CN109648327A - A kind of multi-robot arm team control assembling device - Google Patents
A kind of multi-robot arm team control assembling device Download PDFInfo
- Publication number
- CN109648327A CN109648327A CN201910043327.XA CN201910043327A CN109648327A CN 109648327 A CN109648327 A CN 109648327A CN 201910043327 A CN201910043327 A CN 201910043327A CN 109648327 A CN109648327 A CN 109648327A
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- mechanical arm
- workpiece
- workbench
- assembling mechanism
- fixedly installed
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 29
- 229910052742 iron Inorganic materials 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 3
- 238000004806 packaging method and process Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 6
- 238000004904 shortening Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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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
- B23P21/00—Machines 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of multi-robot arm team control assembling devices, including bottom plate, workbench and assembling mechanism；The left and right sides of the bottom plate is symmetrically fixedly installed with two blocks of side plates, and the upside of top plate is fixedly connected by crossbeam, and the upper end of top plate is fixedly installed with top plate；The workbench, which is fixed by the bracket, to be mounted on bottom plate, the assembling mechanism for being assembled to the workpiece on workbench is provided with above workbench, assembling mechanism is ring structure, and eight manipulators are symmetrically arranged on the inside of assembling mechanism.The present invention assembles workpiece by the way that the assembling mechanism of ring structure is arranged, eight manipulators are symmetrically arranged on the inside of assembling mechanism, eight manipulators are separately positioned in east, south, west, north, northeast, the southeast, northwest and southwestern eight orientation of workpiece, to be assembled to each orientation of workpiece, shorten workpiece built-up time, improves workpiece packaging efficiency.
Description
Technical field
The present invention relates to manipulator technical field, specifically a kind of multi-robot arm team control assembling device.
Background technique
Mechanical finger can imitate certain holding functions of manpower and arm, to by fixed routine crawl, carrying object or behaviour
Make the automatic pilot of tool.Mainly it is made of executing agency, driving mechanism and control system three parts.It can replace people
Heavy labor to realize the mechanization and automation of production, can be operated under hostile environment to protect personal safety, thus wide
It is general to be applied to the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Different components are mounted on workpiece one by one using single manipulator when being assembled in the prior art to workpiece,
This assembling device needs constantly to adjust the location of workpiece in an assembling process, while needing to consume a large amount of time, is unfavorable for work
The rapid processing of part influences the production efficiency of enterprise.
Summary of the invention
The purpose of the present invention is to provide a kind of multi-robot arm team control assembling devices, to solve to mention in above-mentioned background technique
Out the problem of.
To achieve the above object, the invention provides the following technical scheme:
A kind of multi-robot arm team control assembling device, including bottom plate, workbench and assembling mechanism；The left and right sides of the bottom plate is right
Title is fixedly installed with two blocks of side plates, and the upside of top plate is fixedly connected by crossbeam, and the upper end of top plate is fixedly installed with top plate；Institute
It states workbench and is fixed by the bracket and be mounted on bottom plate, be provided with above workbench for being assembled to the workpiece on workbench
Assembling mechanism, assembling mechanism is ring structure, and eight manipulators are symmetrically arranged on the inside of assembling mechanism；The machinery handbag
First mechanical arm and second mechanical arm are included, one end of first mechanical arm and the inner wall of assembling mechanism are rotatablely connected, first mechanical arm
The other end and second mechanical arm be rotatablely connected, the lower section that the assembling mechanism inner wall is located at first mechanical arm is also hinged with first
Electric pushrod, the output end of the first electric pushrod and the downside of first mechanical arm are hinged；The other end of the second mechanical arm is also
It is rotatably equipped with turntable, the assembling head for being assembled to workpiece is provided on the outside of turntable.
As a further solution of the present invention: screw rod is rotatably equipped on the inside of the side plate, the upper end of two screw rods is logical
Belt transmission connection is crossed, driving motor is fixedly installed on the top plate, the output end of driving motor and a wherein screw rod are solid
Fixed connection.
As the present invention further scheme: the left and right sides of the assembling mechanism is symmetrically fixedly mounted there are two spiral shell
Set, swivel nut are connect with screw flight.
As the present invention further scheme: the upper end of the first mechanical arm is also fixedly installed with second and electronic pushes away
Bar is hinged with connecting rod on the upside of second mechanical arm, and the other end of connecting rod and the telescopic end of the second electric pushrod are hinged.
As further scheme of the invention: the inside of the second mechanical arm is additionally provided with the rotation for driving turntable rotation
Rotating motor.
As further scheme of the invention: the workbench is disc structure, and the middle position of workbench offers
For the circular groove that workpiece is placed, several sliding slots are also symmetrically offered on the side wall of workbench, sliding slot is close to one end of circular groove
It is fixedly installed with clamping plate, the other end of sliding slot is fixedly installed with iron block.
As further scheme of the invention: the inside of the sliding slot is also fixedly installed with electromagnet, and electromagnet passes through
Spring is fixedly connected with iron block.
As further scheme of the invention: the clamping plate is arc panel, and the material of clamping plate is rubber.
Compared with prior art, the beneficial effects of the present invention are:
1, the present invention assembles workpiece by the way that the assembling mechanism of ring structure is arranged, and is symmetrically arranged on the inside of assembling mechanism
Eight manipulators, eight manipulators are separately positioned on east, south, west, north, northeast, the southeast, northwest and southwestern eight orientation of workpiece
On, so that each orientation to workpiece assembles, shorten workpiece built-up time, improves workpiece packaging efficiency；
2, it is additionally provided with the workbench for disc structure, the middle position of workbench offers the circular groove placed for workpiece, work
Make also symmetrically to offer several sliding slots on the side wall of platform, sliding slot is fixedly installed with clamping plate close to one end of circular groove, sliding slot
The other end is fixedly installed with iron block, and the inside of sliding slot is also fixedly installed with electromagnet, and electromagnet connects by the way that spring and iron block are fixed
It connects, before fixed to workpiece, is powered to electromagnet, electromagnet attracts iron block, and mobile with movable slider compressed spring, by work
After part is put into the inside of circular groove, to electromagnet power off, sliding block slide in and out under the action of the spring and using clamping plate to workpiece into
Row is fixed, and workpiece play in an assembling process is avoided, and improves assembly precision.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of multi-robot arm team control assembling device.
Fig. 2 is the top view of assembling mechanism in multi-robot arm team control assembling device.
Fig. 3 is the structural schematic diagram of manipulator in multi-robot arm team control assembling device.
Fig. 4 is the structural schematic diagram of workbench in multi-robot arm team control assembling device.
In figure: 1- bottom plate, 2- workbench, 3- side plate, 4- screw rod, 5- swivel nut, 6- crossbeam, 7- top plate, 8- driving motor, 9-
Belt, 10- assembling mechanism, 11- manipulator, 12- first mechanical arm, the first electric pushrod of 13-, the second electric pushrod of 14-, 15-
Second mechanical arm, 16- connecting rod, 17- rotating electric machine, 18- turntable, 19- assembling head, 20- sliding slot, 21- electromagnet, 22- spring,
23- iron block, 24- sliding block, 25- clamping plate.
Specific embodiment
The technical solution of the patent is explained in further detail With reference to embodiment.
Embodiment 1
Please refer to Fig. 1-3, a kind of multi-robot arm team control assembling device, including bottom plate 1, workbench 2 and assembling mechanism 10；It is described
The left and right sides of bottom plate 1 is symmetrically fixedly installed with two blocks of side plates 3, and the upside of top plate 3 is fixedly connected by crossbeam 6, and top plate 3
Upper end is fixedly installed with top plate 7；The workbench 2, which is fixed by the bracket, to be mounted on bottom plate 1, is arranged above workbench 2 useful
In the assembling mechanism 10 assembled to the workpiece on workbench 2；
The inside of the side plate 3 is rotatably equipped with screw rod 4, and the upper end of two screw rods 4 is sequentially connected by belt 9, so as to two
Screw rod 4 rotates in same direction simultaneously, is fixedly installed with driving motor 8 on the top plate 7, the output end of driving motor 8 with wherein one
Screw rod 4 is fixedly connected；The left and right sides of the assembling mechanism 10 is symmetrically fixedly mounted there are two swivel nut 5, swivel nut 5 and 4 spiral shell of screw rod
Line connection, drives assembling mechanism 10 to move up, screw rod 4 passes through when rotating counterclockwise when screw rod 4 rotates clockwise by swivel nut 5
Swivel nut 5 drives assembling mechanism 10 to move down；
The assembling mechanism 10 is ring structure, and the inside of assembling mechanism 10 is symmetrically arranged with eight manipulators 11, eight machinery
Hand 11 is separately positioned in east, south, west, north, northeast, the southeast, northwest and southwestern eight orientation of workpiece, thus to each of workpiece
A orientation is assembled, and workpiece built-up time is shortened, and improves workpiece packaging efficiency；
The manipulator 11 includes first mechanical arm 12 and second mechanical arm 15, one end and the assembling mechanism 10 of first mechanical arm 12
Inner wall rotation connection, the other end of first mechanical arm 12 and second mechanical arm 15 be rotatablely connected, 10 inner wall of assembling mechanism
The first electric pushrod 13, the output end of the first electric pushrod 13 and the first machinery are also hinged with positioned at the lower section of first mechanical arm 12
The downside of arm 12 is hinged, by extending and shortening the first electric pushrod 13, so that first mechanical arm 12 be driven to swing up and down；It is described
The upper end of first mechanical arm 12 is also fixedly installed with the second electric pushrod 14, and the upside of second mechanical arm 15 is hinged with connecting rod
16, the other end of connecting rod 16 and the telescopic end of the second electric pushrod 14 are hinged, by extending and shortening the second electric pushrod
14, so that second mechanical arm 15 be driven to facilitate work to be adapted to the location of workpiece using 12 end of first mechanical arm as branch spot wobble
The processing of part；The other end of the second mechanical arm 15 is also rotatably equipped with turntable 18, the outside of turntable 18 be provided with for pair
The assembling head 19 that workpiece is assembled, the inside of the second mechanical arm 15 are additionally provided with the rotating electric machine for driving turntable 18 to rotate
17, to assemble first 19 rotation work.
Embodiment 2
Please refer to Fig. 1-4, a kind of multi-robot arm team control assembling device, including bottom plate 1, workbench 2 and assembling mechanism 10；It is described
The left and right sides of bottom plate 1 is symmetrically fixedly installed with two blocks of side plates 3, and the upside of top plate 3 is fixedly connected by crossbeam 6, and top plate 3
Upper end is fixedly installed with top plate 7；The workbench 2, which is fixed by the bracket, to be mounted on bottom plate 1, is arranged above workbench 2 useful
In the assembling mechanism 10 assembled to the workpiece on workbench 2；
The inside of the side plate 3 is rotatably equipped with screw rod 4, and the upper end of two screw rods 4 is sequentially connected by belt 9, so as to two
Screw rod 4 rotates in same direction simultaneously, is fixedly installed with driving motor 8 on the top plate 7, the output end of driving motor 8 with wherein one
Screw rod 4 is fixedly connected；The left and right sides of the assembling mechanism 10 is symmetrically fixedly mounted there are two swivel nut 5, swivel nut 5 and 4 spiral shell of screw rod
Line connection, drives assembling mechanism 10 to move up, screw rod 4 passes through when rotating counterclockwise when screw rod 4 rotates clockwise by swivel nut 5
Swivel nut 5 drives assembling mechanism 10 to move down；
The assembling mechanism 10 is ring structure, and the inside of assembling mechanism 10 is symmetrically arranged with eight manipulators 11, eight machinery
Hand 11 is separately positioned in east, south, west, north, northeast, the southeast, northwest and southwestern eight orientation of workpiece, thus to each of workpiece
A orientation is assembled, and workpiece built-up time is shortened, and improves workpiece packaging efficiency；
The manipulator 11 includes first mechanical arm 12 and second mechanical arm 15, one end and the assembling mechanism 10 of first mechanical arm 12
Inner wall rotation connection, the other end of first mechanical arm 12 and second mechanical arm 15 be rotatablely connected, 10 inner wall of assembling mechanism
The first electric pushrod 13, the output end of the first electric pushrod 13 and the first machinery are also hinged with positioned at the lower section of first mechanical arm 12
The downside of arm 12 is hinged, by extending and shortening the first electric pushrod 13, so that first mechanical arm 12 be driven to swing up and down；It is described
The upper end of first mechanical arm 12 is also fixedly installed with the second electric pushrod 14, and the upside of second mechanical arm 15 is hinged with connecting rod
16, the other end of connecting rod 16 and the telescopic end of the second electric pushrod 14 are hinged, by extending and shortening the second electric pushrod
14, so that second mechanical arm 15 be driven to facilitate work to be adapted to the location of workpiece using 12 end of first mechanical arm as branch spot wobble
The processing of part；The other end of the second mechanical arm 15 is also rotatably equipped with turntable 18, the outside of turntable 18 be provided with for pair
The assembling head 19 that workpiece is assembled, the inside of the second mechanical arm 15 are additionally provided with the rotating electric machine for driving turntable 18 to rotate
17, to assemble first 19 rotation work.
The present embodiment difference from example 1 is that, the workbench 2 be disc structure, the interposition of workbench 2
The circular groove for offering and placing for workpiece is set, also symmetrically offers several sliding slots 20 on the side wall of workbench 2, sliding slot 20 leans on
One end of nearly circular groove is fixedly installed with clamping plate 25, and the other end of sliding slot 20 is fixedly installed with iron block 23, the inside of the sliding slot 20
It is also fixedly installed with electromagnet 21, electromagnet 21 is fixedly connected by spring 22 with iron block 23, before fixed to workpiece, to electromagnetism
Iron 21 is powered, and electromagnet 21 attracts iron block 23, and mobile with 24 compressed spring 22 of movable slider, puts the workpiece in the interior of circular groove
Behind portion, electromagnet 21 is powered off, sliding block 24 is slid in and out under the action of spring 22 and workpiece is fixed using clamping plate 25；
In order to improve the fixed stability of workpiece, workpiece play in an assembling process is prevented, the clamping plate 25 is arc panel, and is pressed from both sides
The material of plate 25 is rubber, to increase the frictional force between clamping plate 25 and workpiece.
The present invention assembles workpiece by the way that the assembling mechanism of ring structure is arranged, and the inside of assembling mechanism is symmetrical arranged
There are eight manipulators, eight manipulators are separately positioned on east, south, west, north, northeast, the southeast, northwest and southwestern eight sides of workpiece
On position, so that each orientation to workpiece assembles, shortens workpiece built-up time, improve workpiece packaging efficiency；It is additionally provided with
For the workbench of disc structure, the middle position of workbench offers the circular groove placed for workpiece, goes back on the side wall of workbench
Several sliding slots are symmetrically offered, sliding slot is fixedly installed with clamping plate close to one end of circular groove, and the other end of sliding slot is fixedly mounted
There is iron block, the inside of sliding slot is also fixedly installed with electromagnet, and electromagnet is fixedly connected with iron block by spring, is fixed to workpiece
Before, it is powered to electromagnet, electromagnet attracts iron block, and mobile with movable slider compressed spring, puts the workpiece in the interior of circular groove
Behind portion, electromagnet is powered off, sliding block is slid in and out under the action of the spring and workpiece is fixed using clamping plate, and workpiece is avoided
Play in an assembling process improves assembly precision.
The preferred embodiment of the patent is described in detail above, but this patent is not limited to above-mentioned embodiment party
Formula within the knowledge of one of ordinary skill in the art can also be under the premise of not departing from this patent objective
It makes a variety of changes.
Claims (8)
1. a kind of multi-robot arm team control assembling device, including bottom plate (1), workbench (2) and assembling mechanism (10)；The bottom plate
(1) the left and right sides is symmetrically fixedly installed with two pieces of side plates (3), and the upside of top plate (3) is fixedly connected by crossbeam (6), and is pushed up
The upper end of plate (3) is fixedly installed with top plate (7)；The workbench (2), which is fixed by the bracket, to be mounted on bottom plate (1), workbench
(2) top is provided with the assembling mechanism (10) for being assembled to the workpiece on workbench (2), it is characterised in that:
Assembling mechanism (10) is ring structure, is symmetrically arranged with eight manipulators (11), the machine on the inside of assembling mechanism (10)
Tool hand (11) includes first mechanical arm (12) and second mechanical arm (15), one end and assembling mechanism (10) of first mechanical arm (12)
Inner wall rotation connection, the other end of first mechanical arm (12) and second mechanical arm (15) are rotatablely connected, the assembling mechanism
(10) lower section that inner wall is located at first mechanical arm (12) is also hinged with the first electric pushrod (13), the first electric pushrod (13) it is defeated
Outlet and the downside of first mechanical arm (12) are hinged；The other end of the second mechanical arm (15) is also rotatably equipped with turntable
(18), the assembling head (19) for being assembled to workpiece is provided on the outside of turntable (18).
2. multi-robot arm team control assembling device according to claim 1, which is characterized in that the inside of the side plate (3)
It is rotatably equipped with screw rod (4), the upper end of two screw rods (4) is sequentially connected by belt (9), is fixedly mounted on the top plate (7)
Have driving motor (8), the output end of driving motor (8) is fixedly connected with a wherein screw rod (4).
3. multi-robot arm team control assembling device according to claim 2, which is characterized in that the assembling mechanism (10)
The left and right sides is symmetrically fixedly mounted there are two swivel nut (5), and swivel nut (5) is threadedly coupled with screw rod (4).
4. multi-robot arm team control assembling device according to claim 3, which is characterized in that the first mechanical arm (12)
Upper end be also fixedly installed with the second electric pushrod (14), be hinged on the upside of second mechanical arm (15) connecting rod (16), connect
The other end of bar (16) and the telescopic end of the second electric pushrod (14) are hinged.
5. multi-robot arm team control assembling device according to claim 4, which is characterized in that the second mechanical arm (15)
Inside be additionally provided with drive turntable (18) rotation rotating electric machine (17).
6. multi-robot arm team control assembling device according to claim 5, which is characterized in that the workbench (2) is circle
Dish structure, the middle position of workbench (2) offer the circular groove placed for workpiece, and it is uniformly right to go back on the side wall of workbench (2)
Title offers several sliding slots (20), and sliding slot (20) is fixedly installed with clamping plate (25) close to one end of circular groove, sliding slot (20) it is another
End is fixedly installed with iron block (23).
7. multi-robot arm team control assembling device according to claim 6, which is characterized in that the inside of the sliding slot (20)
It is also fixedly installed with electromagnet (21), electromagnet (21) is fixedly connected by spring (22) with iron block (23).
8. multi-robot arm team control assembling device according to claim 7, which is characterized in that the clamping plate (25) is arc
Plate, and the material of clamping plate (25) is rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910043327.XA CN109648327A (en) | 2019-01-17 | 2019-01-17 | A kind of multi-robot arm team control assembling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910043327.XA CN109648327A (en) | 2019-01-17 | 2019-01-17 | A kind of multi-robot arm team control assembling device |
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| CN109648327A true CN109648327A (en) | 2019-04-19 |
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| CN201910043327.XA Pending CN109648327A (en) | 2019-01-17 | 2019-01-17 | A kind of multi-robot arm team control assembling device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110052988A (en) * | 2019-05-21 | 2019-07-26 | 佛山市粘力达粘合剂有限公司 | A kind of multifunctional accurate integration assembling equipment |
| CN110518759A (en) * | 2019-09-02 | 2019-11-29 | 上海电气风电集团有限公司 | A kind of semi-automatic magnetic slot inserting device and method thereof |
| CN110948309A (en) * | 2019-12-23 | 2020-04-03 | 沈自强 | Be used for dedicated digit control machine tool of panel processing |
| CN113059556A (en) * | 2021-04-02 | 2021-07-02 | 江苏大学附属医院 | Multi-joint multi-degree-of-freedom medical piezoelectric micro-mechanical manipulator |
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| CN113059556A (en) * | 2021-04-02 | 2021-07-02 | 江苏大学附属医院 | Multi-joint multi-degree-of-freedom medical piezoelectric micro-mechanical manipulator |
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