CN211414256U

CN211414256U - Movable assembly manipulator

Info

Publication number: CN211414256U
Application number: CN201922155366.7U
Authority: CN
Inventors: 戴云云
Original assignee: Anji Youchuang Swivel Chair Parts Factory
Current assignee: Anji Youchuang Swivel Chair Parts Factory
Priority date: 2019-12-05
Filing date: 2019-12-05
Publication date: 2020-09-04
Anticipated expiration: 2029-12-05

Abstract

The utility model discloses a movable assembly manipulator, which comprises an installation barrel, wherein one side of the top end of the installation barrel is fixedly provided with a first servo motor through a bolt, the end part of an output shaft of the first servo motor is connected with a first gear through a key, the first gear is positioned at the upper side inside the installation barrel, one side of the first gear is engaged and connected with a second gear in a transmission way, a rotating table is embedded in the middle of the second gear, the middle of the rotating table is rotatably connected with an installation platform, the bottom end of the installation platform is fixedly connected with the bottom end inside the installation barrel through a bolt, the installation platform and the installation barrel are coaxial, the upper end of the installation platform extends to the upper side of the installation barrel, the upper end part of the installation platform is provided with a product to be assembled, the middle of the upper end surface of the rotating table is provided with a position, the movable design of the device realizes the one-time whole assembly of the rotary product, and has high working efficiency and good assembly precision.

Description

Movable assembly manipulator

Technical Field

The utility model belongs to the technical field of the manipulator, concretely relates to portable assembly machinery hand.

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.

Present manipulator extensively is used for the assembly of product, carry out automatic tightening to the screw on the product, present assembly manipulator is fixed for the most part, but to some solid of revolution product (like cylindrical) assembly, can't carry out the omnidirectional assembly to the product, can only assemble half of product, then adjust the product backward and carrying out half's assembly, work efficiency is low, the product leads to the position to change easily when transferring to, influence the assembly precision, for this reason, we propose a portable assembly manipulator and solve the problem that exists among the prior art.

Disclosure of Invention

An object of the utility model is to provide a portable assembly manipulator, with the assembly that proposes present manipulator and extensively be used for the product among the above-mentioned background of the solution, screw on the product is carried out automatic screwing up, present assembly manipulator is immobilizer mostly, but to the assembly of some solid of revolution products (like columniform), can't carry out the omnidirectional assembly to the product, can only assemble half of product, then adjust the product backward and carrying out second half assembly, work efficiency is low, the product leads to the position to change easily when adjusting to, influence the problem of assembly precision.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a movable assembly manipulator comprises a mounting barrel, a first servo motor is fixedly mounted on one side of the top end of the mounting barrel through a bolt, the end part of the output shaft of the first servo motor is connected with a first gear through a key, the first gear is positioned at the upper side inside the mounting barrel, one side of the first gear is in meshing transmission connection with a second gear, a rotating table is embedded in the middle of the second gear, the middle of the rotating platform is rotatably connected with an installation platform, the bottom end of the installation platform is fixedly connected with the inner bottom end of the installation barrel through a bolt, the mounting table and the mounting barrel are coaxial, the upper end of the mounting table extends to the upper side of the mounting barrel, the upper end part of the mounting table is provided with a product to be assembled, the middle of the upper end surface of the rotating table is provided with a position adjusting mechanism, the position adjusting mechanism is provided with a pneumatic screwdriver, and the head of the pneumatic screwdriver is opposite to a product to be assembled.

Preferably, the position adjusting mechanism comprises a second servo motor, an installation chamber matched with the second servo motor is formed in the upper end of the rotating table, the second servo motor is fixedly installed in the installation chamber through bolts, a lead screw is fixed to the end portion of an output shaft of the second servo motor, a support frame is rotatably connected to the end portion of the upper end of the lead screw through a bearing, the lower end of the support frame is fixed to the rotating table through bolts, a moving block is connected to the lead screw in a threaded transmission mode, and the moving block is located inside the support frame.

Preferably, a first mounting plate is fixed to one side, close to the mounting table, of the moving block through bolts, the first mounting plate is located on the outer side of the support frame, cylinders are symmetrically fixed to two sides of the first mounting plate, a second mounting plate is fixed to the end portion of a piston rod of each cylinder, and the pneumatic screwdriver is fixed to one side, far away from the first mounting plate, of the second mounting plate through bolts.

Preferably, the two sides of the moving block are both fixed with sliding blocks, the inner wall of the support frame is provided with sliding grooves matched with the sliding blocks, and the sliding blocks slide in the sliding grooves.

Preferably, a limiting plate is welded on the lower side of the inside of the supporting frame, the moving block is located above the limiting plate, and the limiting plate is higher than the first servo motor.

Preferably, a circular sliding block is fixed on the inner cylindrical surface of the lower side of the rotating table, a circular sliding groove matched with the circular sliding block is formed in the outer cylindrical surface of the lower side of the mounting table, and the circular sliding block slides in the circular sliding groove.

Preferably, a positioning groove is formed in the center of the mounting table.

Preferably, the lower terminal surface of revolving stage is gone up the equal angle and is fixed with six mount pads, six all rotate on the mount pad and be connected with the gyro wheel, the downside of gyro wheel and the inside bottom in close contact with of installation bucket.

Preferably, four bases are fixed to the outer side of the lower end face of the mounting barrel at equal angles.

The utility model discloses a technological effect and advantage: the utility model provides a portable assembly manipulator compares with prior art, has following advantage:

1. the utility model discloses a first servo motor drives first gear rotatory, and then first gear drive second gear is rotatory, and then the second gear drives the revolving stage and rotates around the mount table under the guide of circular slider, install the support frame on the revolving stage, install pneumatic screwdriver on the support frame, install the product to be assembled on the mount table, and then the revolving stage drives pneumatic screwdriver and rotates around the product to be assembled, realize treating the disposable whole assembly all around of assembly product, need not to remove the product to be assembled, work efficiency is high, the assembly precision is good;

2. the utility model discloses a second servo motor drives the lead screw rotatory, and then the lead screw drive movable block slides from top to bottom along the spout in the support frame, and then the movable block drives pneumatic screwdriver and realizes reciprocating, then the cylinder promotes second mounting panel seesaw, and then the second mounting panel drives pneumatic screwdriver seesaw, realizes pneumatic screwdriver and the contact and the separation of waiting to assemble the product, and then realizes assembling the arbitrary high position of product, improves work efficiency, convenient to use.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view of the point A of the present invention;

FIG. 3 is a perspective view of the present invention;

FIG. 4 is a bottom structure view of the present invention;

fig. 5 is an explosion structure diagram of the rotary table and the installation table of the present invention.

Reference numerals: 1. installing a barrel; 2. a first servo motor; 3. a first gear; 4. a second gear; 5. a rotating table; 6. an installation table; 7. products to be assembled; 8. a position adjustment mechanism; 801. a second servo motor; 802. an installation chamber; 803. a screw rod; 804. a support frame; 805. a moving block; 806. a first mounting plate; 807. a cylinder; 808. a second mounting plate; 809. a slider; 810. a chute; 811. a limiting plate; 9. a pneumatic screwdriver; 10. a circular slider; 11. a circular chute; 12. positioning a groove; 13. a mounting seat; 14. a roller; 15. a base.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The specific embodiments described herein are merely illustrative of the invention and are not intended to be limiting of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1-5, the utility model provides a mobile assembly manipulator, which comprises a mounting barrel 1, in order to improve the stability and firmness of the whole device when being mounted on the ground, four bases 15 are fixed on the outer side of the lower end surface of the mounting barrel 1 at equal angles, a first servo motor 2 is fixedly mounted on one side of the top end of the mounting barrel 1 through bolts, a first gear 3 is connected with the end part of an output shaft of the first servo motor 2 through a key, the first gear 3 is positioned on the inner upper side of the mounting barrel 1, one side of the first gear 3 is connected with a second gear 4 in a meshing transmission manner, a rotating platform 5 is embedded in the middle of the second gear 4, six mounting seats 13 are fixed on the lower end surface of the rotating platform 5 at equal angles, rollers 14 are rotatably connected on the six mounting seats 13, the lower sides of the rollers 14 are in close contact with the inner bottom end of the mounting barrel 1, the, the rotating platform 5 is in rolling contact with the bottom end of the mounting barrel 1, so that the friction force is small and the energy consumption is low;

as shown in fig. 1-5, a circular slider 10 is fixed on the inner cylindrical surface of the lower side of the rotary table 5, a circular sliding groove 11 matched with the circular slider 10 is formed on the outer cylindrical surface of the lower side of the mounting table 6, the circular slider 10 slides in the circular sliding groove 11, so that the rotary table 5 rotates around the mounting table 6, the bottom end of the mounting table 6 is fixedly connected with the inner bottom end of the mounting barrel 1 through a bolt, the mounting table 6 and the mounting barrel 1 are coaxial, the upper end of the mounting table 6 extends to the upper side of the mounting barrel 1, a product 7 to be assembled is mounted at the upper end of the mounting table 6, in order to facilitate the accurate and rapid mounting of the product 7 to be assembled on the mounting table 6, a positioning groove 12 is formed at the center of the mounting table 6, the product 7 to be assembled is rapidly positioned on the mounting table 6 through the positioning groove 12, a position adjusting mechanism 8 is arranged in, the pneumatic screwdriver 9 is provided with a screwdriver head which is opposite to the product 7 to be assembled;

as shown in fig. 1-5, the position adjusting mechanism 8 includes a second servo motor 801, an installation chamber 802 adapted to the second servo motor 801 is opened at the upper end of the rotary table 5, the second servo motor 801 is fixedly installed in the installation chamber 802 through bolts, a lead screw 803 is fixed at the end of an output shaft of the second servo motor 801, a support frame 804 is rotatably connected at the upper end of the lead screw 803 through a bearing, the lower end of the support frame 804 is fixed on the rotary table 5 through bolts, a moving block 805 is connected to the lead screw 803 in a threaded transmission manner, the moving block 805 is located inside the support frame 804, a first installation plate 806 is fixed at one side of the moving block 805 close to the installation table 6 through bolts, the first installation plate 806 is located outside the support frame 804, air cylinders 807 are symmetrically fixed at two sides of the first installation plate 806, a second installation plate 808 is fixed at the end of a piston rod of the air cylinders 807, a pneumatic screwdriver 9 is, in order to limit and guide the moving block 805 when moving up and down in the support frame 804, sliding blocks 809 are fixed on two sides of the moving block 805, a sliding groove 810 matched with the sliding blocks 809 is formed in the inner wall of the support frame 804, the sliding blocks 809 slide in the sliding groove 810, in order to avoid collision between the moving block 805 and the first servo motor 2 when the moving block 805 drives the cylinder 807 to move downwards, a limiting plate 811 is welded on the lower side inside the support frame 804, the moving block 805 is located above the limiting plate 811, and the position height of the limiting plate 811 is higher than that of the first servo motor 2, so that limiting and protecting effects are achieved.

The working principle is as follows: the electric parts of the device are powered by an external power supply, firstly, a product 7 to be assembled is positioned through a positioning groove 12 and then fixed on an installation table 6, then a first servo motor 2 drives a first gear 3 to rotate, further the first gear 3 drives a second gear 4 to rotate, further the second gear 4 drives a rotating table 5 to rotate around the installation table 6 under the guidance of a circular sliding block 10, and the rotating table 5 drives a support frame 804 to rotate around the product 7 to be assembled;

the second servo motor 801 drives the lead screw 803 to rotate, the lead screw 803 drives the moving block 805 to slide up and down in the supporting frame 804 along the sliding groove 810, the moving block 805 drives the pneumatic screwdriver 9 to move up and down, then the air cylinder 807 pushes the second mounting plate 808 to move back and forth, and the second mounting plate 808 drives the pneumatic screwdriver 9 to move back and forth, so that the pneumatic screwdriver 9 is contacted with and separated from a product to be assembled, screws at any height position of the product are screwed, and assembly work is achieved.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.

Claims

1. The utility model provides a portable assembly machinery hand, includes installation bucket (1), its characterized in that: the top end of the installation barrel (1) is fixedly provided with a first servo motor (2) through a bolt, the output shaft end part of the first servo motor (2) is in keyed joint with a first gear (3), the first gear (3) is positioned on the inner upside of the installation barrel (1), one side of the first gear (3) is in meshed transmission connection with a second gear (4), a rotary table (5) is embedded in the middle of the second gear (4), the middle of the rotary table (5) is in rotary connection with an installation table (6), the bottom end of the installation table (6) is fixedly connected with the inner bottom end of the installation barrel (1) through a bolt, the installation table (6) and the installation barrel (1) are coaxial, the upper end of the installation table (6) extends to the upside of the installation barrel (1), the upper end part of the installation table (6) is provided with a product (7) to be assembled, and the middle of the upper end surface of the rotary table (5) is provided with a position adjusting mechanism, the pneumatic screwdriver (9) is installed on the position adjusting mechanism (8), and the screwdriver head part of the pneumatic screwdriver (9) is right opposite to the product (7) to be assembled.

2. A mobile assembly robot as claimed in claim 1, wherein: the position adjusting mechanism (8) comprises a second servo motor (801), an installation chamber (802) matched with the second servo motor (801) is formed in the upper end of the rotating table (5), the second servo motor (801) is fixedly installed in the installation chamber (802) through bolts, a lead screw (803) is fixed to the end portion of an output shaft of the second servo motor (801), the end portion of the upper end of the lead screw (803) is rotatably connected with a supporting frame (804) through a bearing, the lower end of the supporting frame (804) is fixed to the rotating table (5) through bolts, a moving block (805) is connected to the lead screw (803) in a threaded transmission mode, and the moving block (805) is located inside the supporting frame (804).

3. A mobile assembly robot as claimed in claim 2, wherein: one side of the moving block (805) close to the mounting table (6) is fixed with a first mounting plate (806) through bolts, the first mounting plate (806) is located on the outer side of the supporting frame (804), air cylinders (807) are symmetrically fixed on two sides of the first mounting plate (806), the end portions of piston rods of the air cylinders (807) are fixed with a second mounting plate (808), and the pneumatic screwdriver (9) is fixed on one side, far away from the first mounting plate (806) through the second mounting plate (808), of the second mounting plate (808).

4. A mobile assembly robot as claimed in claim 2, wherein: sliding blocks (809) are fixed on two sides of the moving block (805), sliding grooves (810) matched with the sliding blocks (809) are formed in the inner wall of the supporting frame (804), and the sliding blocks (809) slide in the sliding grooves (810).

5. A mobile assembly robot as claimed in claim 2, wherein: a limiting plate (811) is welded on the lower side of the inner portion of the supporting frame (804), the moving block (805) is located above the limiting plate (811), and the position height of the limiting plate (811) is higher than that of the first servo motor (2).

6. A mobile assembly robot as claimed in claim 1, wherein: the rotary table is characterized in that a circular sliding block (10) is fixed on the inner cylindrical surface of the lower side of the rotary table (5), a circular sliding groove (11) matched with the circular sliding block (10) is formed in the outer cylindrical surface of the lower side of the mounting table (6), and the circular sliding block (10) slides in the circular sliding groove (11).

7. A mobile assembly robot as claimed in claim 1, wherein: and a positioning groove (12) is formed in the center of the mounting table (6).

8. A mobile assembly robot as claimed in claim 1, wherein: the lower terminal surface of revolving stage (5) is gone up the equal angle and is fixed with six mount pads (13), six all rotate on mount pad (13) and be connected with gyro wheel (14), the inside bottom in close contact with of downside and installation bucket (1) of gyro wheel (14).

9. A mobile assembly robot as claimed in claim 1, wherein: four bases (15) are fixed on the outer side of the lower end face of the mounting barrel (1) at equal angles.