembly parts be locked in it is hollow In part 150, it is achieved in continuously automatically grabbing for assembly parts.After being mounted with assembly parts in hollows 150 whole on annulus, The angle that adjustment annulus is assisted again by angular displacement ball bar ruler and the first reading head, passes through straight line ball bar ruler 311 and second Reading head 310 come assist adjustment annulus height, specifically, when driving motor 331 drive first gear rotation when, can drive It rolls pillar 180 and hollow 150 rotates, roller support is supported on lifting support 320 entirely through ball 322, ball 322 It is rolled in ring-shaped guide rail, to reduce the frictional resistance for rolling pillar on 320 end of lifting support, while driving motor passes through 4th gear, the 5th gear, the 6th gear and second gear, synchronous drive second end face teeth rotation, second end face teeth with The engagement linkage of first end face teeth 185, so that synchronous drive rolls pillar rotation, from rolling, 180 bottom of pillar is synchronous with both ends Annulus rotation is driven, improves and rolls pillar rotational stability, while passing through second end face teeth and first end face teeth 185 Engagement synchronous interaction, it is ensured that rolling pillar 180 will not turn round with the skidding of first gear 323 or stress, effectively prevent annulus and exist De- tooth in rotary course and channel bit, ensure that the stability of annulus rotation, adjust annulus angle and height, until so that circle Hollow 150 on ring is consistent with orifice angle to be assembled, so that the hollow 150 on annulus and distribution to be installed correspond.
Then, material ejecting rod 210 is inserted into hollow 150 by material jacking mechanism 200 to 120 transverse shifting of the first annulus, Assembly parts in it are ejected from 150 other end of hollow, is gradually inserted in distribution to be installed, controls the shifting of the second annulus 110 Dynamic distance, until the curved support platform 232 contradicts the lateral wall to cylindrical hole 121, with the movement of material ejecting rod 210, liftout Stick 210 continues into hollow 150, compresses compressed spring 220, lasso 231 is on first segment 211 to the second annulus 110 It is mobile, material ejecting rod 210 is completely inserted into hollow 150, guarantees that material ejecting rod 210 ejects assembly parts completely, by assembly parts It is pushed into distribution to be installed completely, control material ejecting rod 210 bounces back, to complete the assembling work of single, single assembly can be real The now assembly of more assembly parts, improves assembly efficiency.Assembly work next time is then carried out, until whole assemblers finish At.
From the above mentioned, the positioning accuracy of automated arm of the invention is high, in favor of the synchronous assembly of more assembly parts, improves The assembly efficiency of automated arm, meanwhile, using more ball bar measuring systems, assembly height is monitored with angle of assembling, Improve the assembly precision of assembly parts and the quality of product after assembly.
In another embodiment, in order to realize the single accurate assembly of automated arm of the present invention, in second annulus A telescopic cylinder is horizontally arranged on 110 inner sidewalls, the flexible of the telescopic cylinder is arranged in material ejecting rod 210 described at least one On end, some position is not easy to multiple assembly when carrying out single accurate assembly to device to be assembled or on device to be assembled Part assembles simultaneously, at this point, after the distribution to be installed that the hollow 150 for being mounted with assembly parts alignment is needed to assemble, the second circle of adjustment The angle of ring 110, so that the material ejecting rod 210 that is arranged on the telescopic end of telescopic cylinder is directed at the corresponding hollow of the distribution to be installed 150, telescopic cylinder movement is then driven, the material ejecting rod 210 of position is inserted into corresponding hollow 150, will be corresponded to Assembly parts be assembled to and specify in distribution to be installed, single accurate assembling process is completed, to meet the independent assembly of specific position It is required that.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited In specific details and legend shown and described herein.

Claims (10)

1. a kind of continuous high-efficient rate automated arm characterized by comprising
A pair of of annulus, interval are oppositely arranged, and several rinforcement bars, each circle are symmetrically arranged in each annulus inner ring Horizontal outward on ring to draw a rolling pillar, the center of each rinforcement bar is arranged in the rolling pillar, and the rolling pillar is Cylindrical structure, the rolling pillar outside are provided with rotary support, are provided with first end face on the rotary support lateral wall Teeth, two annulus outer dimensions are consistent, wherein symmetrically offering several cylindrical holes on the first annulus, the cylindrical hole is passed through The axial sides wall of first annulus is worn, and the radial outside of the cylindrical hole runs through the radial outside of first annulus Wall, the interior rotation of the cylindrical hole are provided with one for grabbing the hollow of assembly parts, the hollow lateral wall and the cylinder Hole inner sidewall is bonded, and the hollow and cylindrical hole axial restraint, is run through in the hollow and is offered a fluting, described to open The length of slot is consistent with the length of the hollow, extends outwardly on the first side of opening of the fluting and is provided with the first extension Arm extends outwardly on the second side of opening of the fluting and is provided with the second adjutage, first adjutage and the second adjutage Respectively to inclination on the inside of the fluting, the development length of first adjutage is greater than the development length of second adjutage, And second adjutage and the fluting junction inner end are provided with an elastic component, second adjutage and the fluting connect The place of connecing outer end is provided with a locating part, and under normal condition, the spacing between the first adjutage and the second adjutage is less than the dress Second adjutage is kept contacting with the locating part by the width of accessory, the elastic component;
Material jacking mechanism is symmetricly set on the second annulus inner face, and the material jacking mechanism is from the second annulus inner face water Flat to extend outwardly, the material jacking mechanism and the cylindrical hole correspond, and the material jacking mechanism is selectively inserted into described In empty part;
Pedestal, is arranged inside cavity normally opened upwards, and the cavity bottom movement is provided with a pair of of lifting support, the pedestal In be provided with a lift drive mechanism, the lift drive mechanism is connect with the lifting support, and the lifting support is located at institute The positive lower end of rotary support is stated, a longitudinally movable first gear, the lifting branch are provided in the lifting support end Be vertically arranged with the second gear of a longitudinal movement synchronous with the first gear on the outside of seat end, the first gear with it is described Second gear rotates synchronously, and the second gear is connected to lifting support end lateral wall by a transversal stretching mechanism On, second end face teeth, the second end face teeth and the first end face tooth are provided on the inner sidewall of the second gear Tooth selectively engages;
Wherein, the rotary support outboard end is provided with a circle inner groovy, and pinion stand, the gear are provided in the inner groovy Seat is non-bulging to selectively engage linkage, first circle in the rotary support side wall, the first gear and the pinion stand Ring is rotated along the direction that first adjutage is inclined outwardly, and first annulus and the second annulus rotate synchronously, described interior Groove two sides periphery is respectively arranged with a ring-shaped guide rail, and the lifting support is located at the positive lower end of the inner groovy, both ends it is described Rotary support is supported on the lifting support, and one end outer radial periphery is provided with a circle angular displacement ball bar in the second gear Ruler, the second gear bottom are fixedly installed one first reading head, and first reading head is set in the angular displacement ball bar On ruler.
2. continuous high-efficient rate automated arm as described in claim 1, which is characterized in that the outboard end of the rotary support is set It is equipped with block, the first end face teeth are arranged on the block lateral wall.
3. continuous high-efficient rate automated arm as claimed in claim 2, which is characterized in that the lifting support end is set as The u shaped connector structure of cooperation is rolled with the rolling pillar, the lifting support end offers a U-shaped notch, described U-shaped scarce Mouth two sides protrusion is provided with ball, and the first gear is flexible to be arranged in the U-shaped notch.
4. continuous high-efficient rate automated arm as claimed in claim 3, which is characterized in that the lifting support lateral wall is longitudinal An opening is offered, a driving device is horizontally arranged in the opening, the lifting support top is provided with a longitudinal extension Mechanism, the telescopic end of the longitudinal extension mechanism are connect with the driving device bottom.
5. continuous high-efficient rate automated arm as claimed in claim 4, which is characterized in that be provided with one in the driving device Driving motor and one the 4th gear, the drive shaft first end of the driving motor is extend into the lifting support end, described Drive shaft first end connects the center of a third gear, and the first gear engagement is connected to third gear upper end, described Drive shaft second end connects the 4th gear centre.
6. continuous high-efficient rate automated arm as claimed in claim 5, which is characterized in that further include a linkage, indulge To being arranged and being arranged activity in the driving device, the transversal stretching mechanism is arranged in the driving device, the cross It is connect to the telescopic end of telescoping mechanism with the linkage, the 5th gear and the 6th tooth is vertically arranged in the linkage Wheel, the 5th gear engagement are connected to the 4th gear upper end, and the 6th gear engagement is connected to the 5th gear Between second gear, the second gear, the 4th gear, the 5th gear and the 6th gear size be with by first tooth Wheel and second gear can be rotated synchronously and be configured, and the upper end of the linkage is arranged in first reading head.
7. continuous high-efficient rate automated arm as claimed in claim 6, which is characterized in that the lift drive mechanism is synchronous to be driven The lifting support of dynamic two sides is vertically arranged with a straight shot grid ruler on the lifting support, and the is provided on the pedestal Two reading heads, second reading head are set on the straight line ball bar ruler.
8. continuous high-efficient rate automated arm as claimed in claim 7, which is characterized in that be additionally provided with a cross in the pedestal To driving mechanism, the horizontal line between the moving direction of the transversal driving mechanism and two lifting supports is consistent, institute The lifting support for stating the second annulus side is connect with the movable end of the transversal driving mechanism.
9. continuous high-efficient rate automated arm as claimed in claim 8, which is characterized in that the material jacking mechanism includes:
Material ejecting rod is horizontally installed on the second annulus inner face, and the material ejecting rod is by continuous first segment and second segment Composition, the radial dimension of the first segment are less than the radial dimension of the second segment, and the first segment lateral wall is arranged described On second annulus inner face;
Auxiliary block is made of a lasso and a curved support platform, and the lasso rotation is set on the first segment, the set The internal diameter of circle is less than the outer diameter of the second segment, and the curved support platform is connected on the end face of the lasso and to described second Duan Fangxiang extends, and the length of the curved support platform is greater than the length of the second segment, and the internal diameter of the curved support platform is not small In the outer diameter of the second segment;And
Compressed spring, limitation are set on the first segment, compressed spring setting the second annulus inner face with Between the ring face, the internal diameter of the compressed spring is less than the outer diameter of the lasso;
Wherein, the length of the material ejecting rod is greater than the length of the cylindrical hole, and the outer diameter of the second segment is less than the hollow Internal diameter, the outer diameter of the curved support platform is greater than the internal diameter of the cylindrical hole.
10. continuous high-efficient rate automated arm as claimed in claim 9, which is characterized in that on the second annulus inner sidewall It is horizontally arranged with a telescopic cylinder, material ejecting rod described at least one is arranged on the telescopic end of the telescopic cylinder.
CN201711086306.3A 2017-11-07 2017-11-07 A kind of continuous high-efficient rate automated arm Active CN107717448B (en)

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