CN121018502A

CN121018502A - A robotic arm for assembling metal parts

Info

Publication number: CN121018502A
Application number: CN202511564146.3A
Authority: CN
Inventors: 贲覃福
Original assignee: Jiancheng Intelligent Equipment Guangdong Co ltd
Current assignee: Jiancheng Intelligent Equipment Guangdong Co ltd
Priority date: 2025-10-30
Filing date: 2025-10-30
Publication date: 2025-11-28
Anticipated expiration: 2045-10-30
Also published as: CN121018502B

Abstract

The invention discloses a manipulator for assembling metal parts, which comprises a base, a multiaxial mechanism, an actuator, a rotary drum, a driving wheel, a driven wheel, a matching wheel, a rotating shaft, a rotating plate, a sleeve and a fixed disc, wherein the rotating plate drives the actuator to circularly move through a moving part, the angle of the actuator is ensured, an abutting disc in abutting fit with the sleeve acts on the sleeve and the rotary drum through an adjusting part, the angle of the actuator is adjusted, and the angle compensation is realized through the diameter difference design of a first rotary disc and a second rotary disc (the diameter of the first rotary disc is twice that of the second rotary disc) and the gear transmission ratio. When the rotating plate rotates, the first rotating plate rolls along the fixed plate, and the second rotating plate does circular motion along with the rotating plate, but the angle of the second rotating plate is kept unchanged due to the constraint of the transmission ratio, so that the angle stability of the actuator is ensured, the angle deviation of the actuator is controlled within an error range in the assembly operation process, the assembly precision is improved, and the rework rate caused by the angle deviation is obviously reduced.

Description

Manipulator for assembling metal parts

Technical Field

The invention relates to the technical field of manipulator structures, in particular to a manipulator for assembling metal parts.

Background

In modern industrial production, the requirements of the assembly operation of metal parts on precision and efficiency are increasingly improved, and the core component manipulator of the industrial robot is increasingly widely applied in the industrial production, so that the core component manipulator becomes an important means for improving the production efficiency and ensuring the product quality.

However, in the existing manipulator for assembling metal parts, how to ensure that the actuator maintains a constant angle during operation becomes a great technical challenge. In many precision assembly tasks, such as in the fields of aerospace, automotive manufacturing, electronic equipment assembly, etc., the actuator not only needs to reach the specified location accurately, but also needs to maintain a specific angle during the process of grabbing, moving and placing the parts to ensure proper installation and assembly quality of the parts.

In the existing manipulator design, although the three-dimensional space accurate positioning of the actuator is realized through a multi-axial mechanism, when the actuator performs circular motion or moves in a complex path, the initial set angle of the actuator is often difficult to maintain. This is mainly due to the fact that relative movements between the parts of the manipulator during the transmission may cause the angle of the actuator to shift, thereby affecting the accuracy and efficiency of the assembly.

Therefore, we propose a manipulator for assembling metal parts.

Disclosure of Invention

The invention aims to provide a manipulator for assembling metal parts, which solves the problems in the background technology.

In order to achieve the above purpose, the invention provides a manipulator for assembling metal parts, which comprises a base, a multiaxial mechanism and an actuator positioned at the tail end of the multiaxial mechanism;

The device also comprises a rotary drum positioned in the multiaxial mechanism, wherein the rotary drum is rotationally connected with a driving wheel, a driven wheel is arranged below the driving wheel, a matched wheel rotationally connected with the rotary drum is arranged between the driving wheel and the driven wheel, a rotating shaft penetrating through the driven wheel and the multiaxial mechanism is fixedly connected with a center shaft of the driving wheel, the bottom end of the rotating shaft is fixedly connected with a rotating plate, the other end of the rotating plate is rotationally connected with an actuator, a sleeve is rotationally connected on the driven wheel, and a fixed disc fixedly connected with the sleeve is rotationally connected on the rotating plate;

the movable piece ensures that the angle of the actuator is unchanged when the rotating plate drives the actuator to circularly move;

the pressing plate is in pressing fit with the sleeve, an adjusting piece is arranged in the multiaxial mechanism, and the adjusting piece enables the pressing plate to act on the sleeve and the rotary drum, so that the angle of the actuator is adjusted.

Further, the motor is fixedly connected in the multi-axial mechanism, an output shaft of the motor is fixedly connected with the driving wheel, and the convex ring on the rotating shaft is rotationally connected with the sleeve.

Further, the movable piece comprises a first rotary table and a second rotary table which are rotationally connected with the rotary plate, the first rotary table positioned in the middle of the rotary plate is in meshed transmission with the first rotary table and the fixed plate, the second rotary table is consistent with the fixed plate in diameter, the diameter of the first rotary table is twice that of the second rotary table, and a middle shaft of the second rotary table is fixedly connected with the actuator.

Further, fixedly connected with protecting crust on the rotating plate, first carousel, second carousel and fixed disk all are located the protecting crust, and the sleeve activity penetrates in the protecting crust.

Further, a limiting cylinder is fixedly connected in the multi-axial mechanism, and a sliding groove rotationally connected with the top of the rotary cylinder is formed in the limiting cylinder.

Further, the regulating part comprises a telescopic power part, the top of which is fixedly connected with a limiting cylinder, a stirring plate is fixedly connected with the telescopic end of the telescopic power part, a chute which is in sliding fit with the stirring plate is formed in the limiting cylinder, the stirring plate is fixedly connected with a pressing plate positioned in the limiting cylinder, the outer surface of the sleeve is fixedly connected with a wedge-shaped annular plate which is in pressing fit with the pressing plate, and the top surface of the pressing plate is in pressing fit with the rotating cylinder.

Further, a plurality of pressing blocks are rotatably connected to the pressing plate, a pressure spring is connected between the pressing blocks and the pressing plate, one side of the pressing blocks is in pressing fit with the side of the wedge-shaped annular plate, and the bottom surface of the pressing plate is in pressing fit with the top surface of the wedge-shaped annular plate.

Further, the limiting cylinder is fixedly connected with the shell of the motor, and the sleeve is rotationally connected with the limiting cylinder.

Compared with the prior art, the invention has the beneficial effects that:

By designing the diameter difference between the first rotary table and the second rotary table (the diameter of the first rotary table is twice that of the second rotary table), the angle compensation is realized by utilizing the gear transmission ratio. When the rotating plate rotates, the first rotating plate rolls along the fixed plate, and the second rotating plate moves circularly along with the rotating plate, but the angle of the second rotating plate is kept unchanged due to the constraint of the transmission ratio, so that the angle stability of the actuator is ensured, the angle deviation of the actuator is controlled within an error range in the assembly operation process, the assembly precision is improved, and the rework rate caused by the angle deviation is obviously reduced;

and the telescopic power piece (the electric telescopic rod) drives the pressing disc, the sleeve and the rotary drum are rapidly pressed or released through the stirring plate and the sliding groove, and the angle of the actuator can be dynamically adjusted without stopping.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of the overall structure of the present invention;

FIG. 3 is a schematic diagram of a split structure of the actuator and the multiaxial mechanism of the present invention;

FIG. 4 is a schematic diagram of the cooperation structure of the rotating plate, the limiting cylinder and the actuator of the present invention;

FIG. 5 is a schematic elevational view of the structure of FIG. 4 in accordance with the present invention;

FIG. 6 is a schematic cross-sectional view of a protective housing according to the present invention;

FIG. 7 is a schematic diagram showing a split structure of a first turntable and a fixed disk according to the present invention;

FIG. 8 is a schematic view of the internal structure of the drum of the present invention;

FIG. 9 is a schematic view of the mating structure of the drum, wedge ring, sleeve, and rotating shaft of the present invention;

FIG. 10 is a schematic view of a separation structure of a limiting cylinder and a rotary cylinder according to the present invention;

FIG. 11 is a schematic diagram of the cooperation structure of the limiting cylinder and the rotary cylinder;

FIG. 12 is a schematic view of the engaging structure of the drum and engaging wheel and limiting drum of the present invention;

Fig. 13 is a schematic diagram of the cooperation structure of the pressing plate and the wedge ring plate of the present invention.

In the figure, 1, a base; 2, a multiaxial mechanism, 3, an actuator, 4, a rotary drum, 5, a driving wheel, 6, a driven wheel, 7, a matching wheel, 8, a rotating shaft, 9, a rotating plate, 10, a sleeve, 11, a fixed disc, 12, a pressing disc, 13, a motor, 14, a first rotary disc, 15, a second rotary disc, 16, a protective shell, 17, a limiting cylinder, 18, a sliding groove, 19, a telescopic power piece, 20, a toggle plate, 21, a sliding groove, 22, a wedge-shaped annular plate, 23, a pressing block, 24 and a pressure spring.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-13, the invention provides a manipulator for assembling metal parts, which comprises a base 1, a multi-axial mechanism 2 and an actuator 3 positioned at the tail end of the multi-axial mechanism 2, wherein the multi-axial mechanism 2 comprises an X-axis conveying arm, a Y-axis conveying arm and a Z-axis conveying arm, an X-axis conveying block on the X-axis conveying arm for controlling sliding is fixedly connected with the Y-axis conveying arm, a Y-axis conveying block on the Y-axis conveying arm for controlling sliding is fixedly connected with the Z-axis conveying arm, and the actuator 3 positioned at the tail end position is accurately positioned in a three-dimensional space through three mutually perpendicular linear movements;

The actuator 3 is positioned at the bottom end of the Z-axis conveying arm, and the actuator 3 is divided into clamping jaws, sucking discs, welding guns and the like according to functions so as to adapt to different working tasks, and the relevant actuator 3 is selected according to actual requirements, wherein the actuator 3 is internally provided with a power supply and a control structure;

the device also comprises a rotary drum 4 positioned in the multiaxial mechanism 2, wherein the rotary drum 4 is rotationally connected with a driving wheel 5, a driven wheel 6 is arranged below the driving wheel 5, a matching wheel 7 rotationally connected with the rotary drum 4 is arranged between the driving wheel 5 and the driven wheel 6, a rotating shaft 8 penetrating through the driven wheel 6 and the multiaxial mechanism 2 is fixedly connected with a central shaft of the driving wheel 5, a rotating plate 9 is fixedly connected with the bottom end of the rotating shaft 8, the other end of the rotating plate 9 is rotationally connected with an actuator 3, a sleeve 10 is rotationally connected with the driven wheel 6, and a fixed disc 11 fixedly connected with the sleeve 10 is rotationally connected with the rotating plate 9;

the movable part, the movable part makes the rotating plate 9 drive the angular movement of executor 3, guarantees the angle of executor 3, supports press fit's pressure disk 12 with sleeve 10, is equipped with the regulating part in the multiaxis mechanism 2, the regulating part makes pressure disk 12 effect sleeve 10 and rotary drum 4, realizes the regulation of executor 3 angle, realizes the three-dimensional space accurate positioning of executor 3 through multiaxis mechanism 2, combines rotary drum 4, action wheel 5, from driving wheel 6 and cooperation wheel 7's transmission design for executor 3 can be circular movement again can keep specific angle, has improved flexibility and the precision of assembly greatly.

The motor 13 is fixedly connected in the multiaxial mechanism 2, the output shaft of the motor 13 is fixedly connected with the driving wheel 5, the convex ring on the rotating shaft 8 is rotationally connected with the sleeve 10, so that the rotating shaft 8 can not slide along the sleeve 10, only the rotating shaft 8 and the sleeve 10 can relatively rotate, the motor 13 directly drives the driving wheel 5 to rotate, power is transmitted to the rotating plate 9 and the actuator 3 through the rotating shaft 8, automatic driving of the actuator 3 is realized, the convex ring on the rotating shaft 8 is rotationally connected with the sleeve 10, stable rotation of the rotating shaft 8 is ensured, axial sliding is reduced, and transmission efficiency is improved.

The movable part comprises a first rotary table 14 and a second rotary table 15 which are rotationally connected with the rotary plate 9, the first rotary table 14 positioned in the middle of the rotary plate 9 is in meshed transmission with the first rotary table 14 and the fixed table 11, the second rotary table 15 is consistent with the diameter of the fixed table 11, the diameter of the first rotary table 14 is twice as large as that of the second rotary table 15, the middle shaft of the second rotary table 15 is fixedly connected with the actuator 3, the angle of the actuator 3 in the circular motion process is maintained through the design of the first rotary table 14 and the second rotary table 15 with different diameters, when the rotary plate 9 rotates, the first rotary table 14 rolls along the fixed table 11, and the second rotary table 15 does circular motion along with the rotary plate 9 but the angle is unchanged, so that the stable angle of the actuator 3 is ensured, and the assembly accuracy is improved.

The guard casing 16 is fixedly connected to the rotating plate 9, the first rotary table 14, the second rotary table 15 and the fixed plate 11 are all located in the guard casing 16, the sleeve 10 movably penetrates into the guard casing 16, the inner transmission part is effectively protected from being interfered and damaged by the external environment by the aid of the guard casing 16, the service life of the manipulator is prolonged, and meanwhile, the sleeve 10 movably penetrates into the guard casing 16, so that the flexibility and stability of the transmission part are guaranteed.

The multi-axial mechanism 2 is internally and fixedly connected with a limiting cylinder 17, a sliding groove 18 rotationally connected with the top of the rotary cylinder 4 is formed in the limiting cylinder 17, the rotation of the rotary cylinder 4 is accurately guided and limited by the design of the limiting cylinder 17 and the sliding groove 18, the rotary cylinder 4 is prevented from deviating and shaking in the rotation process, and the operation stability and the positioning accuracy of the mechanical arm are improved.

The regulating part comprises a telescopic power part 19, the top of which is fixedly connected with a limiting cylinder 17, the telescopic end of the telescopic power part 19 is fixedly connected with a stirring plate 20, a chute 21 which is in sliding fit with the stirring plate 20 is formed in the limiting cylinder 17, the stirring plate 20 is fixedly connected with a pressing plate 12 positioned in the limiting cylinder 17, the outer surface of a sleeve 10 is fixedly connected with a wedge-shaped annular plate 22 which is in pressing fit with the pressing plate 12, the top surface of the pressing plate 12 is in pressing fit with a rotary cylinder 4, the stirring plate 20 is driven to move along the chute 21 through the telescopic power part 19, and the pressing plate 12 is driven to press or release the sleeve 10 and the rotary cylinder 4, so that the flexible regulation of the angle of the actuator 3 is realized.

The pressing disc 12 is rotatably connected with a plurality of pressing blocks 23, a pressure spring 24 is connected between the pressing blocks 23 and the pressing disc 12, one side of the pressing blocks 23 is in pressing fit with the side of the wedge-shaped annular plate 22, the bottom surface of the pressing disc 12 is in pressing fit with the top surface of the wedge-shaped annular plate 22, the pressing action between the pressing disc 12 and the wedge-shaped annular plate 22 is more uniform and stable due to the design of the pressing blocks 23 and the pressure spring 24, abrasion and noise caused by poor contact are reduced, and meanwhile, the adjusting precision and response speed of the pressing disc 12 to the sleeve 10 and the rotary drum 4 are improved due to the design.

The limiting cylinder 17 is fixedly connected with the shell of the motor 13, the sleeve 10 is rotationally connected with the limiting cylinder 17, the structural stability of the whole manipulator is enhanced by the fixedly connected design of the limiting cylinder 17 and the shell of the motor 13, the stability and the precision of the sleeve 10 in the rotating process are ensured by the rotationally connected sleeve 10 and the limiting cylinder 17, and the operation reliability and the assembly quality of the manipulator are further improved.

Working principle:

The actuator 3 is moved to a metal part storage position through the multiaxial mechanism 2, the metal part is clamped through the actuator 3 (a driving power supply is arranged on the actuator 3 to enable the actuator 3 to complete clamping or loosening operation), and the actuator 3 clamped with the metal part is made to perform circular motion through the starting motor 13 to drive the metal part to move to an installation workpiece.

When the actuator 3 which needs to do circular motion always keeps the angle, the top surface of the pressing disc 12 is far away from the bottom end of the rotary drum 4, the rotary drum 4 can flexibly rotate, the bottom surface of the pressing disc 12 is attached to the top surface of the wedge-shaped annular plate 22, the pressing block 23 is tightly pressed on the side of the wedge-shaped annular plate 22 under the action of the pressure spring 24, and the bottom end of the pressing block 23 is pressed on the limiting cylinder 17, so that the sleeve 10 and the driven wheel 6 cannot rotate, and the driven wheel 6 is kept motionless relative to the fixed limiting cylinder 17;

The output shaft of the motor 13 rotates to drive the rotating shaft 8 to rotate to drive the rotating plate 9 to rotate, the driving wheel 5 rotates in situ, the driven wheel 6 cannot rotate, the rotating driving wheel 5 and the fixed driven wheel 6 enable the matched wheel 7 meshed with the driving wheel 5 and the driven wheel 6 to do circular motion and roll at the same time, and the rotating drum 4 rotates in a limiting cylinder 17 in an adaptive mode;

The sleeve 10 is fixed, so that the fixed disc 11 connected and fixed with the sleeve 10 is kept still, the rotating plate 9 moves circularly to drive the first rotary disc 14 and the second rotary disc 15 to move circularly (taking the axle center of the fixed disc 11 as a rotating center), wherein the first rotary disc 14 rolls along the fixed disc 11 in a meshed manner, and the second rotary disc 15 does not change in angular rotation although moving circularly.

When the angle of the actuator 3 needs to be adjusted, the telescopic power piece 19 (preferably an electric telescopic rod) is started to drive the toggle rod to move upwards along the chute 21, so that the top surface of the pressing disc 12 is pressed against the bottom end of the rotary drum 4, the rotary drum 4 cannot rotate, the matching wheel 7 keeps rotating at the original position and cannot perform circular motion, but can rotate at the original position, and the pressing disc 12 and the pressing block 23 are simultaneously far away from the wedge-shaped annular plate 22, thereby releasing the restriction on the sleeve 10 and enabling the driven wheel 6 and the fixed disc 11 to rotate and move;

the output shaft of the motor 13 rotates to drive the rotating shaft 8 to rotate, the driving wheel 5 rotates in situ to drive the matching wheel 7 to rotate in situ, so that the driven wheel 6 rotates, the driven wheel 6 drives the fixed disc 11 to rotate, and the second rotating disc 15 rotates by an angle in cooperation with the first rotating disc 14, so that the switching adjustment of the angle of the actuator 3 is completed;

After the angle of the actuator 3 is switched and adjusted, the telescopic end of the telescopic power piece 19 moves downwards, so that the driven wheel 6 and the fixed disc 11 are kept motionless, the actuator 3 which is convenient for performing circular motion keeps the adjusted angle, and the metal parts are driven to move to the installation workpiece, so that the installation is completed.

The contact surface of the rotary drum 4 and the pressing disc 12, the contact surface of the pressing disc 12 and the wedge-shaped annular plate 22 and the contact surface of the pressing block 23 and the wedge-shaped annular plate 22 are friction anti-slip surfaces.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A manipulator for assembling metal parts comprises a base (1), a multiaxial mechanism (2) and an actuator (3) positioned at the tail end of the multiaxial mechanism (2);

The automatic transmission device is characterized by further comprising a rotary drum (4) positioned in the multiaxial mechanism (2), wherein the rotary drum (4) is rotationally connected with a driving wheel (5), a driven wheel (6) is arranged below the driving wheel (5), a matching wheel (7) rotationally connected with the rotary drum (4) is arranged between the driving wheel (5) and the driven wheel (6), a rotary shaft (8) penetrating through the driven wheel (6) and the multiaxial mechanism (2) is fixedly connected with a central shaft of the driving wheel (5), a rotary plate (9) is fixedly connected with the bottom end of the rotary shaft (8), the other end of the rotary plate (9) is rotationally connected with an actuator (3), a sleeve (10) is rotationally connected with the driven wheel (6), and a fixed disc (11) fixedly connected with the sleeve (10) is rotationally connected with the rotary plate (9).

The movable piece ensures the angle of the actuator (3) while the rotating plate (9) drives the actuator (3) to move circularly;

An abutting disc (12) in abutting fit with the sleeve (10) is arranged in the multiaxial mechanism (2), and the abutting disc (12) is enabled to act on the sleeve (10) and the rotary drum (4) by the adjusting piece, so that the angle of the actuator (3) is adjusted.

2. The manipulator for assembling metal parts according to claim 1, wherein a motor (13) is fixedly connected in the multi-axial mechanism (2), an output shaft of the motor (13) is fixedly connected with the driving wheel (5), and a convex ring on the rotating shaft (8) is rotatably connected with the sleeve (10).

3. The manipulator for assembling metal parts according to claim 2, wherein the movable part comprises a first rotary table (14) and a second rotary table (15) which are rotationally connected with the rotary plate (9), the first rotary table (14) positioned in the middle of the rotary plate (9) is in meshed transmission with the first rotary table (14) and the fixed table (11), the second rotary table (15) is consistent with the diameter of the fixed table (11), the diameter of the first rotary table (14) is twice as large as that of the second rotary table (15), and a central shaft of the second rotary table (15) is fixedly connected with the actuator (3).

4. The manipulator for assembling metal parts according to claim 3, wherein the rotating plate (9) is fixedly connected with a protecting shell (16), the first rotating disc (14), the second rotating disc (15) and the fixed disc (11) are all positioned in the protecting shell (16), and the sleeve (10) movably penetrates into the protecting shell (16).

5. The manipulator for assembling metal parts according to claim 4, wherein a limiting cylinder (17) is fixedly connected in the multi-axial mechanism (2), and a sliding groove (18) rotationally connected with the top of the rotary cylinder (4) is formed in the limiting cylinder (17).

6. The manipulator for assembling metal parts according to claim 5, wherein the adjusting piece comprises a telescopic power piece (19) with the top fixedly connected with the limiting cylinder (17), a stirring plate (20) is fixedly connected to the telescopic end of the telescopic power piece (19), a sliding groove (21) which is in sliding fit with the stirring plate (20) is formed in the limiting cylinder (17), the stirring plate (20) is fixedly connected with a pressing plate (12) positioned in the limiting cylinder (17), a wedge-shaped annular plate (22) which is in pressing fit with the pressing plate (12) is fixedly connected to the outer surface of the sleeve (10), and the top surface of the pressing plate (12) is in pressing fit with the rotary cylinder (4).

7. The manipulator for assembling metal parts according to claim 6, wherein a plurality of pressing blocks (23) are rotatably connected to the pressing plate (12), a pressure spring (24) is connected between the pressing blocks (23) and the pressing plate (12), one side of the pressing blocks (23) is in pressing fit with the side of the wedge-shaped annular plate (22), and the bottom surface of the pressing plate (12) is in pressing fit with the top surface of the wedge-shaped annular plate (22).

8. The manipulator for assembling metal parts according to claim 7, wherein the limiting cylinder (17) is fixedly connected with the shell of the motor (13), and the sleeve (10) is rotatably connected with the limiting cylinder (17).