CN211362256U

CN211362256U - Industrial manufacturing workshop assembly manipulator

Info

Publication number: CN211362256U
Application number: CN201922090922.7U
Authority: CN
Inventors: 张静
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-11-28
Filing date: 2019-11-28
Publication date: 2020-08-28
Anticipated expiration: 2029-11-28

Abstract

The utility model discloses an industrial manufacturing workshop assembly manipulator, including rocking arm subassembly, link arm subassembly and assembly arm subassembly, the rocking arm subassembly includes sliding seat and the base subassembly that top-down arranged, and the link arm subassembly includes first link arm, and the assembly arm subassembly includes second link arm and assembly arm, and industrial manufacturing workshop assembly manipulator can cooperate equipment production line to assemble different equipment parts, because assembly manipulator has higher degree of freedom, can improve assembly efficiency and assembly precision. A plurality of manipulators can be arranged on the manipulator assembly line, and different assembly molds can be mounted on the assembly arms of the manipulators, so that the assembly efficiency of the parts is improved.

Description

Industrial manufacturing workshop assembly manipulator

Technical Field

The utility model relates to an industrial equipment technical equipment field, concretely relates to industrial manufacturing workshop assembly manipulator.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. In the modern life, the most advanced technology is in the form of a new moon, and the most important difference between the mechanical arm and the human arm is in flexibility and endurance. That is, the maximum advantage of the manipulator can do the same action repeatedly, and the manipulator never feels tired in the normal condition of the machine! The application of mechanical arms is more and more extensive, and the mechanical arms are high-tech automatic production equipment developed in recent decades, and have the operation accuracy and the ability of completing the operation in the environment. An important branch of industrial robot manipulators.

The current fixing base for the manipulator has many disadvantages, such as: inconvenient operation, single use and inconvenient adjustment.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model aims to provide an industrial manufacturing workshop assembly manipulator which can improve the manipulator assembly precision and the freedom degree of movement; the specific technical scheme is as follows:

an assembly manipulator of an industrial manufacturing workshop comprises a rotating arm assembly, a connecting arm assembly and an assembly arm assembly; the rotating arm assembly comprises a movable seat and a base assembly which are arranged from top to bottom, the movable seat is rotatably arranged at the upper end of the base assembly, and a first connecting part is arranged at the upper end of the movable seat; the linking arm subassembly includes first linking arm, and first linking arm one end is equipped with rotates second connecting portion, the other end that links to each other with first connecting portion and is equipped with the third connecting portion: the assembly arm component comprises a second connecting arm and an assembly arm, one end of the second connecting arm is provided with a fourth connecting portion connected with the third connecting portion in a rotating mode, the other end of the second connecting arm is connected with the assembly arm in a rotating mode, the assembly arm can rotate around the assembly arm, and one end, far away from the second connecting arm, of the assembly arm is provided with a mold mounting portion.

In the technical scheme, the assembling manipulator has higher degree of freedom, and can improve the assembling efficiency and the assembling precision. The sliding seat of the rotary arm assembly can rotate relative to the base assembly, so that the manipulator has a degree of freedom rotating in the vertical direction, the first connecting arm and the second connecting arm can stretch out and draw back, the assembling arm of the manipulator can move within the radius range of the sum of the lengths of the first connecting arm and the second connecting arm, a plurality of manipulators can be arranged on an assembling line, different assembling dies can be installed on the assembling arms of the manipulators, different mechanical parts can be assembled, and the assembling efficiency is remarkably improved.

Preferably, the base subassembly includes the installation base of arranging with the sliding seat normal running fit, the installation base lower extreme is fixed with first sliding platform, first sliding platform below is equipped with the second sliding platform with first sliding platform at horizontal direction sliding fit, second sliding platform below is equipped with the sliding base with second sliding platform at horizontal direction sliding fit, first sliding platform and second sliding platform's slip direction mutually perpendicular.

Preferably, a first sliding rail fixed on the second sliding platform is arranged between the first sliding platform and the second sliding platform, a second sliding rail is arranged between the second sliding platform and the sliding base, and the first sliding rail and the second sliding rail are arranged perpendicularly to each other.

Preferably, a first mounting groove is formed in the movable seat, a mounting table is arranged in the first mounting groove, a first driving motor for driving the movable seat to rotate is arranged on the mounting table, and an output shaft of the first driving motor is in transmission connection with the mounting base.

Preferably, the lower end of the movable seat is provided with a first rotating surface, the first rotating surface is provided with a rotating hole for the output shaft of the first driving motor to pass through, and the first rotating surface is in rotating fit with a first thrust bearing arranged on the upper end face of the mounting base.

Preferably, the first connecting portion is provided with a second driving motor, an output shaft of the second driving motor is in transmission connection with the second connecting portion, a second rotating surface is arranged on the surface of the first connecting portion opposite to the second connecting portion, and a second thrust bearing is arranged between the two second rotating surfaces.

Preferably, the fourth connecting portion is provided with a third driving motor, an output shaft of the third driving motor is in transmission connection with the third connecting portion, a third rotating surface is arranged on the surface of the third connecting portion opposite to the fourth connecting portion, and a third thrust bearing is arranged between the two third rotating surfaces.

Preferably, one end of the second connecting arm close to the assembling arm is provided with a fourth driving motor for driving the assembling arm to rotate.

Preferably, the die mounting part is provided with a second mounting groove, a die mounting head is arranged in the second mounting groove, one end of the die mounting head is hinged in the second mounting groove, and a fifth driving motor for driving the die mounting head to rotate is arranged in the die mounting.

The utility model has the advantages that: the utility model discloses can be used for the equipment assembly of different machine parts in workshop, the assembly manipulator has higher flexible rotational degree of freedom, can follow different angle assembly machine parts, and the base subassembly has the degree of freedom of movement on the two-dimensional coordinate plane on the horizontal plane simultaneously for the manipulator can have certain moving range in the assembly workshop, can improve flexible assembly accuracy, the utility model discloses rational in infrastructure, work efficiency is high; the accuracy of assembling and positioning of mechanical parts can be realized, and dislocation is generated in the assembling process; has higher practical value and popularization value.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is an exploded view of an industrial manufacturing plant assembly robot according to one embodiment.

Fig. 2 is a perspective view of an industrial manufacturing plant assembly robot according to an embodiment.

The meanings indicated by the respective reference numerals are as follows; the mold mounting device comprises a mounting base 100, a movable base 200, a first connecting part 210, a first mounting groove 220, a first connecting arm 300, a second connecting part 310, a second rotating surface 311, a second connecting arm 400, a fourth connecting part 410, an assembling arm 500, a second mounting groove 510, a mold mounting head 600, a first driving motor 700, a second driving motor 800, a third driving motor 900, a first sliding platform 1000, a second sliding platform 1100, a sliding base 1200, a first sliding rail 1300 and a second sliding rail 1400.

Detailed Description

Here, it is to be noted that the functions, methods, and the like related to the present invention are only conventional adaptive applications of the related art. Therefore, the present invention is an improvement of the prior art, which substantially lies in the connection relationship between hardware, not in the functions and methods themselves, that is, the present invention relates to a few functions and methods, but does not include the improvements proposed in the functions and methods themselves. The present invention is described for better illustration of the function and method for better understanding of the present invention.

As shown in fig. 1 and fig. 2, in an embodiment, the present invention provides an assembly robot for an industrial manufacturing plant, the assembly robot has a high degree of freedom and can improve assembly efficiency and assembly precision, and specifically includes a rotating arm assembly, a connecting arm assembly, and an assembly arm 500 assembly; the rotating arm assembly comprises a movable seat 200 and a base assembly which are arranged from top to bottom, the movable seat 200 is rotatably arranged at the upper end of the base assembly, and a first connecting part 210 is arranged at the upper end of the movable seat 200; the connecting arm assembly includes a first connecting arm 300, one end of the first connecting arm 300 is provided with a second connecting portion 310 rotatably connected with the first connecting portion 210, and the other end is provided with a third connecting portion: the assembly arm 500 assembly comprises a second connecting arm 400 and an assembly arm 500, one end of the second connecting arm 400 is provided with a fourth connecting portion 410 which is rotatably connected with the third connecting portion, the other end of the second connecting arm is rotatably connected with the assembly arm 500, the assembly arm 500 can rotate around the assembly arm 500, and one end, away from the second connecting arm 400, of the assembly arm 500 is provided with a mold mounting portion. The sliding seat 200 of the rotating arm assembly and the base assembly can rotate relatively, so that the manipulator has a degree of freedom rotating in the vertical direction, the first connecting arm 300 and the second connecting arm 400 can stretch, the assembling arm 500 of the manipulator can move within the radius range of the sum of the lengths of the first connecting arm 300 and the second connecting arm 400, a plurality of manipulators can be deployed on an assembling line, different assembling molds can be installed on the assembling arms 500 of each manipulator, different mechanical parts can be assembled, and the assembling efficiency is remarkably improved. Multiple robots can be deployed in the assembly line, and the assembly arm 500 on each robot can mount a different assembly mold.

In different assembly working conditions, the manipulator needs to have a higher moving range so as to avoid damage to the manipulator and parts caused by dislocation and the like during assembly; in order to ensure that the manipulator can move in an assembly shop, the base assembly is optimized and improved in the embodiment, the base assembly includes an installation base 100 arranged in a rotating fit with the movable seat 200, a first sliding platform 1000 is fixed at the lower end of the installation base 100, a second sliding platform 1100 in a sliding fit with the first sliding platform 1000 in the horizontal direction is arranged below the first sliding platform 1000, a sliding base 1200 in a sliding fit with the second sliding platform 1100 in the horizontal direction is arranged below the second sliding platform 1100, and the sliding directions of the first sliding platform 1000 and the second sliding platform 1100 are perpendicular to each other. The first sliding platform 1000 and the second sliding platform 1100 may form a moving platform capable of moving on a horizontal plane, and the sliding base 1200 is stably installed in a corresponding area of the assembly line as a fixed platform for installing the entire robot; further, a first sliding rail 1300 fixed on the second sliding platform 1100 is arranged between the first sliding platform 1000 and the second sliding platform 1100, a second sliding rail 1400 is arranged between the second sliding platform 1100 and the sliding base 1200, and the first sliding rail 1300 and the second sliding rail 1400 are arranged perpendicularly to each other. The sliding rail can make the first sliding platform 1000 and the second sliding platform 1100, the second sliding platform 1100 and the sliding base 1200 form a sliding fit. In this embodiment, the slide rail may preferably be a ball screw having high moving accuracy.

As shown in fig. 1 and fig. 2, as mentioned above, the movable seat 200 and the fixed seat need to rotate relatively, in order to drive the movable seat 200 to rotate around the base assembly, a first installation groove 220 is provided in the movable seat 200, an installation table is provided in the first installation groove 220, a first driving motor 700 for driving the movable seat 200 to rotate is provided on the installation table, and an output shaft of the first driving motor 700 is in transmission connection with the installation base. The first driving motor 700 can be embedded in the first mounting groove 220 and fixed on the mounting table, and when the first driving motor 700 rotates, the rotating base can be driven to rotate stably, in order to improve the stability of rotation, a first rotating surface is arranged at the lower end of the movable base 200, a rotating hole for the output shaft of the first driving motor 700 to pass through is arranged on the first rotating surface, and the first rotating surface is in rotating fit with a first thrust bearing arranged on the upper end surface of the mounting base 100. The rotating friction of the rotating seat can be reduced under the action of the first thrust bearing, and the rotating precision is improved.

As shown in fig. 1 and 2, a second driving motor 800 is further mounted on the first connecting portion 210, and an output shaft of the second driving motor 800 is in transmission connection with the second connecting portion 310. The first connecting arm 300 can rotate around the upper end of the movable seat 200 under the driving of the second driving motor 800, and a second rotating surface 311 is provided on the surface of the first connecting portion 210 opposite to the second connecting portion 310, and a second thrust bearing is provided between the two second rotating surfaces 311. The second thrust bearing provided between the second rotation surfaces 311 can reduce the frictional force of the first connection arm 300 rotating around the movable mount 200.

As shown in fig. 1 and 2, since the second connecting arm 400 is rotatably connected to the first connecting arm 300, the first connecting arm 300 and the second connecting arm 400 can rotate relatively, the fourth connecting portion 410 is provided with a third driving motor 900, and an output shaft of the third driving motor 900 is in transmission connection with the third connecting portion. Under the action of the third driving motor 900, the first connecting arm 300 and the second connecting arm 400 can rotate relatively to realize the extension and contraction of the two connecting arms, a third rotating surface is arranged on the surface of the third connecting portion opposite to the fourth connecting portion 410, and a third thrust bearing is arranged between the third rotating surfaces. And the friction force of the rotation of the two connecting arms can be reduced under the action of the third thrust bearing.

As shown in fig. 1 and 2, when the manipulator is assembled, the assembly arm 500 needs to be capable of rotating circumferentially to improve the assembly accuracy, and one end of the second connecting arm 400 close to the assembly arm 500 is provided with a fourth driving motor for driving the assembly arm 500 to rotate. When the fourth driving motor rotates, the mounting arm 500 may rotate in a circumferential direction.

As shown in fig. 1 and 2, a mold mounting part provided at one end of the assembling arm 500 is capable of mounting different molds, the mold mounting part is provided with a second mounting groove 510, a mold mounting head 600 is provided in the second mounting groove 510, one end of the mold mounting head 600 is hinged in the second mounting groove 510, and a fifth driving motor for driving the mold mounting head 600 to rotate is provided in the mold mounting. Install the mould installation head 600 of different moulds and can rotate under fifth driving motor's drive, improve the degree of freedom of mould assembly to be suitable for different assembly operating modes, servo driving motor is preferred to select for use to each driving motor in this embodiment, and its specific model and specification are chooseed for use as required.

In the specification of the present invention, a large number of specific details are explained. It can be understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, systems, and techniques have not been shown in detail in order not to obscure an understanding of this description.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments can be modified, or some or all of the technical features can be equivalently replaced; such modifications and substitutions do not substantially depart from the scope of the embodiments of the present invention, and are intended to be covered by the claims and the specification.

Claims

1. The utility model provides an industrial manufacturing workshop assembly manipulator which characterized in that: comprises that

A rotating arm assembly: the rotating arm assembly comprises a movable seat (200) and a base assembly which are arranged from top to bottom, the movable seat (200) is rotatably arranged at the upper end of the base assembly, and a first connecting part (210) is arranged at the upper end of the movable seat (200);

a connecting arm assembly: the linking arm subassembly includes first linking arm (300), and first linking arm (300) one end is equipped with rotates second connecting portion (310) that link to each other with first connecting portion (210), and the other end is equipped with the third connecting portion:

assembling an arm component: the assembly arm component comprises a second connecting arm (400) and an assembly arm (500), one end of the second connecting arm (400) is provided with a fourth connecting portion (410) connected with the third connecting portion in a rotating mode, the other end of the second connecting arm is connected with the assembly arm (500) in a rotating mode, the assembly arm (500) can rotate around the assembly arm (500), and one end, far away from the second connecting arm (400), of the assembly arm (500) is provided with a die mounting portion.

2. The industrial manufacturing plant assembly robot of claim 1, wherein:

the base subassembly includes installation base (100) of arranging with the sliding seat normal running fit, installation base (100) lower extreme is fixed with first sliding platform (1000), first sliding platform (1000) below is equipped with second sliding platform (1100) at horizontal direction sliding fit with first sliding platform (1000), second sliding platform (1100) below is equipped with sliding base (1200) at horizontal direction sliding fit with second sliding platform (1100), the slip direction mutually perpendicular of first sliding platform (1000) and second sliding platform (1100).

3. The industrial manufacturing plant assembly robot of claim 2, wherein:

a first sliding track (1300) fixed on the second sliding platform (1100) is arranged between the first sliding platform (1000) and the second sliding platform (1100), a second sliding track (1400) is arranged between the second sliding platform (1100) and the sliding base (1200), and the first sliding track (1300) and the second sliding track (1400) are arranged in a mutually perpendicular mode.

4. The industrial manufacturing plant assembly robot of claim 2, wherein:

be equipped with first mounting groove (220) in sliding seat (200), be equipped with the mount table in first mounting groove (220), be equipped with drive sliding seat (200) pivoted first driving motor (700) on the mount table, the output shaft and the installation base transmission of first driving motor (700) are connected.

5. The industrial manufacturing plant assembly robot of claim 4, wherein:

the lower end of the movable seat (200) is provided with a first rotating surface, the first rotating surface is provided with a rotating hole for an output shaft of the first driving motor (700) to pass through, and the first rotating surface is in rotating fit with a first thrust bearing arranged on the upper end face of the mounting base.

6. The industrial manufacturing plant assembly robot of claim 1, wherein:

second driving motor (800) is installed to first connecting portion (210), the output shaft and the second connecting portion (310) transmission of second driving motor (800) are connected, first connecting portion (210) and the relative surface of second connecting portion (310) are equipped with second and rotate face (311), two second thrust bearing between second rotation face (311).

7. The industrial manufacturing plant assembly robot of claim 1, wherein:

the fourth connecting portion (410) is provided with a third driving motor (900), an output shaft of the third driving motor (900) is in transmission connection with the third connecting portion, a third rotating surface is arranged on the surface, opposite to the fourth connecting portion (410), of the third connecting portion, and a third thrust bearing is arranged between the third rotating surfaces.

8. The industrial manufacturing plant assembly robot of claim 1, wherein:

one end of the second connecting arm (400) close to the assembling arm (500) is provided with a fourth driving motor for driving the assembling arm (500) to rotate.

9. The industrial manufacturing plant assembly robot of claim 1, wherein:

the mould installation department is equipped with second mounting groove (510), is equipped with the mould installation head in second mounting groove (510), mould installation head one end articulates in second mounting groove (510), be equipped with drive mould installation head pivoted fifth driving motor in the mould installation.