CN207577855U - A kind of automatic assembly line system of robot forearm - Google Patents
A kind of automatic assembly line system of robot forearm Download PDFInfo
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- CN207577855U CN207577855U CN201721650316.0U CN201721650316U CN207577855U CN 207577855 U CN207577855 U CN 207577855U CN 201721650316 U CN201721650316 U CN 201721650316U CN 207577855 U CN207577855 U CN 207577855U
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- forearm
- robot
- line system
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Abstract
The utility model discloses a kind of automatic assembly line system of robot forearm, including forearm casting and J5 speed reducers lock screw station, wrist casting and J5 speed reducers lock screw station, bearing assembly assembling station, J6 electric machine assemblies assembling station, output flange assembling station, J5 electric machine assemblies assembling station, synchronous belt assembling tensioning station, the forearm cover board assembling station set gradually；And the AGV trolleies run along straight path.The automatic assembly line system of robot forearm of the utility model all carries out automatic assembling using robot, it is significantly reduced manual work, the positioning of forearm flange face and the Real-time Feedback of the depth of parallelism are realized with reference to camera and dot laser, improve the efficiency of assembling of robot forearm, whole line layout uses modular design, can meet different assembling demands.
Description
Technical field
The utility model is related to intelligent Manufacturing Technology field, specifically a kind of automatic assembly line system of robot forearm
System.
Background technology
Industrial robot is essential component part in intelligent plant, and wherein robot forearm is the weight of robot again
Want component part.The assembling of existing robot forearm is substantially man-made assembly, and there are stability is poor, precision is low, efficiency is not
Height, duplication of labour intensity is high, and not only facing human cost for manufacturing enterprise drastically increases, and mobility of people is big, product matter
The problems such as unstable are measured, more seriously few people are ready to be engaged in this simple duplication of labour now.Therefore, there is an urgent need for one kind
Efficiently, the automatic assembly line system of robot forearm stablized.
Utility model content
Purpose of utility model：In order to overcome the deficiencies in the prior art, it is small that the utility model provides a kind of robot
The automatic assembly line system of arm.
Technical solution：In order to solve the above technical problems, a kind of automatic assembly line of robot forearm of the utility model
System, including the forearm casting that sets gradually and J5 speed reducers lock screw station, wrist casting and J5 speed reducers lock screw station,
Bearing assembly assembling station, J6 electric machine assemblies assembling station, output flange assembling station, J5 electric machine assemblies assembling station, synchronization
Band assembling tensioning station, forearm cover board assembling station and the AGV trolleies back and forth run along straight path, forearm casting and J5
Speed reducer lock screw station, wrist casting and J5 speed reducers lock screw station, bearing assembly assembling station, J6 electric machine assemblies assemble
Station forms a line, output flange assembling station, J5 electric machine assemblies assembling station, synchronous belt assembling tensioning station, forearm cover board
Assembling station is arranged as another row, and two row station are oppositely arranged, and between two row station, each station is both provided with AGV trolleies
Station carrier.
Wherein, forearm casting includes six-joint robot, caching station, centering machine with J5 speed reducers lock screw station, with
And it is used to implement the camera and dot laser of flange face positioning and depth of parallelism Real-time Feedback.
Wherein, wrist casting includes six-joint robot with J5 speed reducers lock screw station, detent mechanism, caching station, determines
Concentric mechanism and the camera for making wrist counter sink concentric position opposite with J5 speed reducer mounting holes.
Wherein, bearing assembly station includes six-joint robot, detent mechanism, caching station, centering machine, compacting machine
Structure and the camera and dot laser for being used to implement flange face positioning and depth of parallelism Real-time Feedback.
Wherein, J6 electric machine assemblies assembling station includes six-joint robot, station, detent mechanism and is used to implement
Wrist and the positioning of J6 electric machine assembly flange faces and the real-time camera and dot laser of the depth of parallelism.
Wherein, output flange assembling station includes six-joint robot, station, detent mechanism and is used to implement method
Blue face positioning and the camera and dot laser of depth of parallelism Real-time Feedback.
Wherein, J5 electric machine assemblies assembling station includes six-joint robot, station, detent mechanism and is used to implement
The camera of flange face positioning.
Wherein, synchronous belt assembling tensioning station includes six-joint robot and collaboration humanoid robot, station, localization machine
Structure, shafting strainer.
Wherein, forearm cover board assembling station includes six-joint robot, detent mechanism, station, hold-down mechanism.
Advantageous effect：A kind of automatic assembly line system of robot forearm of the utility model has below beneficial to effect
Fruit：
The automatic assembly line system of robot forearm of the utility model all carries out automatic assembling, pole using robot
Big reduction manual work realizes the positioning of forearm flange face and the Real-time Feedback of the depth of parallelism with reference to camera and dot laser, carries
The efficiency of assembling of high robot forearm, whole line layout use modular design, can meet different assembling demands.
Description of the drawings
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is the decomposition texture schematic diagram of robot forearm.
Specific embodiment
The utility model is further described below in conjunction with the accompanying drawings.
As shown in Fig. 2, the targeted robot forearm component of the utility model includes forearm casting 101, wrist component
102nd, J5 decelerations thermomechanical components 103, bearing assembly 104, J6 electric machine assemblies 105, output flange 106, J5 electric machine assemblies 107, synchronization
Band 108, the first forearm cover board 109, the second forearm cover board 110.
As shown in Figure 1, a kind of automatic assembly line system of robot forearm of the utility model, forearm is assembled and is planned
It is divided into forearm casting to assemble with J5 speed reducers lock screw station 1, wrist casting and J5 speed reducers lock screw station 2, bearing assembly
Station 3, J6 electric machine assemblies assembling station 4, output flange assembling station 5, J5 electric machine assemblies assembling station 6, synchronous belt assembling
Six-joint robot 10, the six axis machines that tight station 7, forearm cover board assembling station 8, AGV trolleies 9 and each station respectively include
Device people 11, six-joint robot 12, six-joint robot 13, six-joint robot 14, six-joint robot 15, six-joint robot 16, six axis
Robot 17, material caching station 18, screw blowing area 19, centering machine 23, dot laser 24, station 25, camera
26th, carrier 27, detent mechanism 28, detent mechanism 29, camera 30, station 31, detent mechanism 32, dot laser 33, camera shooting
First 34, hold-down mechanism 35, station 36, detent mechanism 37, camera 38, dot laser 39, station 40, detent mechanism
41st, camera 42, dot laser 43, station 44, detent mechanism 45, camera 46, station 47, collaboration humanoid robot
48th, detent mechanism 49, strainer 50, station 51, detent mechanism 52, hold-down mechanism 53.
The automatic assembly line system of robot forearm is transported charging tray (containing material) to each station using AGV trolleies 9 and is carried
Tool 27, each station manipulator takes material needed for each station to be assembled from carrier.
1st, forearm casting and J5 speed reducers lock screw station 1
This station is equipped with a six-joint robot 10, and robot clamping jaw captures forearm casting 20 from material caching station 18
It is put into detent mechanism 28, then the forearm 20 of wrist 22 and forearm casting 101 for capturing wrist component 102 is assembled.Centering
Mechanism 23 acts, and positions forearm 20 and wrist 22 is concentric.The J5 speed reducers 21 of manipulator crawl J5 decelerations thermomechanical components 103, J5 subtracts
The flange of fast machine 21 is moved to 20 flange side of forearm and carries out contraposition installation, and flange is realized using camera 26 and dot laser 24
Face positions and depth of parallelism Real-time Feedback.Manipulator takes out screw from screw blowing area 19, for locking forearm 20 and J5 speed reducers
21 connection.Screw auto lock is put into lower station station 25 later.
2nd, wrist casting and J5 speed reducers lock screw station 2
This station is equipped with a six-joint robot 11, and the forearm 20 of robot clamping jaw crawl station 25 is put into localization machine
In structure 29, forearm positioning is completed, the counter sink concentric position opposite with 21 mounting hole of J5 speed reducers of wrist 22 is clapped using camera 30
It puts.Wrist 22 is fixed, the rotation of mechanical hand-motion speed reducer input shaft, and adjustment wrist 22 and J5 speed reducers 21 are to relatively concentric.Machine
Tool hand is put into lower station station 31 after carrying out screw lock.
3rd, bearing assembly station 3
This station is equipped with a six-joint robot 12, and the forearm 20 of robot clamping jaw crawl station 31 is put into localization machine
In structure 32, forearm positioning is completed.Then bearing assembly 104 is packed into forearm casting 101 and wrist 22, uses camera 34 and point
Laser 33 realizes flange face positioning and depth of parallelism Real-time Feedback.Hold-down mechanism 35 compresses bearing assembly 104, and manipulator carries out screw
Lower station station 36 is put into after locking.
4th, J6 electric machine assemblies assembling station 4
This station is equipped with a six-joint robot 13, and robot clamping jaw captures forearm 20 from station 36 and is put into localization machine
In structure 37, forearm positioning is completed.J6 electric machine assemblies are packed into wrist 22, using camera 38 and dot laser 39 realize wrist 22 with
The positioning of 105 flange face of J6 electric machine assemblies and the Real-time Feedback of the depth of parallelism.Then, J6 electric machine assemblies are locked using manipulator
105 by forearm with the attachment screw of wrist 22 and being put into lower station station 40.
5th, output flange assembling station 5
This station is equipped with a six-joint robot 14, and robot clamping jaw captures forearm from station 40 and is put into localization machine
In structure 41, forearm positioning is completed.It captures J6 electric machine assemblies 105 to install with the contraposition of wrist 22, uses camera 42 and dot laser 43
Realize flange face positioning and depth of parallelism Real-time Feedback.Camera confirms screw installation site, manipulator locking output method after taking pictures
Forearm is simultaneously put into lower station station 44 by the attachment screw of orchid 106 and J6 electric machine assemblies.
6th, J5 electric machine assemblies assembling station 6
This station is equipped with a six-joint robot 15, and robot clamping jaw captures forearm from station 44 and is put into localization machine
In structure 45, forearm positioning is completed.Manipulator crawl J5 electric machine assemblies 107 are packed into forearm, realize that flange face is determined by camera 46
Position, the attachment screw of prelock J5 electric machine assemblies and shoulder casting.Then, forearm is put into lower station station 47 by manipulator.
7th, synchronous belt assembling tensioning station 7
This station is equipped with a six-joint robot 16 and a collaboration humanoid robot 48.Six-joint robot clamping jaw from caching work
Crawl forearm is put into detent mechanism 49 in position 47, completes forearm positioning.Manipulator crawl synchronous belt 108, which tilts, is packed into synchronizing wheel
And tense, the shafting strainer 50 with force snesor is tensioned synchronous belt to the coefficient of tension of demand, uses cooperating robot
48 tread belt tensile forces.While keeping tensioning state, manipulator is by J5 motor plate screw lockings.Then, manipulator will be small
Arm crawl is put into lower station station 51.
8th, forearm cover board assembling station 8
This station is equipped with a six-joint robot 17, and manipulator crawl forearm is put into detent mechanism 52, completes forearm and determine
Position.The first forearm cover board of manipulator crawl 109 carries out contraposition installation with forearm.Hold-down mechanism 53 presses the first forearm cover board 109
Tightly, manipulator locking forearm and the first forearm cover board.Another the second forearm of side cover board 110 is similarly locked, manipulator will be assembled
Small arm component finished product is put into AGV trolleies 9.
The above is only the preferred embodiment of the utility model, it should be pointed out that：For the common skill of the art
For art personnel, under the premise of the utility model principle is not departed from, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the scope of protection of the utility model.
Claims (9)
1. a kind of automatic assembly line system of robot forearm, it is characterised in that：Including the forearm casting set gradually and J5
Speed reducer lock screw station, wrist casting and J5 speed reducers lock screw station, bearing assembly assembling station, J6 electric machine assemblies assemble
Station, output flange assembling station, J5 electric machine assemblies assembling station, synchronous belt assembling tensioning station, forearm cover board assembling station,
And the AGV trolleies back and forth run along straight path, forearm casting slow down with J5 speed reducers lock screw station, wrist casting and J5
Machine lock screw station, bearing assembly assembling station, J6 electric machine assemblies assembling station form a line, output flange assembling station, J5
Electric machine assembly assembling station, synchronous belt assembling tensioning station, forearm cover board assembling station are arranged as another row, and two row station are opposite
Setting, for AGV trolleies between two row station, each station is both provided with station carrier.
2. a kind of automatic assembly line system of robot forearm according to claim 1, it is characterised in that：Wherein, it is small
Arm casting includes six-joint robot, caching station, centering machine with J5 speed reducers lock screw station and is used to implement flange face
Positioning and the camera and dot laser of depth of parallelism Real-time Feedback.
3. a kind of automatic assembly line system of robot forearm according to claim 1, it is characterised in that：Wherein, wrist
Portion's casting includes six-joint robot, detent mechanism, caching station, centering machine with J5 speed reducers lock screw station and is used for
Make the camera of wrist counter sink concentric position opposite with J5 speed reducer mounting holes.
4. a kind of automatic assembly line system of robot forearm according to claim 1, it is characterised in that：Wherein, axis
Bearing assembly station includes six-joint robot, detent mechanism, caching station, centering machine, hold-down mechanism and is used to implement method
Blue face positioning and the camera and dot laser of depth of parallelism Real-time Feedback.
5. a kind of automatic assembly line system of robot forearm according to claim 1, it is characterised in that：Wherein, J6
Electric machine assembly assembling station includes six-joint robot, station, detent mechanism and is used to implement wrist and J6 electric machine assemblies
The positioning of flange face and the real-time camera and dot laser of the depth of parallelism.
6. a kind of automatic assembly line system of robot forearm according to claim 1, it is characterised in that：Wherein, it is defeated
Go out flange assembling station to include six-joint robot, station, detent mechanism and be used to implement flange face positioning and the depth of parallelism
The camera and dot laser of Real-time Feedback.
7. a kind of automatic assembly line system of robot forearm according to claim 1, it is characterised in that：Wherein, J5
Electric machine assembly assembling station includes six-joint robot, station, detent mechanism and the camera shooting for being used to implement flange face positioning
Head.
8. a kind of automatic assembly line system of robot forearm according to claim 1, it is characterised in that：Wherein, together
Step band assembling tensioning station includes six-joint robot and collaboration humanoid robot, station, detent mechanism, shafting strainer.
9. a kind of automatic assembly line system of robot forearm according to claim 1, it is characterised in that：Wherein, it is small
Arm cover board assembling station includes six-joint robot, detent mechanism, station, hold-down mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721650316.0U CN207577855U (en) | 2017-12-01 | 2017-12-01 | A kind of automatic assembly line system of robot forearm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721650316.0U CN207577855U (en) | 2017-12-01 | 2017-12-01 | A kind of automatic assembly line system of robot forearm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207577855U true CN207577855U (en) | 2018-07-06 |
Family
ID=62735180
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721650316.0U Active CN207577855U (en) | 2017-12-01 | 2017-12-01 | A kind of automatic assembly line system of robot forearm |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108907704A (en) * | 2018-07-11 | 2018-11-30 | 东莞市楚诺机械科技有限公司 | A kind of assembly line of telescopic rod |
| CN109129426A (en) * | 2018-09-25 | 2019-01-04 | 苏州富强科技有限公司 | The mounting structure of manipulator and the synchronous wheel assembly of retarder, wrist and forearm casting |
| CN109128761A (en) * | 2018-09-25 | 2019-01-04 | 苏州富强科技有限公司 | The mounting structure of pressing device and forearm casting wheel assembly synchronous with retarder |
| CN109128784A (en) * | 2018-09-11 | 2019-01-04 | 苏州富强科技有限公司 | The mounting device and installation method of speed reducer in robot wrist and forearm |
| CN109175999A (en) * | 2018-09-25 | 2019-01-11 | 苏州富强科技有限公司 | To the assembling structure and assembly method of axis mechanism, robot assembly |
| CN109352300A (en) * | 2018-11-26 | 2019-02-19 | 华中科技大学 | A kind of device of multirobot collaborative assembly memory bar |
| CN110544053A (en) * | 2019-09-27 | 2019-12-06 | 合肥工业大学 | Method and system for determining planning scheme of mixed flow assembly line of large and small castings |
| CN113084502A (en) * | 2021-04-12 | 2021-07-09 | 天津中德应用技术大学 | Intelligent manufacturing production line for electric cylinder |
| CN113500414A (en) * | 2021-07-26 | 2021-10-15 | 苏州美达王钢铁制品有限公司 | Technological process suitable for lean production |
| CN115255909A (en) * | 2022-06-22 | 2022-11-01 | 日照市越疆智能科技有限公司 | Automatic assembly production line and method for joints of industrial robot and storage medium |
-
2017
- 2017-12-01 CN CN201721650316.0U patent/CN207577855U/en active Active
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108907704A (en) * | 2018-07-11 | 2018-11-30 | 东莞市楚诺机械科技有限公司 | A kind of assembly line of telescopic rod |
| CN109128784A (en) * | 2018-09-11 | 2019-01-04 | 苏州富强科技有限公司 | The mounting device and installation method of speed reducer in robot wrist and forearm |
| CN109128784B (en) * | 2018-09-11 | 2023-09-08 | 苏州富强科技有限公司 | Device and method for installing speed reducer in wrist and forearm of robot |
| CN109129426B (en) * | 2018-09-25 | 2024-03-29 | 苏州富强科技有限公司 | Mounting structure of manipulator and speed reducer synchronizing wheel assembly, wrist and forearm casting |
| CN109175999A (en) * | 2018-09-25 | 2019-01-11 | 苏州富强科技有限公司 | To the assembling structure and assembly method of axis mechanism, robot assembly |
| CN109128761A (en) * | 2018-09-25 | 2019-01-04 | 苏州富强科技有限公司 | The mounting structure of pressing device and forearm casting wheel assembly synchronous with retarder |
| CN109175999B (en) * | 2018-09-25 | 2023-08-29 | 苏州富强科技有限公司 | Assembly structure and assembly method of shaft aligning mechanism and robot assembly |
| CN109128761B (en) * | 2018-09-25 | 2023-11-24 | 苏州富强科技有限公司 | Mounting structure of hold-down device and forearm foundry goods and reduction gear synchronizing wheel subassembly |
| CN109129426A (en) * | 2018-09-25 | 2019-01-04 | 苏州富强科技有限公司 | The mounting structure of manipulator and the synchronous wheel assembly of retarder, wrist and forearm casting |
| CN109352300A (en) * | 2018-11-26 | 2019-02-19 | 华中科技大学 | A kind of device of multirobot collaborative assembly memory bar |
| CN109352300B (en) * | 2018-11-26 | 2020-05-19 | 华中科技大学 | Device for cooperatively assembling memory banks by multiple robots |
| CN110544053A (en) * | 2019-09-27 | 2019-12-06 | 合肥工业大学 | Method and system for determining planning scheme of mixed flow assembly line of large and small castings |
| CN110544053B (en) * | 2019-09-27 | 2023-01-31 | 合肥工业大学 | Method and system for determining planning scheme of mixed flow assembly production line of large and small castings |
| CN113084502A (en) * | 2021-04-12 | 2021-07-09 | 天津中德应用技术大学 | Intelligent manufacturing production line for electric cylinder |
| CN113084502B (en) * | 2021-04-12 | 2023-02-24 | 天津中德应用技术大学 | Intelligent manufacturing production line for electric cylinder |
| CN113500414A (en) * | 2021-07-26 | 2021-10-15 | 苏州美达王钢铁制品有限公司 | Technological process suitable for lean production |
| CN115255909A (en) * | 2022-06-22 | 2022-11-01 | 日照市越疆智能科技有限公司 | Automatic assembly production line and method for joints of industrial robot and storage medium |
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