CN212887634U

CN212887634U - Coordinated assembly system of duplex robot

Info

Publication number: CN212887634U
Application number: CN202021311172.8U
Authority: CN
Inventors: 陈科施廷; 刘玮; 厉冯鹏; 经成; 万益东
Original assignee: Yancheng Institute of Technology
Current assignee: Yancheng Institute of Technology
Priority date: 2020-07-07
Filing date: 2020-07-07
Publication date: 2021-04-06
Anticipated expiration: 2030-07-07

Abstract

The utility model discloses a coordinated assembly system of a duplex robot, which comprises a base; base: the four-angle position of the lower end face of the base is connected with support legs, a conversion unit is arranged in the middle of the base and comprises a first rotating shaft, the lower end of the first rotating shaft is rotatably connected with the middle of the base, an installing and disassembling robot and an assembling robot are respectively arranged at the left end and the right end of the conversion unit on the upper end face of the base, and opposite transportation units are arranged at the left end and the right end of the upper end face of the base; wherein: still include the open source singlechip, the up end at the base is fixed to the open source singlechip, the output of external power is connected to the input electricity of open source singlechip, the open source singlechip with assembly robot and the two-way electricity of installation dismantlement robot be connected, the utility model discloses can realize going on in step of work piece assembling process and installation dismantlement process through the cooperation work of assembly robot, conversion unit and installation dismantlement robot.

Description

Coordinated assembly system of duplex robot

Technical Field

The utility model relates to an industrial robot uses technical field, specifically is a duplex robot coordination assembly system.

Background

The industrial robot is a multi-joint manipulator or multi-degree-of-freedom machine device facing the industrial field, can automatically execute work, is a machine which realizes various functions by self power and control capacity, along with the gradual improvement of the industrial level, more and more industrial robots start to be used in production work, such as assembly work, the current assembly work is that a workpiece to be assembled is firstly fixed on an assembly work position by the robot, then the workpieces are assembled in sequence, the workpiece is taken down after the assembly is finished, and another workpiece is fixed and assembled from the beginning.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to overcome current defect, provide a duplex robot coordination assembly system, can dismantle the cooperation work of robot through assembly robot, conversion unit and installation, realize that the synchronization of work piece assembling process and installation dismantlement process goes on, can effectively solve the problem in the background art.

In order to achieve the above object, the utility model provides a following technical scheme: a coordinated assembly system of a duplex robot comprises a base;

base: the four corners of the lower end surface of the base are connected with support legs, the middle of the base is provided with a conversion unit, the left end and the right end of the conversion unit on the upper end surface of the base are respectively provided with an assembling and disassembling robot and an assembling robot, and the left end and the right end of the upper end surface of the base are provided with opposite transportation units;

wherein: the robot assembly is characterized by further comprising an open-source single chip microcomputer, wherein the open-source single chip microcomputer is fixed on the upper end face of the base, the input end of the open-source single chip microcomputer is electrically connected with the output end of an external power supply, and the open-source single chip microcomputer is electrically connected with the assembly robot and the assembly and disassembly robot in a bidirectional mode.

Further, the conversion unit includes pivot one, the lower extreme of pivot one is rotated with the middle part of base and is connected, the lower extreme of pivot one runs through the middle part of base and through the output shaft of a shaft coupling connection step motor, step motor fixes the one side at the planking, the lower terminal surface of base is connected to the upper end of planking, the lower terminal surface middle part of carousel is connected to the upper end of pivot one, the up end of carousel is equipped with the assembly work position of two symmetric distributions, open source singlechip's output is connected to step motor's input electricity, can transfer the assembly robot department with the fixed waiting to assemble the work piece and carry out the assembly operation through the conversion unit, can also realize dismantling the robot department with the transfer of the assembled work piece to the installation and dismantle and the fixed of another waiting to assemble the work piece.

Further, the bearing is located at the joint of the first rotating shaft and the base and is a sealing bearing, and the rotating friction of the first rotating shaft is reduced through the bearing, so that the abrasion of the first rotating shaft is reduced.

Further, still include annular supporting seat, the up end of base is connected to the lower extreme of annular supporting seat, the lower terminal surface sliding connection of annular supporting seat and carousel supports the carousel through annular supporting seat to effectively alleviate the first load that receives of pivot.

Furthermore, the transportation unit comprises two sets of vertical plate groups which are opposite to each other in the front-back direction, the middle parts of the two vertical plate groups are rotatably connected with a second rotating shaft, a driven wheel is fixed at the middle part of the second rotating shaft at the rear end, a driving wheel is fixed at the middle part of the second rotating shaft at the front end, the driven wheel is connected with the driving wheel through a conveying belt, the inner side of the second rotating shaft at the front end penetrates through the vertical plate at the inner side of the vertical plate group and is connected with an output shaft of a motor through a second coupling, the motor is fixed on the upper end face of the base, the input end of the motor is electrically connected with the output end of the power-off single-chip microcomputer, the transportation of the workpiece to be assembled and.

Compared with the prior art, the beneficial effects of the utility model are that: this coordinated assembly system of duplex robot has following benefit:

simple structure, convenient to use can dismantle the cooperation work of robot through assembly robot, conversion unit and installation, realize that the synchronization of work piece assembling process and installation dismantlement process goes on, very big reduction the required time of work piece assembling process, very big increase the assembly efficiency of work piece, the design is more humanized, the popularization and the use of the product of being convenient for.

Drawings

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

fig. 2 is a left-side view partial sectional structure diagram of the present invention;

fig. 3 is a schematic view of the front view cross-sectional structure of the present invention.

In the figure: the automatic assembling and disassembling device comprises a base 1, a support leg 2, an assembling robot 3, a converting unit 4, an outer plate 41, a stepping motor 42, a first coupler 43, a first rotating shaft 44, an assembling working position 45, a turntable 46, an assembling and disassembling robot 5, a conveying unit 6, a vertical plate group 61, a second rotating shaft 62, a driven wheel 63, a conveying belt 64, a driving wheel 65, a second coupler 66, a motor 67, an open-source single chip microcomputer 7, a bearing 8 and an annular supporting seat 9.

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. 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.

Referring to fig. 1-3, the present invention provides a technical solution: a coordinated assembly system of a duplex robot comprises a base 1;

base 1: the four corners of the lower end surface of the base 1 are connected with the support legs 2, the middle part of the base 1 is provided with a conversion unit 4, the conversion unit 4 comprises a first rotating shaft 44, the lower end of the first rotating shaft 44 is rotatably connected with the middle part of the base 1, the lower end of the first rotating shaft 44 penetrates through the middle part of the base 1 and is connected with the output shaft of a stepping motor 42 through a first coupling 43, the stepping motor 42 is fixed on one side of an outer plate 41, the upper end of the outer plate 41 is connected with the lower end surface of the base 1, the upper end of the first rotating shaft 44 is connected with the middle part of the lower end surface of a turntable 46, the upper end surface of the turntable 46 is provided with two symmetrically distributed assembly work positions 45, the input end of the stepping motor 42 is electrically connected with the output end of an open source single chip microcomputer 7, the fixed workpiece to be assembled can be transferred to an assembly robot 3 for assembly operation through the conversion unit 4, the upper end surface of the base 1 is provided with an installing and disassembling robot 5 and an assembling robot 3 at the left end and the right end of the conversion unit 4 respectively, the left end and the right end of the upper end surface of the base 1 are provided with opposite transportation units 6, each transportation unit 6 comprises two groups of vertical plate groups 61 which are opposite in the front and the back, the middle parts of the two vertical plate groups 61 are rotatably connected with a second rotating shaft 62, the middle part of the second rotating shaft 62 at the rear end is fixedly provided with a driven wheel 63, the middle part of the second rotating shaft 62 at the front end is fixedly provided with a driving wheel 65, the driven wheel 63 is connected with the driving wheel 65 through a conveyor belt 64, the inner side of the second rotating shaft 62 at the front end penetrates through the vertical plates at the inner side of the vertical plate groups 61 and is connected with the output shaft of a motor 67 through a second coupling 66, the motor 67 is fixedly arranged on the upper, the transportation of the workpieces required in the workpiece assembly process can be realized through the transportation unit 6 on the right side;

wherein: the assembling robot further comprises an open-source single chip microcomputer 7, the open-source single chip microcomputer 7 is fixed on the upper end face of the base 1, the input end of the open-source single chip microcomputer 7 is electrically connected with the output end of an external power supply, and the open-source single chip microcomputer 7 is electrically connected with the assembling robot 3 and the assembling and disassembling robot 5 in a bidirectional mode.

Wherein: the bearing 8 is positioned at the joint of the first rotating shaft 44 and the base 1, the bearing 8 is a sealed bearing, and the rotating friction of the first rotating shaft 44 is reduced through the bearing 8, so that the abrasion of the first rotating shaft 44 is reduced.

Wherein: still include annular supporting seat 9, the up end of base 1 is connected to the lower extreme of annular supporting seat 9, and annular supporting seat 9 and carousel 46's lower terminal surface sliding connection support carousel 46 through annular supporting seat 9 to effectively alleviate the load that pivot 44 received.

When in use: the installation and disassembly robot 5 is controlled by the open-source singlechip 7 to work, firstly, a workpiece to be assembled is fixed at an assembly working position 45, then the open-source singlechip 7 controls the stepping motor 42 to work to transfer the belt assembly workpiece to the assembly robot 3, the assembly robot 3 is controlled by the open-source singlechip 7 to work so as to assemble the workpiece to be assembled, and after the assembly is finished, the belt assembly workpiece is transferred to the assembly and disassembly robot 5 again by controlling the work of the stepping motor 42 through the open-source singlechip 7, the operation of the assembling and disassembling robot 5 is controlled by the open-source singlechip 7 to realize the disassembly of the assembled workpiece and the fixation of another workpiece to be assembled, in the process, the motor 67 is controlled to work by the open-source single chip microcomputer 7, so that the left transportation unit 6 can transport the workpiece to be assembled and the assembled workpiece, and the transportation unit 6 on the right can transport the workpiece required in the workpiece assembling process.

It is to be noted that the open-source single chip microcomputer 7 disclosed in this embodiment is an AVR single chip microcomputer produced by the mantel corporation, the assembling robot 3 and the assembling and disassembling robot 5 may be robots of a conventional K15 or a15 type, the assembling robot 3, the stepping motor 42, the assembling and disassembling robot 5, and the motor 67 may be freely configured according to actual application scenarios, the open-source single chip microcomputer 7 controls the assembling robot 3 and the assembling and disassembling robot 5 to operate by a method commonly used in the prior art, and the open-source single chip microcomputer 7 controls the stepping motor 42 and the motor 67 to operate by a method commonly used in the prior art.

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

Claims

1. A coordinated assembly system of a duplex robot is characterized in that: comprises a base (1);

base (1): the four-angle position of the lower end face of the base (1) is connected with support legs (2), the middle of the base (1) is provided with a conversion unit (4), the left end and the right end, located on the conversion unit (4), of the upper end face of the base (1) are respectively provided with an installing and disassembling robot (5) and an assembling robot (3), and the left end and the right end of the upper end face of the base (1) are provided with opposite transportation units (6);

wherein: the automatic assembling and disassembling robot is characterized by further comprising an open-source single chip microcomputer (7), wherein the open-source single chip microcomputer (7) is fixed on the upper end face of the base (1), the input end of the open-source single chip microcomputer (7) is electrically connected with the output end of an external power supply, and the open-source single chip microcomputer (7) is electrically connected with the assembling robot (3) and the assembling and disassembling robot (5) in a bidirectional mode.

2. The coordinated assembly system of a duplex robot according to claim 1, characterized in that: conversion unit (4) are including pivot (44), the lower extreme of pivot (44) and the middle part of base (1) are rotated and are connected, the lower extreme of pivot (44) runs through the middle part of base (1) and connects step motor's (42) output shaft through shaft coupling (43), step motor (42) are fixed in one side of planking (41), the lower terminal surface of base (1) is connected to the upper end of planking (41), the lower terminal surface middle part of carousel (46) is connected to the upper end of pivot (44), the up end of carousel (46) is equipped with two symmetric distribution's assembly work position (45), the output of open source singlechip (7) is connected to the input electricity of step motor (42).

3. The coordinated assembly system of a duplex robot according to claim 2, characterized in that: the bearing (8) is positioned at the joint of the first rotating shaft (44) and the base (1), and the bearing (8) is a sealing bearing.

4. The coordinated assembly system of a duplex robot according to claim 2, characterized in that: the rotary table is characterized by further comprising an annular supporting seat (9), the lower end of the annular supporting seat (9) is connected with the upper end face of the base (1), and the annular supporting seat (9) is connected with the lower end face of the rotary table (46) in a sliding mode.

5. The coordinated assembly system of a duplex robot according to claim 1, characterized in that: the transportation unit (6) comprises two sets of vertical plate groups (61) which are opposite front and back, the middle parts of the two vertical plate groups (61) are rotatably connected with a second rotating shaft (62), a driven wheel (63) is fixed in the middle part of the second rotating shaft (62) at the rear end, a driving wheel (65) is fixed in the middle part of the second rotating shaft (62) at the front end, the driven wheel (63) and the driving wheel (65) are connected through a conveying belt (64), the inner side of the second rotating shaft (62) at the front end penetrates through a vertical plate on the inner side of the vertical plate group (61) and is connected with an output shaft of a motor (67) through a second coupling (66), the motor (67) is fixed on the upper end face of the base (1), and the input end of the motor (67).