CN112453845A - Full-automatic air pipe assembling robot - Google Patents
Full-automatic air pipe assembling robot Download PDFInfo
- Publication number
- CN112453845A CN112453845A CN202011181951.5A CN202011181951A CN112453845A CN 112453845 A CN112453845 A CN 112453845A CN 202011181951 A CN202011181951 A CN 202011181951A CN 112453845 A CN112453845 A CN 112453845A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention discloses a full-automatic air pipe assembling robot which comprises an assembling frame, a fastening device, a manipulator and a moving device. The assembly frame is fixedly arranged on the ground, and the fastening device, the manipulator and the moving device are fixedly arranged on the assembly frame. The assembly frame longitudinally adjusts the longitudinal position of the whole manipulator through a longitudinal lead screw. The manipulator carries out vertical position adjustment through adjustment gear and rack, will control the mounting height of mechanical gripper, and more accurate cooperation fastener carries out fixed mounting. And the local position adjustment is carried out through the transverse screw rod and the vertical screw rod, and the position correction of the air pipe is carried out again. The fastening head is arranged on the fastening device in a circle and is used for fastening bolts and locking torque of two air pipes which are connected with each other. Finally, the air duct which is installed well is moved and conveyed continuously by a moving device which takes the conveying belt as a main structure.
Description
Technical Field
The invention relates to the field of industrial machinery, in particular to a full-automatic air pipe assembling robot.
Background
In the process of installing the common air duct, the air duct is usually installed by manually matching with a crane, but the automation degree is low, the assembly precision is low, and in order to solve the problem, the application number CN200820205106 discloses a connecting device for quickly installing the air duct.
Disclosure of Invention
The invention provides a full-automatic air pipe assembling robot aiming at the technical problems, which comprises an assembling frame, a fastening device, a manipulator and a moving device, wherein the assembling frame is fixedly arranged on the ground, the fastening device is fixedly arranged on the assembling frame, the manipulator is fixedly arranged on the assembling frame, and the moving device is fixedly arranged on the assembling frame.
The jig includes: assembly platform, the platform landing leg, the assembly base, the assembly floorbar, the assembly back timber, the slider, the lead screw, the crossbeam, iron plate, lead screw motor, assembly platform fixed mounting is on the platform landing leg, platform landing leg fixed mounting is on the assembly base, assembly base fixed mounting is on ground, assembly floorbar fixed mounting is on the assembly base, assembly landing leg fixed mounting is on the assembly floorbar, assembly back timber fixed mounting is on the assembly landing leg, the slider rotates and installs on the lead screw, the lead screw rotates and installs on the lead screw seat, crossbeam fixed mounting is on the slider, lead screw seat fixed mounting is on the assembly back timber, iron plate fixed mounting is on the crossbeam, lead screw motor fixed mounting is on the lead screw seat.
The fastening device includes: an assembly motor, a coupling, an assembly main shaft, a reduction box body, a middle straight gear, a small straight gear, a large straight gear, a retaining ring, a screw rod shaft seat, an auxiliary shaft, an extension oil cylinder seat, an auxiliary assembly seat, an assembly head, a positioning cylinder, a positioning base, a slide rail, an extension oil cylinder, an oil cylinder pin, a chuck, an assembly rod, a sleeve, a positioning vertical plate, a positioning flitch, a positioning bayonet lock, a positioning top plate and a positioning ring, wherein the assembly motor is fixedly arranged on an assembly supporting leg, the coupling is fixedly arranged at the output end of the assembly motor, the assembly main shaft is fixedly arranged at the output end of the coupling, the reduction box body is arranged in a suspension way, the middle straight gear is fixedly arranged on the auxiliary shaft, the small straight gear is fixedly arranged on the auxiliary shaft, the large straight gear is fixedly arranged on the assembly main shaft, the retaining ring is rotatably arranged, assembly auxiliary seat fixed mounting is on assembly platform, assembly head fixed mounting is on the assembly pole, the location jar rotates and installs on the sleeve, location base fixed mounting is on assembly platform, slide rail fixed mounting is on the flitch of location, it rotates and installs on the hydro-cylinder round pin to extend the hydro-cylinder, the hydro-cylinder round pin rotates and installs on the chuck, chuck fixed mounting is on assembly auxiliary seat, assembly pole fixed mounting is on the countershaft, sleeve fixed mounting is on the chuck, location riser fixed mounting is on location base, location flitch fixed mounting is on the location riser, location bayonet lock rotates and installs on the roof of location, roof of location fixed mounting is on the riser of location, holding ring slidable mounting is on the slide rail.
The manipulator includes: a positioning motor base, a positioning motor, a rib plate, an L plate, a positioning gear, a positioning shaft, a rack, a transverse moving beam, a vertical motor, a vertical screw rod base plate, a vertical screw rod, a vertical slide block, a transverse motor, a transverse screw rod, a connecting plate, a rotary body, a paw connecting body, a paw rotary arm, a paw base, a grabbing cylinder, a cylinder base, a grabbing connecting rod, a connecting rod base, a grabbing base, a Z-shaped plate and a transverse slide block, wherein the positioning motor base is fixedly arranged on a cross beam, the positioning motor is fixedly arranged on the positioning motor base, the rib plate is fixedly arranged on the L plate, the L plate is fixedly arranged on the cross beam, the positioning gear is fixedly arranged on the positioning shaft, the positioning shaft is rotatably arranged on the L plate, the rack and the positioning shaft are mutually meshed and rotatably arranged, the transverse moving beam is fixedly arranged on the rack, the vertical motor is fixedly arranged on the vertical screw rod, the vertical screw, vertical lead screw fixed mounting is on vertical lead screw bottom plate, vertical slider slidable mounting is on vertical lead screw, horizontal motor fixed mounting is on horizontal lead screw, horizontal lead screw fixed mounting is on vertical slider, connecting plate fixed mounting is on snatching the base, solid of revolution fixed mounting is on the connecting plate, hand claw connector fixed mounting is on hand claw base, the hand claw rotates and installs on the hand claw rocking arm, hand claw rocking arm fixed mounting is on hand claw connector, hand claw base fixed mounting is on snatching the cylinder, snatch cylinder fixed mounting is on the cylinder block, cylinder block fixed mounting is on snatching the connecting rod, it rotates and installs on connecting rod seat to snatch the connecting rod, connecting rod seat fixed mounting is on the solid of revolution, snatch base fixed mounting on the Z template, Z template fixed mounting is on horizontal slider, horizontal slider slidable mounting is on horizontal lead screw.
The mobile device includes: a movable motor base, a movable motor, a coupling, a movable input shaft, a middle bearing seat, a shaft sleeve, a transmission box body, a small bevel gear, a middle bearing seat, a large bearing seat, an output shaft, a large bevel gear, a small bevel gear, a middle shaft, a main pulley shaft, a belt pulley seat, a conveying belt and a driven pulley shaft, wherein the movable motor base is fixedly arranged on an assembly platform, the movable motor is fixedly arranged on the movable motor base, the coupling is fixedly arranged at the output end of the movable motor, the movable input shaft is fixedly arranged on the coupling, the middle bearing seat is fixedly arranged on the transmission box body, the shaft sleeve is rotatably arranged on the movable input shaft, the transmission box body is fixedly arranged on the assembly platform, the small bevel gear is fixedly arranged on the movable input shaft, the middle bearing seat is fixedly arranged on the shaft sleeve, the large bearing seat is fixedly arranged on, the large bevel gear is fixedly arranged on the output shaft, the large bevel gear is fixedly arranged on the intermediate shaft, the small bevel gear is fixedly arranged on the intermediate shaft, the intermediate shaft is rotatably arranged on the shaft sleeve, the main belt pulley shaft is rotatably arranged on the belt pulley seat, the belt pulley is fixedly arranged on the main belt pulley shaft, and the belt pulley seat is fixedly arranged on the assembly platform.
Furthermore, the sliding block and the lead screw form a rotating fit through the shaft hole.
Furthermore, the small spur gear and the large spur gear are meshed with each other to form rotating fit.
Furthermore, the auxiliary shaft and the reduction box body form rotating fit through a shaft hole.
Furthermore, the extending oil cylinder and the oil cylinder pin form rotating fit through the shaft hole.
Furthermore, the positioning shaft and the rack are meshed with each other to form rotating fit.
Furthermore, the grabbing connecting rod and the connecting rod seat form rotating fit through the shaft hole.
Furthermore, the shaft sleeve and the mobile input shaft form a rotating fit through the shaft hole.
Furthermore, the small bevel gear and the large bevel gear are meshed with each other to form a rotating fit.
Compared with the prior art, the invention has the beneficial effects that: (1) the air pipe assembling structure for adjusting the position in the transverse direction, the vertical direction and the longitudinal direction is adopted, so that the mechanical gripper is adjusted to a proper mounting position in different directions; (2) the fastening heads are arranged for one circle to perform synchronous mounting and torque locking actions, so that the air pipe is assembled quickly and efficiently; (3) the invention has high automation degree and high assembly efficiency and realizes quick assembly.
Drawings
FIG. 1 is an overall schematic view of the present invention.
Fig. 2 is a schematic view of the jig of the present invention.
Fig. 3 is a schematic view of the fastening device of the present invention.
Fig. 4 is a schematic view of a robot of the present invention.
FIG. 5 is a diagram of a mobile device according to the present invention.
In the figure: 1-assembling frames; 2-a fastening device; 3-a manipulator; 4-a mobile device; 101-an assembly platform; 102-a platform leg; 103-assembling a base; 104-assembling a bottom beam; 105-assembly legs; 106-assembling a top beam; 107-a slide block; 108-a lead screw; 109-a cross beam; 110-a screw seat; 111-iron plate; 112-screw motor; 201-assembling a motor; 202-coupling; 203-assembling the main shaft; 204-reduction box body; 205-a middle spur gear; 206-small spur gear; 207-large spur gear; 208-a retainer ring; 209-screw mandrel base; 210-a secondary shaft; 211-extending the cylinder block; 212-fitting auxiliary seats; 213-assembly head; 214-positioning cylinder; 215-positioning the base; 216-a slide rail; 217-stretching the oil cylinder; 218-cylinder pin; 219-chuck; 220-assembling the rod; 221-a sleeve; 222-positioning a vertical plate; 223-positioning a pasting board; 224-positioning the detent; 225-positioning the top plate; 226-a positioning ring; 301-positioning motor base; 302-positioning motor; 303-rib plate; 304-L plate; 305-a positioning gear; 306-an axis of alignment; 307-rack; 308-transverse moving beam; 309-a vertical motor; 310-vertical screw rod bottom plate; 311-vertical screw rod; 312-vertical slide; 313-transverse motor; 314-transverse screw rod; 315-connecting plate; 316-a solid of revolution; 317-paw connector; 318-paw; 319-paw swivel arm; 320-paw base; 321-a grabbing cylinder; 322-a cylinder block; 323-grabbing the connecting rod; 324-connecting rod seat; 325-a grasping base; 326-Z template; 327-lateral slider; 401-moving the motor base; 402-a moving motor; 403-coupling; 404 — moving the input shaft; 405-a middle bearing seat; 406-a shaft sleeve; 407-gearbox body; 408-bevel pinion; 409-middle bearing seat; 410-large bearing seat; 411-output shaft; 412-large bevel gear; 413-large bevel gear; 414-bevel pinion gear; 415-a middle shaft; 416-a primary pulley axle; 417-a pulley; 418-pulley seat; 419-conveying belt; 420-driven pulley shaft.
Detailed Description
The present invention will be further described with reference to specific embodiments, illustrative examples and illustrations of the invention herein are provided to explain the present invention and are not intended to limit the invention.
Example (b): as shown in fig. 1, 2, 3, 4 and 5, a mounting bracket 1 is fixedly mounted on the ground, a fastening device 2 is fixedly mounted on the mounting bracket 1, a manipulator 3 is fixedly mounted on the mounting bracket 1, and a moving device 4 is fixedly mounted on the mounting bracket 1. The jig 1 is fixedly placed on the ground, and the fastening device 2, the robot 3, and the moving device 4 are fixedly mounted on the jig 1.
The specific structure of the assembly jig 1 is shown in fig. 2, wherein the assembly platform 101 is fixedly mounted on the platform legs 102, the platform legs 102 are fixedly mounted on the assembly base 103, the assembly base 103 is fixedly mounted on the ground, the assembly bottom beam 104 is fixedly mounted on the assembly base 103, the assembly legs 105 are fixedly mounted on the assembly bottom beam 104, the assembly top beam 106 is fixedly mounted on the assembly legs 105, the sliders 107 are rotatably mounted on the screws 108, the screws 108 are rotatably mounted on the screw bases 110, the cross beam 109 is fixedly mounted on the sliders 107, the screw bases 110 are fixedly mounted on the assembly top beam 106, the iron plates 111 are fixedly mounted on the cross beam 109, and the screw motors 112 are fixedly mounted on the screw bases 110. The jig 1 adjusts the longitudinal position of the robot 3 in its entirety in the longitudinal direction by the longitudinal lead screw 108.
The specific structure of the fastening device 2 is shown in fig. 3, wherein the assembling motor 201 is fixedly installed on the assembling supporting leg 105, the coupling 202 is fixedly installed at the output end of the assembling motor 201, the assembling main shaft 203 is fixedly installed at the output end of the coupling 202, the reduction box 204 is installed in a suspended manner, the middle spur gear 205 is fixedly installed on the auxiliary shaft 210, the small spur gear 206 is fixedly installed on the auxiliary shaft 210, the large spur gear 207 is fixedly installed on the assembling main shaft 203, the retainer ring 208 is rotatably installed on the assembling main shaft 203, the lead screw shaft seat 209 is fixedly installed on the auxiliary shaft 210, the auxiliary shaft 210 is rotatably installed on the reduction box 204, the extending oil cylinder seat 211 is fixedly installed on the auxiliary shaft 210, the assembling auxiliary seat 212 is fixedly installed on the assembling platform 101, the assembling head 213 is fixedly installed on the assembling rod 220, the positioning cylinder 214 is rotatably installed on the sleeve 221, the positioning base 215 is, the extending oil cylinder 217 is rotatably mounted on an oil cylinder pin 218, the oil cylinder pin 218 is rotatably mounted on a chuck 219, the chuck 219 is fixedly mounted on an assembly auxiliary seat 212, the assembly rod 220 is fixedly mounted on the auxiliary shaft 210, the sleeve 221 is fixedly mounted on the chuck 219, the positioning vertical plate 222 is fixedly mounted on the positioning base 215, the positioning attachment plate 223 is fixedly mounted on the positioning vertical plate 222, the positioning bayonet 224 is rotatably mounted on a positioning top plate 225, the positioning top plate 225 is fixedly mounted on the positioning vertical plate 222, and the positioning ring 226 is slidably mounted on the slide rail 216. The tightening head 213 is mounted to the tightening device 2 by one turn, and is used to tighten the bolts and lock the torque of the two air ducts connected to each other.
The specific structure of the manipulator 3 is shown in fig. 4, wherein a positioning motor base 301 is fixedly mounted on a cross beam 109, a positioning motor 302 is fixedly mounted on the positioning motor base 301, a rib plate 303 is fixedly mounted on an L-plate 304, the L-plate 304 is fixedly mounted on the cross beam 109, a positioning gear 305 is fixedly mounted on a positioning shaft 306, the positioning shaft 306 is rotatably mounted on the L-plate 304, a rack 307 and the positioning shaft 306 are mutually meshed and rotatably mounted, a transverse moving beam 308 is fixedly mounted on the rack 307, a vertical motor 309 is fixedly mounted on a vertical screw rod 311, the vertical screw rod bottom plate 310 is fixedly mounted on the transverse moving beam 308, the vertical screw rod 311 is fixedly mounted on the vertical screw rod bottom plate 310, a vertical slider 312 is slidably mounted on the vertical screw rod 311, a transverse motor 313 is fixedly mounted on the transverse screw rod 314, the transverse screw rod 314 is fixedly mounted on the vertical slider 312, a connecting plate 315 is, the revolving body 316 is fixedly installed on the connecting plate 315, the paw connecting body 317 is fixedly installed on the paw base 320, the paw 318 is rotatably installed on the paw rotating arm 319, the paw rotating arm 319 is fixedly installed on the paw connecting body 317, the paw base 320 is fixedly installed on the grabbing cylinder 321, the grabbing cylinder 321 is fixedly installed on the cylinder base 322, the cylinder base 322 is fixedly installed on the grabbing connecting rod 323, the grabbing connecting rod 323 is rotatably installed on the connecting rod base 324, the connecting rod base 324 is fixedly installed on the revolving body 316, the grabbing base 325 is fixedly installed on the Z-shaped plate 326, the Z-shaped plate 326 is fixedly installed on the transverse sliding block 327, and the transverse sliding block 327 is slidably installed on the transverse screw 314. The manipulator 3 adjusts the vertical position by adjusting the gear 305 and the rack 307, controls the mounting height of the gripper 318, and more accurately fixes and mounts the device to the fastening device 2.
The specific structure of the moving device 4 is shown in fig. 5, wherein a moving motor base 401 is fixedly installed on the assembling platform 101, a moving motor 402 is fixedly installed on the moving motor base 401, a coupling 403 is fixedly installed at the output end of the moving motor 402, a moving input shaft 404 is fixedly installed on the coupling 403, an intermediate bearing seat 405 is fixedly installed on a transmission case 407, a shaft sleeve 406 is rotatably installed on the moving input shaft 404, the transmission case 407 is fixedly installed on the assembling platform 101, a small bevel gear 408 is fixedly installed on the moving input shaft 404, a middle bearing seat 409 is fixedly installed on the shaft sleeve 406, a large bearing seat 410 is fixedly installed on the shaft sleeve 406, an output shaft 411 is rotatably installed on the shaft sleeve 406, a large bevel gear 412 is fixedly installed on the output shaft 411, a large bevel gear 413 is fixedly installed on the intermediate shaft 415, a small bevel gear 414 is fixedly installed on the intermediate shaft 415, and the intermediate shaft 415, the main pulley shaft 416 is rotatably mounted on a pulley mount 418, the pulley 417 is fixedly mounted on the main pulley shaft 416, and the pulley mount 418 is fixedly mounted on the mounting platform 101. The air duct, which is already installed, is continuously moved and transported by the moving device 4, which is mainly constructed by the conveyor belt 419.
In the use of the present invention, the jig 1 is fixed on the ground, and the fastening device 2, the manipulator 3, and the moving device 4 are fixed to the jig 1. The jig 1 adjusts the longitudinal position of the robot 3 in its entirety in the longitudinal direction by the longitudinal lead screw 108. The manipulator 3 adjusts the vertical position by adjusting the gear 305 and the rack 307, controls the mounting height of the gripper 318, and more accurately fixes and mounts the device to the fastening device 2. The position of the duct is corrected again by adjusting the position of the part by the horizontal screw 314 and the vertical screw 311. The tightening head 213 is mounted to the tightening device 2 by one turn, and is used to tighten the bolts and lock the torque of the two air ducts connected to each other. Finally, the air duct, which is already installed, is continuously moved and transported by the movement device 4, which is mainly constructed as a conveyor belt 419.
Claims (10)
1. The utility model provides a full-automatic tuber pipe assembly robot, includes assembly jig (1), fastener (2), manipulator (3), mobile device (4), its characterized in that:
the assembly rack (1) comprises an assembly platform (101), an assembly base (103), assembly legs (105) and a cross beam 109;
the fastening device (2) comprises: the assembling device comprises an assembling motor (201), an assembling auxiliary seat (212) and a positioning base (215);
the manipulator (3) comprises: a positioning motor base (301) and an L-shaped plate (304);
the mobile device (4) comprises: a movable motor base (401), a transmission box body (407) and a belt wheel base (418);
an assembly base (103) of an assembly frame (1) is fixedly installed on the ground, an assembly platform (101) of a fastening device (2) is fixedly installed on an assembly supporting leg (105) of the assembly platform (101), an assembly auxiliary seat (212) and a positioning base (215) are fixedly installed on the assembly platform (101), a position adjusting motor base (301) and an L plate (304) are fixedly installed on a cross beam (109), and a movable motor base (401), a transmission box body (407) and a belt wheel base (418) are fixedly installed on the assembly platform (101).
2. The full-automatic air duct assembling robot of claim 1, wherein: the jig (1) further comprises: a platform supporting leg (102), an assembly bottom beam (104), an assembly top beam (106), a sliding block 107, a lead screw (108), an iron plate (111) and a lead screw motor (112), an assembly platform (101) is fixedly installed on platform supporting legs (102), the platform supporting legs (102) are fixedly installed on an assembly base (103), an assembly bottom beam (104) is fixedly installed on the assembly base (103), the assembly supporting legs (105) are fixedly installed on the assembly bottom beam (104), an assembly top beam (106) is fixedly installed on the assembly supporting legs (105), a sliding block (107) is rotatably installed on a lead screw (108), the lead screw (108) is rotatably installed on a lead screw seat (110), a cross beam (109) is fixedly installed on the sliding block (107), the lead screw seat (110) is fixedly installed on the assembly top beam (106), an iron plate (111) is fixedly installed on the cross beam (109), and a lead screw motor (112) is fixedly installed on the lead screw seat (110).
3. The full-automatic air duct assembling robot of claim 1, wherein: the fastening device (2) further comprises: a coupling (202), an assembly main shaft (203), a reduction box body (204), a middle straight gear (205), a small straight gear (206), a large straight gear (207), a retainer ring (208), a screw rod shaft seat (209), an auxiliary shaft (210), an extension oil cylinder seat (211), an assembly head (213), a positioning cylinder (214), a slide rail (216), an extension oil cylinder (217), an oil cylinder pin (218), a chuck (219), an assembly rod (220), a sleeve (221), a positioning vertical plate (222), a positioning pasting plate (223), a positioning clamping pin (224), a positioning top plate (225) and a positioning ring (226), wherein the coupling (202) is fixedly arranged at the output end of an assembly motor (201), the assembly main shaft (203) is fixedly arranged at the output end of the coupling (202), the reduction box body (204) is installed in a suspended manner, the middle straight gear (205) is fixedly arranged on the auxiliary shaft (210), the small straight gear (206), the large spur gear (207) is fixedly arranged on the assembly main shaft (203), the retainer ring (208) is rotatably arranged on the assembly main shaft (203), the lead screw shaft seat (209) is fixedly arranged on the auxiliary shaft (210), the auxiliary shaft (210) is rotatably arranged on the reduction box body (204), the extension oil cylinder seat (211) is fixedly arranged on the auxiliary shaft (210), the assembly head (213) is fixedly arranged on the assembly rod (220), the positioning cylinder (214) is rotatably arranged on the sleeve (221), the slide rail (216) is fixedly arranged on the positioning attachment plate (223), the extension oil cylinder (217) is rotatably arranged on the oil cylinder pin (218), the oil cylinder pin (218) is rotatably arranged on the chuck (219), the chuck (219) is fixedly arranged on the assembly auxiliary seat 212, the assembly rod (220) is fixedly arranged on the auxiliary shaft (210), the sleeve (221) is fixedly arranged on the chuck (219), and the positioning vertical plate (222) is fixedly arranged on the positioning base (215), the positioning pasting plate (223) is fixedly arranged on the positioning vertical plate (222), the positioning clamping pin (224) is rotatably arranged on the positioning top plate (225), the positioning top plate (225) is fixedly arranged on the positioning vertical plate (222), and the positioning ring (226) is slidably arranged on the sliding rail (216).
4. The full-automatic air duct assembling robot of claim 1, wherein: the manipulator (3) further comprises: a positioning motor (302), a rib plate (303), a positioning gear (305), a positioning shaft (306), a rack (307), a transverse moving beam (308), a vertical motor (309), a vertical screw rod bottom plate (310), a vertical screw rod (311), a vertical sliding block (312), a transverse motor (313), a transverse screw rod (314), a connecting plate (315), a revolving body (316), a paw connecting body (317), a paw (318), a paw rotating arm (319), a paw base (320), a grabbing cylinder (321), a cylinder base (322), a grabbing connecting rod (323), a connecting rod base (324), a grabbing base (325), a Z-shaped plate (326) and a transverse sliding block (327), wherein the positioning motor (302) is fixedly arranged on the positioning motor base (301), the rib plate (303) is fixedly arranged on an L plate (304), the positioning gear (305) is fixedly arranged on the positioning shaft (306), and the positioning shaft (306) is rotatably arranged on the L plate (304), the rack (307) and the positioning shaft (306) are meshed with each other and rotatably installed, the transverse moving beam (308) is fixedly installed on the rack (307), the vertical motor 309 is fixedly installed on the vertical screw rod (311), the vertical screw rod bottom plate (310) is fixedly installed on the transverse moving beam (308), the vertical screw rod (311) is fixedly installed on the vertical screw rod bottom plate (310), the vertical sliding block (312) is slidably installed on the vertical screw rod (311), the transverse motor (313) is fixedly installed on the transverse screw rod (314), the transverse screw rod (314) is fixedly installed on the vertical sliding block (312), the connecting plate (315) is fixedly installed on the grabbing base (325), the revolving body (316) is fixedly installed on the connecting plate (315), the gripper connecting body (317) is fixedly installed on the gripper base (320), the gripper (318) is rotatably installed on the gripper rotating arm (319), and the gripper rotating arm (319) is fixedly installed on the gripper connecting body (317), the gripper base (320) is fixedly arranged on the grabbing cylinder (321), the grabbing cylinder (321) is fixedly arranged on a cylinder seat (322), the cylinder seat (322) is fixedly arranged on the grabbing connecting rod (323), the grabbing connecting rod (323) is rotatably arranged on the connecting rod seat (324), the connecting rod seat (324) is fixedly arranged on the revolving body (316), the grabbing base (325) is fixedly arranged on a Z-shaped plate (326), the Z-shaped plate (326) is fixedly arranged on a transverse sliding block (327), and the transverse sliding block (327) is slidably arranged on a transverse screw rod 314.
5. The full-automatic air duct assembling robot of claim 1, wherein: the mobile device (4) further comprises: a movable motor (402), a coupling (403), a movable input shaft (404), an intermediate bearing seat (405), a shaft sleeve (406), a small bevel gear (408), an intermediate bearing seat (409), a large bearing seat (410), an output shaft (411), a large bevel gear (412), a large bevel gear (413), a small bevel gear (414), an intermediate shaft (415), a main belt wheel shaft (416), a belt wheel (417), a conveying belt (419) and a driven belt wheel shaft (420), wherein the movable motor (402) is fixedly arranged on the movable motor seat (401), the coupling (403) is fixedly arranged at the output end of the movable motor (402), the movable input shaft (404) is fixedly arranged on the coupling (403), the intermediate bearing seat (405) is fixedly arranged on a transmission box body (407), the shaft sleeve (406) is rotatably arranged on the movable input shaft (404), the small bevel gear (408) is fixedly arranged on the movable input shaft (404), the middle bearing seat (409) is fixedly arranged on a shaft sleeve (406), the large bearing seat (410) is fixedly arranged on the shaft sleeve (406), an output shaft (411) is rotatably arranged on the shaft sleeve (406), a large helical gear (412) is fixedly arranged on the output shaft (411), a large bevel gear (413) is fixedly arranged on an intermediate shaft (415), a small helical gear (414) is fixedly arranged on the intermediate shaft (415), the intermediate shaft (415) is rotatably arranged on the shaft sleeve (406), a main belt wheel shaft (416) is rotatably arranged on a belt wheel seat (418), and a belt wheel (417) is fixedly arranged on a main belt wheel shaft (416).
6. The full-automatic air duct assembling robot of claim 1, wherein: the sliding block (107) and the lead screw (108) form rotating fit through a shaft hole.
7. The full-automatic air duct assembling robot of claim 1, wherein: the small spur gear (206) and the large spur gear (207) are meshed with each other to form rotating fit.
8. The full-automatic air duct assembling robot of claim 1, wherein: the auxiliary shaft (210) and the reduction box body (204) form rotating fit through a shaft hole.
9. The full-automatic air duct assembling robot of claim 1, wherein: the extending oil cylinder (217) and the oil cylinder pin (218) form rotating fit through the shaft hole.
10. The full-automatic air duct assembling robot of claim 1, wherein: the positioning shaft (306) and the rack (307) are meshed with each other to form a rotating fit, the grabbing connecting rod (323) and the connecting rod seat 324 form a rotating fit through a shaft hole, the shaft sleeve (406) and the moving input shaft (404) form a rotating fit through a shaft hole, and the small bevel gear (408) and the large bevel gear (413) form a rotating fit through mutual meshing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011181951.5A CN112453845A (en) | 2020-10-29 | 2020-10-29 | Full-automatic air pipe assembling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011181951.5A CN112453845A (en) | 2020-10-29 | 2020-10-29 | Full-automatic air pipe assembling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112453845A true CN112453845A (en) | 2021-03-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011181951.5A Withdrawn CN112453845A (en) | 2020-10-29 | 2020-10-29 | Full-automatic air pipe assembling robot |
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| CN (1) | CN112453845A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113334041A (en) * | 2021-05-08 | 2021-09-03 | 上海卫星工程研究所 | Tension cable assembly assembling tool and method |
| CN114852676A (en) * | 2022-05-27 | 2022-08-05 | 东莞昭和电子有限公司 | Automatic conveying equipment for testing remote controller |
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| KR20130022537A (en) * | 2011-08-25 | 2013-03-07 | 최미숙 | Device of assembling for ball valve |
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| CN106426120A (en) * | 2016-11-22 | 2017-02-22 | 大连交通大学 | Heavy loading gantry type robot |
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| CN110449871A (en) * | 2019-07-17 | 2019-11-15 | 中国地质大学（武汉） | It is a kind of suitable for high-voltage tube bus fitting it is automatic lock unload screw device |
| CN210879650U (en) * | 2019-10-09 | 2020-06-30 | 湖南铁道职业技术学院 | Handling device on industrial robot practical training platform |
| CN111515682A (en) * | 2020-06-04 | 2020-08-11 | 安徽机电职业技术学院 | Automatic assembling equipment for wind power hub |
| CN111776270A (en) * | 2020-06-17 | 2020-10-16 | 昆明理工大学 | Automatic container loader for production line articles |
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2020
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|---|---|---|---|---|
| KR20130022537A (en) * | 2011-08-25 | 2013-03-07 | 최미숙 | Device of assembling for ball valve |
| CN205380607U (en) * | 2016-03-15 | 2016-07-13 | 广州市光裕汽车空调制造有限公司 | Air condition compressor's bolt locking frock |
| CN106426120A (en) * | 2016-11-22 | 2017-02-22 | 大连交通大学 | Heavy loading gantry type robot |
| CN108500604A (en) * | 2018-05-03 | 2018-09-07 | 蔚来汽车有限公司 | Automatic assembly equipment and automatic assembly method |
| CN208787928U (en) * | 2018-09-10 | 2019-04-26 | 上海吉谊汽车配件有限公司 | A kind of two groups of screw tightening assembly machines |
| CN110449871A (en) * | 2019-07-17 | 2019-11-15 | 中国地质大学（武汉） | It is a kind of suitable for high-voltage tube bus fitting it is automatic lock unload screw device |
| CN210879650U (en) * | 2019-10-09 | 2020-06-30 | 湖南铁道职业技术学院 | Handling device on industrial robot practical training platform |
| CN111515682A (en) * | 2020-06-04 | 2020-08-11 | 安徽机电职业技术学院 | Automatic assembling equipment for wind power hub |
| CN111776270A (en) * | 2020-06-17 | 2020-10-16 | 昆明理工大学 | Automatic container loader for production line articles |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113334041A (en) * | 2021-05-08 | 2021-09-03 | 上海卫星工程研究所 | Tension cable assembly assembling tool and method |
| CN114852676A (en) * | 2022-05-27 | 2022-08-05 | 东莞昭和电子有限公司 | Automatic conveying equipment for testing remote controller |
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