CN209632498U - A kind of multi-robot arm team control assembling device - Google Patents
A kind of multi-robot arm team control assembling device Download PDFInfo
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- CN209632498U CN209632498U CN201920076496.9U CN201920076496U CN209632498U CN 209632498 U CN209632498 U CN 209632498U CN 201920076496 U CN201920076496 U CN 201920076496U CN 209632498 U CN209632498 U CN 209632498U
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- mechanical arm
- workpiece
- workbench
- assembling mechanism
- fixedly installed
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Abstract
The utility model 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 utility model 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 utility model 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.
Utility model content
The purpose of this utility model is to provide a kind of multi-robot arm team control assembling devices, to solve above-mentioned background technique
The problem of middle proposition.
To achieve the above object, the utility model provides the following technical solutions:
A kind of multi-robot arm team control assembling device, including bottom plate, workbench and assembling mechanism；The left and right two of the bottom plate
Side 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, be provided with above workbench for the workpiece on workbench into
The assembling mechanism of row assembling, assembling mechanism is ring structure, and eight manipulators are symmetrically arranged on the inside of assembling mechanism；The machine
Tool hand includes first mechanical arm and second mechanical arm, and one end of first mechanical arm and the inner wall of assembling mechanism are rotatablely connected, and first
The other end and second mechanical arm of mechanical arm are rotatablely connected, and the lower section that the assembling mechanism inner wall is located at first mechanical arm is also hinged
There is the first electric pushrod, the output end of the first electric pushrod and the downside of first mechanical arm are hinged；The second mechanical arm it is another
One end is also rotatably equipped with turntable, and the assembling head for being assembled to workpiece is provided on the outside of turntable.
As a further solution of the present invention: be rotatably equipped with screw rod on the inside of the side plate, two screw rods it is upper
End is sequentially connected by belt, and driving motor, the output end of driving motor and a wherein spiral shell are fixedly installed on the top plate
Bar is fixedly connected.
There are two the left and right sides of the assembling mechanism is symmetrically fixedly mounted as a further solution of the present invention,
Swivel nut, swivel nut are connect with screw flight.
It is electronic to be also fixedly installed with second for the upper end of the first mechanical arm as a further solution of the present invention,
Push rod 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.
The inside of the second mechanical arm, which is additionally provided with, as a further solution of the present invention, drives turntable rotation
Rotating electric machine.
The workbench is disc structure as a further solution of the present invention, and the middle position of workbench is opened
Equipped with the circular groove placed for workpiece, several sliding slots are also symmetrically offered on the side wall of workbench, sliding slot is close to circular groove
One end is fixedly installed with clamping plate, and the other end of sliding slot is fixedly installed with iron block.
The inside of the sliding slot is also fixedly installed with electromagnet, electromagnet as a further solution of the present invention,
It is fixedly connected by spring with iron block.
The clamping plate is arc panel as a further solution of the present invention, and the material of clamping plate is rubber.
Compared with prior art, the utility model has the beneficial effects that
1, the utility model assembles workpiece by the way that the assembling mechanism of ring structure is arranged, and the inside of assembling mechanism is right
Title is provided with eight manipulators, and eight manipulators are separately positioned on east, south, west, north, northeast, the southeast, northwest and the southwest of workpiece
In eight orientation, so that each orientation to workpiece assembles, shortens workpiece built-up time, improve workpiece packaging efficiency；
2, it is additionally provided with the workbench for disc structure, the middle position of workbench offers the circle placed for workpiece
Slot also symmetrically offers several sliding slots on the side wall of workbench, and sliding slot is fixedly installed with clamping plate close to one end of circular groove, sliding
The other end of slot is fixedly installed with iron block, and the inside of sliding slot is also fixedly installed with electromagnet, and electromagnet is solid by spring and iron block
Fixed connection is powered to electromagnet before fixed to workpiece, and electromagnet attracts iron block, and mobile with movable slider compressed spring,
After putting the workpiece in the inside of circular groove, electromagnet is powered off, sliding block slides in and out under the action of the spring and using clamping plate to work
Part is fixed, and avoids workpiece play in an assembling process, 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；
The left and right sides of the bottom plate 1 is symmetrically fixedly installed with two blocks of side plates 3, and the upside of side plate 3 is fixedly connected by crossbeam 6, and side
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, is arranged above workbench 2
There is the assembling mechanism 10 for being 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 rods 4 rotate in same direction simultaneously, are fixedly installed with driving motor 8 on the top plate 7, the output end of driving motor 8 with wherein
A piece 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 screw rod
4 are threadedly coupled, and drive assembling mechanism 10 to move up by swivel nut 5 when screw rod 4 rotates clockwise, when screw rod 4 rotates counterclockwise
Assembling mechanism 10 is driven to move down by swivel nut 5；
The assembling mechanism 10 is ring structure, and the inside of assembling mechanism 10 is symmetrically arranged with eight manipulators 11, eight
Manipulator 11 is separately positioned in east, south, west, north, northeast, the southeast, northwest and southwestern eight orientation of workpiece, thus to workpiece
Each orientation assembled, shorten workpiece built-up time, improve workpiece packaging efficiency；
The manipulator 11 includes first mechanical arm 12 and second mechanical arm 15, one end of first mechanical arm 12 and kludge
The inner wall of structure 10 is rotatablely connected, and the other end and second mechanical arm 15 of first mechanical arm 12 are rotatablely connected, the assembling mechanism 10
The lower section that inner wall is located at first mechanical arm 12 is also hinged with the first electric pushrod 13, the output end and first of the first electric pushrod 13
The downside of mechanical 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；
The upper end of the 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 connection
Bar 16, the other end of connecting rod 16 and the telescopic end of the second electric pushrod 14 are hinged, and electronic are pushed away by extending and shortening second
Bar 14, thus drive second mechanical arm 15 using 12 end of first mechanical arm as branch spot wobble, so that it is adapted to the location of workpiece, it is convenient
The processing of workpiece；The other end of the second mechanical arm 15 is also rotatably equipped with turntable 18, and the outside of turntable 18, which is provided with, to be used for
To the assembling head 19 that workpiece is assembled, the inside of the second mechanical arm 15 is additionally provided with the electric rotating for driving turntable 18 to rotate
Machine 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；
The left and right sides of the bottom plate 1 is symmetrically fixedly installed with two blocks of side plates 3, and the upside of side plate 3 is fixedly connected by crossbeam 6, and side
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, is arranged above workbench 2
There is the assembling mechanism 10 for being 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 rods 4 rotate in same direction simultaneously, are fixedly installed with driving motor 8 on the top plate 7, the output end of driving motor 8 with wherein
A piece 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 screw rod
4 are threadedly coupled, and drive assembling mechanism 10 to move up by swivel nut 5 when screw rod 4 rotates clockwise, when screw rod 4 rotates counterclockwise
Assembling mechanism 10 is driven to move down by swivel nut 5；
The assembling mechanism 10 is ring structure, and the inside of assembling mechanism 10 is symmetrically arranged with eight manipulators 11, eight
Manipulator 11 is separately positioned in east, south, west, north, northeast, the southeast, northwest and southwestern eight orientation of workpiece, thus to workpiece
Each orientation assembled, shorten workpiece built-up time, improve workpiece packaging efficiency；
The manipulator 11 includes first mechanical arm 12 and second mechanical arm 15, one end of first mechanical arm 12 and kludge
The inner wall of structure 10 is rotatablely connected, and the other end and second mechanical arm 15 of first mechanical arm 12 are rotatablely connected, the assembling mechanism 10
The lower section that inner wall is located at first mechanical arm 12 is also hinged with the first electric pushrod 13, the output end and first of the first electric pushrod 13
The downside of mechanical 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；
The upper end of the 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 connection
Bar 16, the other end of connecting rod 16 and the telescopic end of the second electric pushrod 14 are hinged, and electronic are pushed away by extending and shortening second
Bar 14, thus drive second mechanical arm 15 using 12 end of first mechanical arm as branch spot wobble, so that it is adapted to the location of workpiece, it is convenient
The processing of workpiece；The other end of the second mechanical arm 15 is also rotatably equipped with turntable 18, and the outside of turntable 18, which is provided with, to be used for
To the assembling head 19 that workpiece is assembled, the inside of the second mechanical arm 15 is additionally provided with the electric rotating for driving turntable 18 to rotate
Machine 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 the material of clamping plate 25 is rubber, to increase the frictional force between clamping plate 25 and workpiece.
The utility model assembles workpiece by the way that the assembling mechanism of ring structure is arranged, and the inside of assembling mechanism is symmetrical
Eight manipulators are provided with, eight manipulators are separately positioned on east, south, west, north, northeast, the southeast, northwest and the southwest eight of workpiece
In a orientation, so that each orientation to workpiece assembles, shortens workpiece built-up time, improve workpiece packaging efficiency；Also set
It is equipped with the workbench for disc structure, the middle position of workbench offers the circular groove placed for workpiece, the side wall of workbench
On also symmetrically offer several sliding slots, sliding slot is fixedly installed with clamping plate close to one end of circular groove, and the other end of sliding slot is fixed
Iron block is installed, the inside of sliding slot is also fixedly installed with electromagnet, and electromagnet is fixedly connected by spring with iron block, to workpiece
It before fixation, is powered to electromagnet, electromagnet attracts iron block, and mobile with movable slider compressed spring, puts the workpiece in circular groove
Inside after, electromagnet is powered off, sliding block slid in and out under the action of the spring and workpiece is fixed using clamping plate, avoided
Workpiece 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 side plate (3) is fixedly connected by crossbeam (6), and side
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), which is characterized 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 |
|---|---|---|---|
| CN201920076496.9U CN209632498U (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 |
|---|---|---|---|
| CN201920076496.9U CN209632498U (en) | 2019-01-17 | 2019-01-17 | A kind of multi-robot arm team control assembling device |
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| Publication Number | Publication Date |
|---|---|
| CN209632498U true CN209632498U (en) | 2019-11-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920076496.9U Expired - Fee Related CN209632498U (en) | 2019-01-17 | 2019-01-17 | A kind of multi-robot arm team control assembling device |
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| Country | Link |
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| CN (1) | CN209632498U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648327A (en) * | 2019-01-17 | 2019-04-19 | 深圳市硬核智娱科技有限公司 | A kind of multi-robot arm team control assembling device |
-
2019
- 2019-01-17 CN CN201920076496.9U patent/CN209632498U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648327A (en) * | 2019-01-17 | 2019-04-19 | 深圳市硬核智娱科技有限公司 | A kind of multi-robot arm team control assembling device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191115 Termination date: 20210117 |