CN215433590U

CN215433590U - Heavy-load robot assembly fixture and assembly equipment

Info

Publication number: CN215433590U
Application number: CN202121672074.1U
Authority: CN
Inventors: 冯巧妮; 聂少钦; 曹辉; 周昱明; 李兴; 曹多美
Original assignee: Jiangsu Daye Intelligent System Co ltd
Current assignee: Jiangsu Daye Intelligent System Co ltd
Priority date: 2021-07-21
Filing date: 2021-07-21
Publication date: 2022-01-07
Anticipated expiration: 2031-07-21

Abstract

The application relates to the technical field of part assembly, in particular to a heavy-load robot assembly tool and assembly equipment. Heavy load robot assembly fixture includes: a base; the mounting seat is provided with a mounting surface which is used for receiving a workpiece; the clamp is arranged on the mounting seat and matched with the mounting surface to clamp the workpiece; the first rotating mechanism is arranged on the base and used for driving the mounting seat to rotate around a first axis; the second rotating mechanism is arranged on the base and used for driving the mounting seat to rotate around a second axis; the first axis is perpendicular to the second axis; the mounting seat is connected to the base through a first rotating mechanism and a second rotating mechanism alternatively so as to adjust the inclination angle of the workpiece. The technical scheme of this application can conveniently adjust the work piece to four direction slopes to adjust the gesture to the assembly of being convenient for with the work piece, the problem of the big load work piece of being not convenient for assemble in the solution.

Description

Heavy-load robot assembly fixture and assembly equipment

Technical Field

The application relates to the technical field of part assembly, in particular to a heavy-load robot assembly tool and assembly equipment.

Background

When assembling parts on the surface of the machine body in different directions, the posture of the machine body is generally manually adjusted at present so as to assemble the parts in different directions of the machine body. An operator needs to adjust the posture of the main body and rotate and distribute parts on the main body, the operation difficulty is high, and particularly when parts of a heavy-load robot are assembled, the assembly is inconvenient, the difficulty is high, and the efficiency is low.

SUMMERY OF THE UTILITY MODEL

The application aims at providing a heavy-load robot assembly fixture and assembly equipment to solve the problem that heavy-load workpieces are not convenient to assemble in the prior art.

The embodiment of the application is realized as follows:

in a first aspect, an embodiment of the present application provides a heavy-load robot assembly fixture, which includes:

a base;

the mounting seat is provided with a mounting surface, and the mounting surface is used for receiving a workpiece;

the clamp is arranged on the mounting seat and matched with the mounting surface to clamp a workpiece;

the first rotating mechanism is arranged on the base and used for driving the mounting seat to rotate around a first axis;

the second rotating mechanism is arranged on the base and used for driving the mounting seat to rotate around a second axis; the first axis is perpendicular to the second axis;

the mounting seat is connected to the base through the first rotating mechanism and the second rotating mechanism alternatively so as to adjust the inclination angle of the workpiece.

According to the heavy-load robot assembly tool, a workpiece is fixed with the mounting seat through the clamp, and if the mounting seat is connected to the base through the first rotating mechanism, the workpiece can be driven to rotate around the first axis so as to adjust the inclination angle; if the mounting seat is connected to the base through the second rotating mechanism, the workpiece can be driven to rotate around the second axis so as to adjust the inclination angle. Therefore, the technical scheme of this application can conveniently adjust the work piece to four direction inclinations to adjust the gesture to the assembly of being convenient for with the work piece, the problem of the big load work piece of being not convenient for assemble in the solution.

In one embodiment of the present application, a first shaft hole and a second shaft hole are formed on the mounting seat, and an axis of the first shaft hole is perpendicular to an axis of the second shaft hole;

the first rotating mechanism comprises a first motor and a first telescopic shaft, the first telescopic shaft is connected to the output end of the first motor, and the first telescopic shaft can be matched with the first shaft hole when being extended;

the second rotating mechanism comprises a second motor and a second telescopic shaft, the second telescopic shaft is connected to the output end of the second motor, and the second telescopic shaft can be matched with the second shaft hole when being extended.

In above-mentioned technical scheme, can cooperate when first telescopic shaft stretches out to connect the mount pad in order to transmit in first shaft hole, can cooperate when the second telescopic shaft stretches out to connect the mount pad in order to transmit in the second shaft hole. When the first telescopic shaft extends out, the second telescopic shaft is retracted to give way to a space, and the mounting seat is not influenced to rotate around the first axis; when the second telescopic shaft stretches out, the first telescopic shaft is retracted to give way to the space, and the mounting seat is not influenced to rotate around the second axis. Therefore, in the above scheme, first telescopic shaft and second telescopic shaft not only are connected with the mount pad conveniently, the separation is convenient, conveniently switch the rotation direction of mount pad, still do not influence each other, guarantee effectively to drive the mount pad and rotate.

In one embodiment of the present application, the mount base includes a base body formed with a mounting passage, and a support plate located in the mounting passage and detachably connected to the base body, the mounting surface being formed on the support plate.

In the technical scheme, the supporting plate for bearing the workpiece can be detached, so that the maintenance and the replacement are convenient, and different supporting plates can be replaced according to different requirements of the workpiece.

In one embodiment of the present application, the support plate has a gap with an inner wall of the installation channel.

In the above technical solution, there is a gap between the support plate and the inner wall of the installation passage, so that the support plate can be conveniently taken out, and the gap can also be configured to accommodate a protruding portion of a workpiece, so that the workpiece can be conveniently assembled.

In an embodiment of the present application, a first slide rail is disposed on the mounting base, the clamp is mounted on the first slide rail, and an extending direction of the first slide rail points to the mounting surface.

In the technical scheme, the clamp can move on the mounting seat so as to enable the projection of the clamping position of the clamp on the plane of the mounting surface to move from the center to the edge of the mounting surface, so as to adjust the clamping position; or the projection of the clamping part of the clamp on the plane of the mounting surface can be outside the mounting surface, so that space is made available, and the workpiece can be conveniently placed on the mounting surface.

In one embodiment of the present application, the base includes:

the top frame is used for mounting the first rotating mechanism and the second rotating mechanism;

the underframe is used for being fixed on the ground;

and the lifting mechanism is connected with the top frame and the bottom frame and used for driving the top frame to lift.

In the technical scheme, the lifting mechanism drives the top frame to lift so as to adjust the height of the mounting seat, and therefore the height of the workpiece is adjusted, and parts can be further conveniently mounted on the workpiece.

In one embodiment of the present application, the top frame includes a first portion for disposing the first rotating mechanism and a second portion for disposing the second rotating mechanism;

the two second parts are respectively provided with the second rotating mechanisms, the two second parts are oppositely arranged and are respectively connected to two ends of the first part, and the first part and the two second parts enclose a U-shaped space for accommodating the mounting seat.

In above-mentioned technical scheme, first portion and two second parts constitute U type space, and the focus of work piece is located U type space, and the whole focus of work piece and assembly fixture is stable.

In one embodiment of the present application, the top frame is further provided with a storage portion for placing an installation tool.

In the technical scheme, the storage part is used for placing operation tools, screws and the like, and operation is convenient.

In an embodiment of the application, the lifting mechanism comprises a hydraulic oil cylinder, and a first support frame and a second support frame which are arranged in a crossed manner, wherein the bottom end of the first support frame is slidably connected to the bottom frame, the top end of the first support frame is fixedly hinged to the top frame, the bottom end of the second support frame is fixedly hinged to the bottom frame, the top end of the second support frame is slidably connected to the top frame, the hydraulic oil cylinder is hinged to the first support frame, the output end of the hydraulic oil cylinder is hinged to the second support frame, the hydraulic oil cylinder drives the second support frame and the first support frame to rotate relatively, and therefore the first support frame and the second support frame drive the top frame to lift.

In the technical scheme, the top frame is supported by the first support frame and the second support frame together, so that the top frame has multiple force application points and good stability. One end of the hydraulic oil cylinder is connected with the first support frame, the other end of the hydraulic oil cylinder is connected with the second support frame, the hydraulic oil cylinder, the first support frame and the second support frame can be folded on a plane, and the whole folding assembly tool is small in size and convenient to store and transport.

In a second aspect, an embodiment of the present application provides an assembly apparatus, which includes two of the aforementioned heavy-load robot assembly tools.

In this application scheme, two assembly fixtures assemble, can undertake the load jointly, reduce single assembly fixture atress, can be applicable to the assembly of heavy load work piece better.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic structural diagram of an assembly fixture provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a mounting base provided in an embodiment of the present application;

fig. 3 is a schematic view illustrating a state in which a workpiece is clamped by a mounting seat according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of a clamp according to an embodiment of the present disclosure;

FIG. 5 is a schematic view illustrating an assembled state of a clamp and a guide rail of a mounting seat according to an embodiment of the present disclosure;

FIG. 6 is a schematic view of a state in which a workpiece is not clamped by the mounting seat and the clamp provided by the embodiment of the present application;

fig. 7 is a top view of an assembly fixture provided in an embodiment of the present application;

FIG. 8 is a cross-sectional view taken along line A-A of FIG. 7;

FIG. 9 is a cross-sectional view taken along line B-B of FIG. 7;

FIG. 10 is a schematic view of the workpiece rotating about a first axis;

FIG. 11 is a schematic view of the workpiece rotating about a second axis;

fig. 12 is a schematic view of the mounting apparatus.

Icon: 1-a base; 11-a chassis; 111-a second slide rail; 12-a top frame; 121-a first portion; 122-a second portion; 1221-a third slide rail; 123-a third portion; 124-a storage part; 13-a lifting mechanism; 131-a first support frame; 1311-a first diagonal; 1312-a first cross bar; 132-a second support; 1321-a second diagonal; 1322-a second cross bar; 13221-lug; 133-a hydraulic oil cylinder; 2-a first rotation mechanism; 21-a first motor; 22-a first telescopic shaft; 3-a second rotating mechanism; 31-a second motor; 32-a second telescopic shaft; 4-mounting a base; 41-seat body; 411-installation channel; 412-a first shaft hole; 413-second shaft hole; 42-a support plate; 43-a first slide rail; 44-gap; 5, clamping; 51-a first slider; 52-a fastening screw; 53-a clamp arm; 54-a handle; i, assembling a tool; II, a mechanical arm; IIa-a first workpiece; IIb-a second workpiece; IIc-third workpiece.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually placed when the product of the application is used, the description is only for convenience and simplicity, and the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application. Furthermore, the appearances of the terms "first," "second," and the like in the description herein are only used for distinguishing between similar elements and are not intended to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like when used in the description of the present application do not require that the components be absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Examples

When assembling mechanical equipment, different parts are often required to be installed on the main body, but the positions of the different parts on the main body are different, so that an operator is required to assemble the mechanical equipment while adjusting the posture of the main body, and the assembly is very inconvenient. Particularly, when a large load device is assembled, the mass of the main body and/or parts is large, the main body is difficult to adjust and maintain at a required posture, and the operation is very inconvenient.

The application provides a heavy-load robot assembly fixture (hereinafter referred to as assembly fixture I) for solving the problem that a heavy-load workpiece is not convenient to assemble. The technical scheme provided by the application can be suitable for various types of workpieces, and for convenience of understanding, the mechanical arm is taken as an example for description.

As shown in fig. 1, the assembly fixture I includes a base 1, a mounting seat 4, a clamp 5, a first rotating mechanism 2, and a second rotating mechanism 3.

The mounting seat 4 is formed with a mounting surface for receiving the robot arm II.

The clamp 5 is arranged on the mounting seat 4 to be matched with the mounting surface to clamp the mechanical arm II, so that the mechanical arm II and the mounting seat 4 are fixed into a whole.

First slewing mechanism 2 and second slewing mechanism 3 set up respectively in base 1, and mount pad 4 alternative is connected in the output of first slewing mechanism 2 and the output of second slewing mechanism 3, and first slewing mechanism 2 can drive mount pad 4 and rotate around the first axis, and second slewing mechanism 3 can drive mount pad 4 and rotate around the second axis, and first axis and second axis are perpendicular.

In the embodiment of the present application, the x direction is the left and right direction of the base 1, the y direction is the front and back direction of the base 1, and the z direction is the height direction of the base 1, wherein the first axis is parallel to the x direction, the second axis is parallel to the y direction, and in other embodiments, the first axis and the second axis may be arranged along other directions.

When mount pad 4 is connected in base 1 through first slewing mechanism 2, first slewing mechanism 2 can drive arm II and rotate around first axis to the inclination around changing makes arm II's front side or rear side up, and hoist delivery part to arm II's top position can conveniently be at the position installation part that faces up.

When mount pad 4 is connected in base 1 through second slewing mechanism 3, second slewing mechanism 3 can drive arm II and rotate around the second axis to the inclination about changing makes arm II's left side or right side up, and hoist delivery part to arm II's top position can conveniently be at the position installation part that faces up.

When the mounting base 4 is connected to the base 1 through either the first rotating mechanism 2 or the second rotating mechanism 3, the top of the arm II can be upward, that is, the arm II is not inclined in any direction, such that a part can be mounted on the top of the arm II. In order to further ensure that the top of the mechanical arm II faces upwards, the mechanical arm II can be connected with the mounting seat 4 through the first rotating mechanism 2 and the second rotating mechanism 3 at the same time.

By last knowing, among the application technical scheme, adjust arm II's gesture through assembly fixture I for arm II treats one side of installing the part up, thereby be convenient for correspond with the part position of hoist delivery, make things convenient for operating personnel to be fixed in arm II with the part, solve the inconvenient problem of heavy load arm II and part assembly among the prior art.

Fig. 2 shows a schematic structural view of the mount 4, and the mount 4 includes a mount body 41 and a support plate 42, the support plate 42 is detachably attached to the mount body 41, and a mounting surface for receiving the robot arm II is formed on the support plate 42. If the mounting surface for receiving the mechanical arm II is abraded, only the supporting plate 42 can be replaced, and the maintenance cost is low.

The clamp 5 is arranged on the seat body 41, and the clamp 5 is matched with the mounting surface of the support plate 42 to clamp and fix the mechanical arm II.

In some embodiments, the seat body 41 is formed with a mounting passage 411, the support plate 42 is located in the mounting passage 411, and the support plate 42 has a gap 44 with an inner wall of the mounting passage 411, so that the protruding portion of the robot arm II passes through the gap 44, thereby facilitating the fixing of the robot arm II. As shown in fig. 2 and 3 in conjunction, the convex portion of the robot arm II passes through the gap 44 between the support plate 42 and the mounting passage 411, and the bottom of the robot arm II is laid flat on the mounting surface of the support plate 42.

The structure of the clamp 5 is shown in fig. 4, the clamp 5 includes a toggle clamping mechanism, a clamping arm 53 of the toggle clamping mechanism is matched with the mounting surface, and a handle 54 of the toggle clamping mechanism is used for manual operation, namely, the handle 54 is operated to clamp or release the mechanical arm II by the clamping arm 53.

To facilitate gripping and releasing of the robot arm II, and to accommodate robot arms II of different sizes, the gripper 5 is configured to be movable on the seating body 41 so as to be close to or away from the mounting surface.

As shown in fig. 5 and 6, the mounting seat 4 is provided with a first slide rail 43, and the extending direction of the first slide rail 43 points to the mounting surface. The clamp 5 further includes a first slider 51 and a fastening screw 52, the first slider 51 is slidably disposed on the first slide rail 43 to adjust the position of the clamping arm 53, and the fastening screw 52 is used to fix the first slider 51 and the first slide rail 43 to fix the position of the clamping arm 53.

Specifically, the first slide rail 43 includes a slide plate portion and two limiting portions, the two limiting portions respectively form a first interval with the slide plate portion, and a second interval is formed between the two limiting portions. The first slider 51 is parallel to the surface of the slide plate portion, and both side edges of the first slider 51 extend into two first spaces, respectively, and the toggle clamping mechanism is located in the second space. The first and second spaces extend in directions close to or away from the support plate 42, so that the first slider 51 moves along the first space to drive the toggle clamping mechanism to move along the second space, thereby enabling the clamping portion to move close to or away from the mounting surface or the clamping portion to move on the mounting surface.

The first portion 121 is provided with a strip-shaped hole, the first slider 51 is provided with a screw hole, and when the first slider 51 moves, the projection of the screw hole on the first portion 121 moves along the strip-shaped hole. After the clamping position is adjusted to the proper position, the screw of the fastening screw 52 is passed through the strip-shaped hole and the screw hole to fasten the first portion 121 and the first slider 51 to fix the position of the clamp 5.

In some embodiments, the mounting seat 4 is formed with a first shaft hole 412 and a second shaft hole 413, the output end of the first rotating mechanism 2 is connected to the first shaft hole 412, and the output end of the second rotating mechanism 3 is connected to the second shaft hole 413.

Referring to fig. 2 again, the first shaft hole 412 and the second shaft hole 413 are respectively formed on the seat body 41, an axis of the first shaft hole 412 is along the x direction, and a direction of the second shaft hole 413 is along the y direction, that is, an axis of the first shaft hole 412 is perpendicular to an axis of the second shaft hole 413.

Please refer to fig. 7 and 8, the first rotating mechanism 2 includes a first motor 21 and a first telescopic shaft 22, the first telescopic shaft 22 is connected to an output end of the first motor 21, the first telescopic shaft 22 can extend into the first shaft hole 412 when extending, and the first telescopic shaft 22 is in key slot fit with the first shaft hole 412, so that the first motor 21 can drive the mount 4 and the arm II to rotate through the first telescopic shaft 22 when rotating.

As shown in fig. 7 and 9, the second rotating mechanism 3 includes a second motor 31 and a second telescopic shaft 32, the second telescopic shaft 32 is connected to an output end of the second motor 31, the second telescopic shaft 32 can extend into the second shaft hole 413 when extending, and the second telescopic shaft 32 is in key-groove fit with the second shaft hole 413, so that the second motor 31 can drive the mounting seat 4 and the mechanical arm II to rotate through the second telescopic shaft 32 when rotating.

The structure of any telescopic shaft can be seen in fig. 8 or fig. 9, and the telescopic shaft comprises a shaft sleeve and a shaft rod, wherein the shaft sleeve is matched with a shaft rod key groove, so that the shaft rod can move in the shaft sleeve along the axial direction, and the shaft rod can synchronously rotate with the shaft sleeve. The shaft sleeve is connected to the output end of the motor, and the shaft rod extends out or retracts along the shaft sleeve to extend into or withdraw from the shaft hole of the mounting seat 4. Optionally, the sleeve is provided with a radial screw hole, and a screw rod can be used to penetrate through the radial screw hole to tightly abut against the shaft rod, so that the shaft rod is limited to move along the axial direction.

In order to enable the robot arm II to correspond to parts carried by the spreader more accurately, the base 1 is constructed in a liftable structure so that the height of the mount 4 and the robot arm II can be adjusted. As shown in fig. 1, the base 1 includes a top frame 12, a bottom frame 11 and a lifting mechanism 13, the bottom frame 11 is used for being fixed on the ground, the top frame 12 is used for installing the first rotating mechanism 2 and the second rotating mechanism 3, the lifting mechanism 13 is connected with the top frame 12 and the bottom frame 11, and the lifting mechanism 13 drives the top frame 12 to lift relative to the bottom frame 11, so as to lift the mounting base 4 and the robot arm II. The lifting mechanical arm II not only can enable the lifting mechanical arm II to accurately correspond to a part hung in the air, but also can play a role in facilitating operation of workers in some cases by synchronously lifting the mechanical arm II and the part.

As shown in fig. 1 and 7, the top frame 12 includes a first portion 121 and a second portion 122, the first portion 121 is used for mounting the first rotating mechanism 2, and the second portion 122 is used for mounting the second rotating mechanism 3.

In order to improve the stability of the base 1, the mounting seat 4 and the mechanical arm II, the top frame 12 is U-shaped, that is, the second portion 122 includes two, the two second portions 122 are oppositely disposed and respectively connected to two ends of the first portion 121, and the first portion 121 and the two second portions 122 enclose a U-shaped space for accommodating the mounting seat 4. The projection of the gravity center of the mechanical arm II on the horizontal plane is located in the U-shaped space, so that the whole gravity center of the workpiece and the whole gravity center of the assembly tool I are stable.

To further improve the stability, the two second portions 122 are respectively provided with the second rotating mechanism 3, and the mounting seat 4 is provided with two second shaft holes 413 for the two second rotating mechanisms 3 to be respectively connected. Alternatively, one of the two second rotating mechanisms 3 may be provided with only the second telescopic shaft 32 without the second motor 31, i.e., one second telescopic shaft 32 is mounted to the second portion 122 through a bearing housing.

For the worker to operate, the top frame 12 is further provided with a storage part 124, and the storage part 124 is used for placing installation tools, such as electric hammers, screws, rivets and the like.

As shown in fig. 7, the top frame 12 further includes a third portion 123, the third portion 123 is opposite to the first portion 121, two ends of the third portion 123 are respectively connected to the two second portions 122, and the storage portion 124 is disposed on the third portion 123. In other embodiments, the third portion 123 may not be provided, and the storage portion 124 may be provided on the first portion 121 or the second portion 122, or the storage portions 124 may be provided on the first portion 121 and the second portion 122, respectively.

The lifting mechanism 13 is constructed as shown in fig. 1 and 8, and the lifting mechanism 13 includes a hydraulic cylinder 133, a first support bracket 131 and a second support bracket 132. The first support frame 131 and the second support frame 132 are crossed, and the crossed parts are connected through a rotating shaft. The bottom end of the first support frame 131 is slidably connected to the bottom frame 11, the top end of the first support frame 131 is fixedly connected to the top frame 12, the bottom end of the second support frame 132 is fixedly connected to the bottom frame 11, and the top end of the second support frame 132 is slidably connected to the top frame 12. Therefore, the supporting legs of the first supporting frame 131 and the second supporting frame 132 at the same end are close to each other, the top frame 12 is raised, and the supporting legs of the first supporting frame 131 and the second supporting frame 132 at the same end are opened, the top frame 12 is lowered. The legs in this application refer to the end positions for the bars for support and landing.

The hydraulic oil cylinder 133 is hinged to the first support frame 131, and the output end of the hydraulic oil cylinder 133 is hinged to the second support frame 132, so that the piston rod of the hydraulic oil cylinder 133 drives the first support frame 131 and the second support frame 132 to rotate relatively when extending and contracting, so that the top frame 12 is lifted or lowered.

As shown in fig. 1 and 8, the bottom frame 11 is provided with a second slide rail 111, the second slide rail 111 extends along the y direction, the second portion 122 of the top frame 12 is provided with a third slide rail 1221, and the third slide rail 1221 also extends along the y direction.

The first support frame 131 includes a first cross bar 1312 and two first inclined bars 1311, the two first inclined bars 1311 are oppositely arranged and parallel, and the first cross bar 1312 connects the two first inclined bars 1311 into a whole. The top end of each first inclined rod 1311 is fixedly hinged to the top frame 12, and the bottom end of each first inclined rod 1311 is provided with a roller which is matched in the second sliding rail 111.

The second support frame 132 includes a second cross bar 1322 and two second inclined bars 1321, the two second inclined bars 1321 are disposed oppositely and parallel, and the second cross bar 1322 connects the two second inclined bars 1321 into a whole. The bottom end of each second diagonal rod 1321 is fixedly hinged to the base frame 11, and the top end of each second diagonal rod 1321 is provided with a roller which is matched in the third slide rail 1221.

The first diagonal bar 1311 crosses the adjacent second diagonal bar 1321, and the crossing portion is connected by a rotation shaft.

The hydraulic cylinder 133 is hinged to the first cross bar 1312, and the piston rod at the output end thereof is hinged to the second cross bar 1322.

In some embodiments, the first cross bar 1312 is near the bottom end of the first inclined bar 1311, the second cross bar 1322 is located at a middle position of the second inclined bar 1321, the second cross bar 1322 has a lug 13221 formed thereon, and the piston rod of the hydraulic cylinder 133 is hinged to the lug 13221. When the hydraulic oil cylinder 133 is extended, the second cross rod 1322 and the second support frame 132 are pushed to integrally rotate through the lug 13221, so that the top frame 12 is lifted; when the hydraulic cylinder 133 is shortened, the second cross bar 1322 and the second support frame 132 are integrally rotated by the lug 13221, so that the top frame 12 is lowered.

When the hydraulic cylinder 133 extends and drives the boss 13221 to swing upward, the hydraulic cylinder 133 cannot overlap the second sloped bar 1321 beyond the second crossbar 1322, and thus, as shown in fig. 8, the hydraulic cylinder 133, the first sloped bar 1311, and the second sloped bar 1321 always form a triangle in the extended state of the hydraulic cylinder 133, and the entire base 1 is stable.

When the shortened drive lug 13221 swings downward, the hydraulic ram 133 can drive the lug 13221 to rotate to the lower part of the cross bar, so that the first inclined bar 1311 and the second inclined bar 1321 are overlapped, the base 1 is folded conveniently, and the top frame 12, the bottom frame 11 and the lifting mechanism 13 are folded into three parts which are approximately parallel, and the storage and the transportation are convenient.

The application provides an assembly fixture I's application method as follows:

the main body portion of the robot II includes a first workpiece IIa, a second workpiece IIb, and a third workpiece IIc.

As shown in fig. 3, the mounting seat 4 is connected to the first rotating mechanism 2 and the second rotating mechanism 3 at the same time, so that the mounting seat 4 is kept horizontal, then the first workpiece IIa is hoisted to the supporting plate 42 by using a hoist, the first workpiece IIa is fastened to the supporting plate 42 by using the clamp 5, and then the second workpiece IIb and the third workpiece IIc are hoisted in sequence, and finally the main body part of the robot arm II is formed.

After the main body portion of the robot arm II is formed, as shown in fig. 10, the second telescopic shaft 32 of the second rotating mechanism 3 is withdrawn from the second shaft hole 413 on the mount 4, so that the second rotating mechanism 3 is separated from the mount 4, and then the mount 4 is driven to tilt forward or backward by the first rotating mechanism 2, so that the front side or the rear side of the robot arm II is directed upward, thereby facilitating the mounting of parts in the upward position.

Alternatively, after the main body portion of the robot arm II is formed, as shown in fig. 11, the first telescopic shaft 22 of the first rotating mechanism 2 is withdrawn from the first shaft hole 412 on the mount 4, so that the first rotating mechanism 2 is separated from the mount 4, and then the mount 4 is driven to tilt forward or backward by the second rotating mechanism 3, so that the front side or the rear side of the robot arm II is directed upward, thereby facilitating the mounting of parts in the upward position.

The application also provides an assembly device, and the assembly device comprises a plurality of the assembly tools I, and a plurality of the assembly tools I are matched to further facilitate the assembly of parts on the mechanical arm II.

As shown in fig. 12, the assembling equipment includes two assembling tools I, two mounting seats 4 are connected to the base 1 only through the second rotating mechanism 3, the second rotating mechanism 3 drives the mounting seats 4 to rotate to the mounting surface to be opposite, so that two ends of the mechanical arm II are respectively and correspondingly fixed on one mounting surface. At the moment, the two assembling tools I bear the mechanical arm II together so as to be better suitable for assembling heavy-load workpieces.

In some embodiments, the assembly apparatus includes three assembly tools I (not shown in the drawings) arranged in sequence along the y direction, wherein the assembly tool I located in the middle is provided with only the second rotating mechanism 3, and accordingly the top frame 12 includes only the second portion 122, i.e., the assembly tool I located in the middle cancels the first portion 121 and the first rotating mechanism 2 of the top frame 12. The assembly tool I at the left end is matched with the assembly tool I in the middle, so that the left side of the mechanical arm II faces upwards; the right end of the assembling tool I is matched with the middle assembling tool I, so that the right side of the mechanical arm II faces upwards.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. The utility model provides a heavy load robot assembly fixture which characterized in that includes:

a base;

2. The heavy-load robot assembling tool according to claim 1, wherein a first shaft hole and a second shaft hole are formed in the mounting seat, and the axis of the first shaft hole is perpendicular to the axis of the second shaft hole;

3. The heavy-load robot assembling tool according to claim 1, wherein the mounting seat comprises a seat body and a support plate, the seat body is formed with a mounting passage, the support plate is located in the mounting passage and detachably connected to the seat body, and the mounting surface is formed on the support plate.

4. The heavy-duty robot assembly fixture of claim 3, wherein the support plate has a clearance with an inner wall of the installation channel.

5. The heavy-load robot assembling tool according to claim 1, wherein a first slide rail is arranged on the mounting seat, the clamp is mounted on the first slide rail, and the extending direction of the first slide rail points to the mounting surface.

6. The heavy-duty robot assembly fixture of claim 1, wherein the base comprises:

the underframe is used for being fixed on the ground;

7. The heavy-load robot assembling tool according to claim 6, wherein the top frame comprises a first part and a second part, the first part is used for arranging the first rotating mechanism, and the second part is used for arranging the second rotating mechanism;

8. A heavy-duty robot assembly tool according to claim 6, wherein said top frame is further provided with a storage portion for placing an installation tool.

9. The heavy-load robot assembly fixture according to claim 6, wherein the lifting mechanism comprises a hydraulic cylinder, and a first support frame and a second support frame which are arranged in a crossed manner, the bottom end of the first support frame is slidably connected to the base frame, the top end of the first support frame is fixedly hinged to the top frame, the bottom end of the second support frame is fixedly hinged to the base frame, the top end of the second support frame is slidably connected to the top frame, the hydraulic cylinder is hinged to the first support frame, the output end of the hydraulic cylinder is hinged to the second support frame, and the hydraulic cylinder drives the second support frame and the first support frame to rotate relatively, so that the first support frame and the second support frame drive the top frame to lift.

10. An assembly device, characterized by comprising two heavy-load robot assembly tools according to any one of claims 1-9.