CN216505089U - Arm angle compensation mechanism and turnover device - Google Patents

Abstract

The application relates to an angle compensation mechanism of a mechanical arm, which comprises an angle compensation seat, a rotating shaft with a seat, a flange bearing sleeve, a rotating chuck and a rotating fixture block, wherein the rotating shaft with the seat comprises a shaft rod and a seat plate, the shaft rod is arranged in a T shape and is vertical to the center of the seat plate, and the seat plate is fixed on the lower surface of the angle compensation seat; the flange bearing sleeve comprises a flange end and a bearing end, and the bearing end is connected with the shaft lever of the rotating shaft with the seat and used for rotating around the axis of the shaft lever; the flange end is used for being connected with the mechanical arm; the rotating chuck is sleeved at the bearing end of the flange bearing sleeve and is used for rotating along with the flange bearing sleeve; the rotating clamping block and the rotating shaft with the seat are fixed on the lower surface of the angle compensation seat in parallel, and the rotating clamping block is provided with a clamping groove corresponding to the rotating chuck so as to limit the rotation of the rotating chuck. The workpiece is conveyed through the mechanical arm with the angle compensation mechanism, so that the workpiece turnover efficiency can be improved, and scrapping caused by improper manual operation can be greatly avoided.

Description

Mechanical arm angle compensation mechanism and turnover device

Technical Field

The application relates to the technical field of automobile assembly, in particular to a mechanical arm angle compensation mechanism and a turnover device.

Background

At present, along with the high-speed development of automotive industry, automotive interior also more receives people's attention, and traditional turnover mode is through artifical transport goods shelves with the work piece that the assembly was accomplished and fix, because the weight of cockpit module is great and partial part is too weak, the staff is careless a little, just can receive deformation or damage at the in-process of artifical turnover, and, the efficiency of artifical turnover is comparatively low, for this reason, need to study out a device that can be used for supplementary turnover cockpit module urgently, the efficiency of turnover is improved, reduce the work piece disability rate.

SUMMERY OF THE UTILITY MODEL

For solving above-mentioned technical problem, this application embodiment provides a arm angle compensation mechanism and turnover device, carries the work piece through the arm that is equipped with this angle compensation mechanism, can not only improve the efficiency of work piece turnover, can avoid scraping because of the improper of manual operation leads to moreover by a wide margin.

In view of this, according to an embodiment of the present application, there is provided a robot angle compensation mechanism including:

an angle compensation seat;

the rotating shaft with the seat comprises a shaft rod and a seat plate, the shaft rod is perpendicular to the center of the seat plate and is arranged in a T shape, and the seat plate is fixed on the lower surface of the angle compensation seat;

the flange bearing sleeve comprises a flange end and a bearing end, and the bearing end is connected with the shaft lever of the rotating shaft with the seat and used for rotating around the axis of the shaft lever; the flange end is used for being connected with the mechanical arm;

the rotating chuck is sleeved at the bearing end of the flange bearing sleeve and is used for rotating along with the flange bearing sleeve;

and the rotating clamping block is fixed on the lower surface of the angle compensation seat in parallel with the rotating shaft with the seat, and the rotating clamping block is provided with a clamping groove corresponding to the rotating chuck so as to limit the rotation of the rotating chuck.

Furthermore, the shaft lever with the seat rotating shaft comprises a first rotating shaft, a second rotating shaft and a third rotating shaft which are sequentially connected, the first rotating shaft is arranged at the position connected with the seat plate, and the third rotating shaft is arranged at the position far away from the seat plate;

and the diameters of the first rotating shaft, the second rotating shaft and the third rotating shaft are sequentially decreased progressively.

Further, arm angle compensation mechanism still includes: a first tapered roller bearing and a second tapered roller bearing;

the first tapered roller bearing is arranged at the first rotating shaft of the rotating shaft with the seat, the second tapered roller bearing is arranged at the second rotating shaft of the rotating shaft with the seat, and the taper angles of the first tapered roller bearing and the second tapered roller bearing are arranged oppositely.

Further, arm angle compensation mechanism still includes: a pair of retaining nuts;

the pair of stopping nuts are arranged at the third rotating shaft of the rotating shaft with the seat in the same direction and used for preventing the flange bearing sleeve from being separated from the rotating shaft with the seat.

Further, arm angle compensation mechanism still includes: an isolation gasket;

the isolation gasket is arranged between the pair of retaining nuts and the second tapered roller bearing and used for isolating the pair of retaining nuts and the second tapered roller bearing.

Further, the third pivot of taking the seat axis of rotation is equipped with the connection groove, then arm angle compensation mechanism still includes: a coupling key;

the connecting key is arranged in the connecting groove and is used for connecting the third rotating shaft and the pair of retaining nuts.

Further, the rotating chuck comprises a rotating surface and a fixed surface;

the rotating surface is vertical to the side wall of the bearing end of the flange bearing sleeve and is used for being matched with the clamping groove of the rotating clamping block so as to limit the rotation of the rotating clamping disc;

the fixed surface is coaxially arranged with the bearing end of the flange bearing sleeve and is used for fixing the rotating chuck on the bearing end of the flange bearing sleeve.

Furthermore, a plurality of rotating holes which are uniformly distributed are formed in the rotating surface of the rotating chuck.

According to another aspect of the present application, there is provided an epicyclic arrangement comprising an arm angle compensation mechanism as above, further comprising: a lifting host and a mechanical arm;

the lifting main machine is connected with the upper surface of the angle compensation seat, so that the mechanical arm angle compensation mechanism can lift along with the lifting main machine;

the mechanical arm is connected with the flange end of the flange bearing sleeve, so that the mechanical arm rotates along with the mechanical arm angle compensation mechanism.

Further, the turnover device further comprises: an upper fixing plate and a lower fixing plate;

the upper fixed plate is fixedly connected with the flange end of the flange bearing sleeve, a mechanical arm is clamped and fixed between the upper fixed plate and the lower fixed plate, and the lower fixed plate is connected with the upper fixed plate through bolts.

Compared with the prior art, the utility model has the following beneficial effects:

this application embodiment is through setting up consecutive Y axle guide rail, X axle guide rail, the stroke dolly, the elevating system, the arm, and be equipped with angle compensation mechanism in this elevating system, the lift cylinder, the lift hydraulic stem, be equipped with fixed cross beam and symmetry setting at the supporting mechanism at fixed cross beam both ends in this arm, fixture, guiding mechanism, release mechanism, and align the work piece through this guiding mechanism, this supporting mechanism bearing work piece, this fixture presss from both sides tight work piece, this release mechanism unblock work piece, and through this lift cylinder at Z axle direction lifting and transfer work piece, rethread this stroke dolly moves in X axle guide rail and Y axle guide rail, realize the high-efficient turnover to the work piece, and can avoid by a wide margin scrapping because of manual operation improper results in. And the angle position relation between the mechanical arm and the workpiece can be compensated through the angle compensation mechanism before the workpiece is conveyed, so that the mechanical arm is aligned with the workpiece, and the mechanical arm is convenient to convey.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings of the embodiments will be briefly introduced below, and it is apparent that the drawings in the following description only relate to some embodiments of the present application and are not limiting on the present application.

FIG. 1 is a schematic diagram of an auxiliary turnover system for an automobile cockpit module;

FIG. 2 is a schematic view of an auxiliary turnover device of an automobile cockpit module;

FIG. 3 is an expanded view of the lifting cylinder and the lifting hydraulic rod in the lifting main machine;

FIG. 4 is a schematic view of the angular compensation mechanism in an expanded configuration;

FIG. 5 is a schematic view of a robotic arm configuration;

FIG. 6 is a schematic view of a support mechanism in a robotic arm;

FIG. 7 is a schematic view of a clamping mechanism in the robot arm;

FIG. 8 is a schematic view of a guide mechanism and an unlocking mechanism in the robot arm;

FIG. 9 is an enlarged view of the guide mechanism of FIG. 8;

FIG. 10 is a schematic view of the X-axis rail positioning;

FIG. 11 is a schematic view of the Y-axis rail positioning.

Description of reference numerals:

100-mechanical arm, 200-lifting host, 300-stroke trolley, 400-X-axis guide rail, 500-Y-axis guide rail and 600-turnover truss;

110-fixed beam, 120-supporting mechanism, 130-clamping mechanism, 140-guiding mechanism, 150-unlocking mechanism, 160-main control box, 170-mechanical arm handrail and 180-side control handle;

210-an angle compensation mechanism, 220-a lifting cylinder, 230-a lifting hydraulic rod, 240-a control cabinet and 250-a drag chain;

121-supporting cylinders, 122-supporting connecting pieces, 123-deflection cylinders, 124-steering column supporting plates, 125-supporting fixed seats, 126-supporting protective covers, 1211-supporting rodless cylinders, 1212-supporting linear guide rails, 1221-supporting connecting blocks, 1222-supporting connecting rods, 1223-supporting connecting plates, 1224-supporting reinforcing plates, 1231-first deflection cylinders, 1232-second deflection cylinders, 1233-inverted T-shaped connecting blocks, 1234-transverse positioning blocks and 1235-transverse connecting pieces;

131-clamping cylinder, 132-clamping hydraulic rod, 133-clamping connecting piece, 134-clamping plate, 135-clamping pin, 136-clamping in-place sensor, 137-clamping detection end, 138-clamping protective cover and 1331-reinforcing connecting piece;

141-a guide connecting piece, 142-a guide column, 1421-a guide clamping block, 1422-a guide fixing column, 1423-a guide bolt, 1424-a guide stop and 1425-a guide in-place sensor;

151-unlocking connecting piece, 152-unlocking cylinder, 153-unlocking block;

181-side control box, 182-air intake compensation knob;

211-an upper fixing plate, 212-a lower fixing plate, 213-a flange bearing sleeve, 214-a rotating chuck, 215-a rotating shaft with a seat, 216-an angle compensation seat, 217-a rotating fixture block, 2131-a backstop nut, 2132-an isolation gasket, 2133-a tapered roller bearing and 2171-a fixture block compensation block;

221-lifting connecting blocks, 222-lifting rails, 223-lifting rodless cylinders, 224-cylinder fixing plates, 225-fixing rails, 226-lifting clamping blocks, 227-lifting limiting blocks, 228-lifting limiting blocks and 229-cylinder connecting strips;

231-a hydraulic rod fixing seat, 232-a lifting hydraulic rod body and 233-a hydraulic rod connecting seat;

310-X axis positioning cylinder, 320-X axis positioning roller and 330-X axis positioning sensor;

410-X axis positioning blocks;

510-Y axis positioning cylinder, 520-Y axis positioning sensor, 530-Y axis limit switch and 540-Y axis buffer device.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The use of "first," "second," "third," and similar terms in the description and claims of this application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The terms "X-axis," "Y-axis," "Z-axis," "center," "vertical," "horizontal," "up," "down," "left," "right," "front," "back," "top," "bottom," and the like as used herein refer to orientations and positional relationships that are based on the orientation shown in the drawings, are used for convenience in describing the utility model and to simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the utility model.

Embodiments of the present application are described in detail below with reference to the accompanying drawings.

Referring to fig. 1 to 9, in an embodiment of the present invention, the robot arm 100 may include a fixed beam 110, and a supporting mechanism 120, a clamping mechanism 130, a guiding mechanism 140, and an unlocking mechanism 150 symmetrically disposed at two ends of the fixed beam 110.

The fixed beam 110 may be disposed along the Y-axis direction, and the supporting mechanism 120, the guiding mechanism 140, the clamping mechanism 130, and the unlocking mechanism 150 are disposed on the XZ-axis plane with respect to the fixed beam 110;

the supporting mechanism 120 may include a supporting cylinder 121, a supporting link 122, a shifting cylinder 123, and a steering column support plate 124, the supporting cylinder 121 may be fixed to the rear side of the fixed beam 110 along the Y-axis direction, the supporting link 122 may be disposed downward perpendicular to the supporting cylinder 121 along the Z-axis direction, the shifting cylinder 123 may be vertically connected to the bottom of the supporting link 122 along the X-axis direction, and extend forward relative to the fixed beam 110, i.e., extend toward the left side along the X-axis direction, and the shifting cylinder 123 may be connected to the steering column support plate 124;

the clamping mechanism 130 may include a clamping cylinder 131, a clamping hydraulic rod 132, a clamping connector 133, a clamping plate 134, and a clamping pin 135, wherein the clamping cylinder 131 and the clamping hydraulic rod 132 may be disposed at the bottom of the fixed beam 110 along the Y-axis direction, the top of the clamping connector 133 may be connected to the clamping cylinder 131 and the clamping hydraulic rod 132, respectively, the clamping connector 133 may be disposed downward perpendicular to the clamping cylinder 131 along the Z-axis direction, the clamping plate 134 may be connected to the bottom of the clamping connector 133 along the X-axis direction, and the clamping pin 135 may be disposed at one side of the clamping plate 134 facing the center of the fixed beam 110 along the Y-axis direction;

the guide mechanism 140 may include a guide link 141, and a guide column 142, wherein the guide link 141 may be disposed downward perpendicular to the fixed beam 110 along the Z-axis direction, and the guide column 142 may be connected to the bottom of the guide link 141 along the X-axis direction;

the unlocking mechanism 150 may include an unlocking link 151, an unlocking cylinder 152, and an unlocking block 153, which are connected in sequence along the X-axis, and the unlocking link 151 is connected to the guide link 141, as shown in fig. 8.

The lifting host 200 may include an angle compensation mechanism 210, a lifting cylinder 220, and a lifting hydraulic rod 230;

the angle compensation mechanism 210 includes an upper fixing plate 211, a lower fixing plate 212, a flange bearing housing 213, a rotation chuck 214, a rotating shaft 215 with a seat, an angle compensation seat 216, and a rotation fixture block 217, wherein the upper fixing plate 211 and the lower fixing plate 212 can be clamped on the upper and lower sides of the center of the fixed beam 110, the flange bearing housing 213 can be arranged on the upper fixing plate 211 perpendicular to the center of the fixed beam 110 along the Z-axis direction, the rotation chuck 214 can be sleeved on the sidewall of the flange bearing housing 213, the shaft rod of the rotating shaft 215 with the seat can be connected with the flange bearing housing 213, the seat plate of the rotating shaft 215 with the seat can be connected with the lower surface of the angle compensation seat 216, the rotation fixture block 217 can be fixed on the lower surface of the angle compensation seat 216 in parallel with the rotating shaft 215 with the seat, and the rotation fixture block 217 can be provided with a clamping groove corresponding to the rotation chuck 214 to limit the rotation of the rotation chuck 214;

the lifting cylinder 220 includes a lifting connection block 221, a lifting rail 222, a lifting rodless cylinder 223, a cylinder fixing plate 224, and a pair of fixing rails 225, which are connected in sequence, the lifting rail 222 and the pair of fixing rails 225 can be disposed along the Z-axis direction, and the lifting rail 222 can be clamped between the pair of fixing rails 225, the cylinder fixing plate 224 can be disposed at the bottom of the pair of fixing rails 225 and can be connected to the pair of fixing rails 225 respectively, the lifting rodless cylinder 223 can be disposed on the lifting rail 222 along the Z-axis direction and can be fixedly connected to the cylinder fixing plate 224, the lifting connection block 221 can be disposed at the bottom of the lifting rail 222 and is used for connecting the lifting rail 222 with the angle compensation base 216 in the angle compensation mechanism 210;

the lifting hydraulic rod 230 includes a hydraulic rod fixing seat 231, a lifting hydraulic rod body 232, and a hydraulic rod connecting seat 233, which are connected in sequence, wherein the hydraulic rod fixing seat 231 may be fixed on the top of the pair of fixing rails 225, and the hydraulic rod connecting seat 233 may be disposed on the upper surface of the angle compensating seat 216 corresponding to the rotating fixture 217 of the angle compensating mechanism 210.

The lifting main machine 200 and the mechanical arm 100 can form an auxiliary turnover device of the automobile cockpit module.

Further, as shown in fig. 2, the auxiliary turnover device for the vehicle cabin module may further include a travel cart 300, wherein the travel cart 300 may be fixedly connected to the top of the pair of fixed rails 225 of the lifting cylinder 220 of the lifting main machine 200, and may make the lifting rail 222 of the lifting cylinder 220 perpendicular to the center of the travel cart 300 along the Z-axis direction, and the travel cart 300 may be used to suspend and move the lifting main machine 200 and the robot arm 100.

In this embodiment, as shown in fig. 3, the lifting cylinder 220 may include a pair of lifting connection blocks 221, the pair of lifting connection blocks 221 are oppositely disposed at the bottom of the lifting rail 222, the lifting connection plates of the pair of lifting connection blocks 221 may be vertically disposed to be connected with the bottom of the lifting rail 222, and a pair of C-shaped connection frames of the pair of lifting connection blocks 221 may be clamped at two sides of the bottom of the lifting rail 222.

Further, the pair of lifting connection blocks 221 includes a first lifting connection block and a second lifting connection block, the lifting connection plate of the first lifting connection block may be correspondingly disposed on one side of the lifting rail 222 where the lifting rodless cylinder 223 is located, and the lifting connection plate of the second lifting connection block may be correspondingly disposed on the other side of the lifting rail 222 opposite to the lifting rodless cylinder 223.

Further, the first lifting connection block and the second lifting connection block are stacked in opposite directions, that is, a pair of C-shaped connection frames of the first lifting connection block and the second lifting connection block are stacked in opposite directions, and the C-shaped connection frames stacked in opposite directions are used for being connected to the robot arm 100, as shown in fig. 2 and 3.

Further, as shown in fig. 3, the lifting cylinder 220 may further include a lifting latch 226, a pair of lifting stoppers 227, and a pair of lowering stoppers 228, wherein the lifting latch 226 may be disposed on the top of the lifting rail 222 opposite to the cylinder fixing plate 224; the pair of ascending limit blocks 227 can be respectively arranged on the tops of the pair of fixed rails 225 corresponding to the ascending and descending fixture blocks 226; the pair of descending stoppers 228 may be respectively disposed at the bottoms of the pair of fixing rails 225 corresponding to the ascending and descending latch 226.

Further, the lifting cylinder 220 may further include a cylinder connection bar 229, the cylinder connection bar 229 may be disposed inside the lifting rail 222 and fixed to the lifting rodless cylinder 223 by bolts or screws, which may strengthen the connection between the lifting rodless cylinder 223 and the lifting rail 222, and may be particularly disposed inside the top of the lifting rail 222 and connected to the top of the lifting rodless cylinder 223.

Further, as shown in fig. 2, the elevator mainframe 200 may further include a control box 240 and a drag chain 250, the control box 240 is disposed outside the pair of fixed rails 225 and may be adjacent to the hydraulic lifting rod 230, one end of the drag chain 250 is connected to the control box 240, and the other end of the drag chain 250 is fixed outside the lifting rail 222, the outside of the lifting rail 222 is opposite to the side of the rodless lifting cylinder 223, and the drag chain 250 may ascend and descend along the lifting rail 222 to prevent the control box 240 from breaking its routing in the drag chain 250.

In the embodiment of the present application, as shown in fig. 4, in the angle compensation mechanism 210, the shaft rod of the rotating shaft 215 with seat may include a first rotating shaft, a second rotating shaft, and a third rotating shaft connected in sequence, wherein the first rotating shaft is disposed at a connection point with the seat plate, the third rotating shaft is disposed at a position far away from the seat plate, and diameters of the first rotating shaft, the second rotating shaft, and the third rotating shaft decrease in sequence.

Further, the angle compensating mechanism 210 may further include a first tapered roller bearing (a pair of tapered roller bearings 2133) which may be provided at the first rotation axis of the pedestal rotation shaft 215, and a second tapered roller bearing (a pair of tapered roller bearings 2133) which may be provided at the second rotation axis of the pedestal rotation shaft 215, and the taper angles of the first tapered roller bearing 2133 and the second tapered roller bearing 2133 are disposed to face each other so as to prevent the pedestal rotation shaft 215 from being separated from the flange bearing housing 213.

Further, the angle compensating mechanism 210 may further include a pair of anti-back nuts 2131, and the pair of anti-back nuts 2131 may be disposed at a third rotation axis of the rotating shaft with holder 215 in the same direction, and may be used to prevent the flange bearing housing 213 from separating from the rotating shaft with holder 215.

Further, the angle compensation mechanism 210 may further include: and a spacer 2132, the spacer 2132 being provided between the pair of retaining nuts 2131 and the second tapered roller bearing 2133, and being used to separate the pair of retaining nuts 2131 from the second tapered roller bearing 2133.

Further, the third rotating shaft of the seated rotating shaft 215 may be provided with a coupling groove, and the angle compensating mechanism 210 may further include a coupling key (not shown) installed in the coupling groove for coupling the third rotating shaft of the seated rotating shaft 215 and the pair of back stop nuts 2131.

Further, the spin chuck 214 includes a rotating surface and a fixing surface, the rotating surface may be perpendicular to the side wall of the bearing end of the flange bearing housing 213 and may be configured to cooperate with the catching groove of the spin chuck 217 to limit the rotation of the spin chuck 214; the fastening surface of the chuck can be arranged coaxially with the bearing end of the flange bearing sleeve 213, for fastening the spin chuck 214 to the bearing end of the flange bearing sleeve 213.

Further, the rotating surface of the rotating chuck 214 is provided with a plurality of rotating holes which are uniformly distributed, and the plurality of rotating holes can be fixedly connected with the bottoms of a pair of fixed rails 225 in the lifting cylinder 220 through bolts when the rotating chuck 214 rotates in place.

Further, as shown in fig. 2, the angle compensation mechanism 210 may be further connected to a lifting cylinder 220 and the robot arm 100, and the lifting cylinder 220 is connected to the upper surface of the angle compensation base 216, so that the angle compensation mechanism 210 is lifted along with the lifting cylinder 220; the robot arm 100 is connected to the flanged end of the flange bearing housing 213 so that the robot arm 100 rotates following the angle compensating mechanism 210.

Further, as shown in fig. 4, an upper fixing plate 211 and a lower fixing plate 212 may be further disposed between the angle compensating mechanism 210 and the robot arm 100, wherein an upper surface of the upper fixing plate 211 is fixedly connected to a flange end of the flange bearing housing 213, the fixing beam 110 of the robot arm 100 is clamped and fixed between the upper fixing plate 211 and the lower fixing plate 212, and the lower fixing plate 212 and the upper fixing plate 211 may be connected by bolts.

In the embodiment of the present application, as shown in fig. 5 and 6, in the supporting mechanism 120, the supporting cylinder 121 may include a supporting rodless cylinder 1211 and a supporting linear guide 1212, and the supporting rodless cylinder 1211 and the supporting linear guide 1212 may be disposed side by side at the rear side of the fixed beam 110 and disposed in the same direction as the fixed beam 110, that is, disposed along the Y-axis direction.

Further, the support connection member 122 may include a support connection block 1221, a support connection rod 1222, and a support connection plate 1223, wherein the support connection block 1221 may be connected to the support rodless cylinder 1211 and the support linear guide 1212, respectively; the top of the support connection rod 1222 may be connected with the support connection block 1221, and the support connection rod 1222 may be disposed downward perpendicular to the support connection block 1221; the support connection plate 1223 may be vertically connected to the bottom of the support connection rod 1222, and the support connection plate 1223 may be extended forward relative to the vertical direction of the fixed beam 110, and the support connection plate 1223 may be used to connect the indexing cylinder 123.

Further, the support connector 122 may further include a support reinforcing plate 1224, and the support reinforcing plate 1224 is disposed at a corner of the support connecting rod 1222 perpendicular to the support connecting plate 1223 and can be used to reinforce the connection between the support connecting rod 1222 and the support connecting plate 1223.

Further, the shift cylinder 123 may include a first shift cylinder 1231, a second shift cylinder 1232, and an inverted T-shaped connection block 1233; the housing of the first displacement cylinder 1231 can be connected with the supporting connection plate 1223, and the push rod of the first displacement cylinder 1231 can be connected with the vertical part of the inverted T-shaped connection plate 1233; the housing of the second displacement cylinder 1232 may be connected to the lateral portion of the inverted T-shaped connecting block 1233, and the push rod of the second displacement cylinder 1232 may be connected to the steering column support plate 124; the first shifting cylinder 1231 and the second shifting cylinder 1232 may be disposed in the same direction as the supporting connection plate 1223, and both may extend forward relatively perpendicular to the fixed beam 110.

Further, the shifting cylinder 123 may further include a lateral positioning block 1234, the lateral positioning block 1234 may be disposed on a side of the second shifting cylinder 1232 facing the center of the fixed cross beam 110, and the lateral positioning block 1234 may be disposed in the same direction as the fixed cross beam 110, and the lateral positioning block 1234 may be used for positioning the auxiliary steering column supporting plate 124.

Further, the shifting cylinder 123 may further include a transverse connection member 1235, the transverse connection member 1235 is respectively connected to the second shifting cylinder 1232 and the transverse positioning block 1234, the transverse connection member 1235 is disposed along the Y-axis direction, and may be in a Z-shaped structure, and one end of the transverse connection member 1235 of the Z-shaped structure is connected to the tail of the second shifting cylinder 1232, and the other end is connected to the transverse positioning block 1234.

Further, the supporting cylinder 121 may further include a supporting fixing seat 125, and the supporting fixing seat 125 may be disposed above the fixed cross beam 110 corresponding to the supporting rodless cylinder 1211 and may be used for fixedly supporting the rodless cylinder 1211;

also, the support holder 125 may include a fixing surface connected to the upper surface of the fixing beam 110 and a mounting surface connected to the support rodless cylinder 1211, which are perpendicular to each other, and a plurality of reinforcing ribs are provided between the fixing surface and the mounting surface.

Further, the supporting mechanism 120 may further include a supporting protective cover 126, the supporting protective cover 126 may correspondingly wrap the supporting cylinder 121 and may be connected to the fixed cross member 110, and the supporting protective cover 126 may be configured to cover and protect the supporting cylinder 121.

Further, as shown in fig. 5, the steering column support plate 124 has a V-shaped groove for supporting a steering column of the vehicle cabin module to be carried.

Further, as shown in fig. 5 and 6, the support mechanisms 120 may be symmetrically disposed at both ends of the fixed beam 110 of the robot arm 100, so that the robot arm 100 carries the car cab module of the left-or right-rudder steering column through the support mechanisms 120.

In the embodiment of the present application, as shown in fig. 5 and 7, in the clamping mechanism 130, the clamping link 133 may have an inverted L-shape, and the clamping link 133 may include a horizontal link portion and a vertical link portion, wherein a top portion of the horizontal link portion may be connected to the clamping cylinder 131, a first end of the horizontal link portion may be connected to the clamping hydraulic rod 132, and a second end of the horizontal link portion may be connected to the vertical link portion; the vertical connecting part may be disposed downward perpendicular to the horizontal connecting part, and a clamping plate 134 may be connected to the bottom of the vertical connecting part; the clamp link 133 can buffer the movement of the clamp cylinder 131 by the clamp hydraulic rod 132.

Further, the clamping connector 133 may further include a reinforcing connection portion 1331, and the reinforcing connection portion 1331 may be disposed between the vertical included angle of the horizontal connection portion and the vertical connection portion, and may be used to reinforce the connection between the horizontal connection portion and the vertical connection portion.

Further, as shown in fig. 7, the clamping mechanism 130 may further include a clamping-in-place sensor 136 and a clamping-detecting end 137, wherein the clamping-detecting end 137 may be connected to the transverse connection portion of the clamping connection member 133, and the clamping-in-place sensor 136 may be disposed on the fixed beam 110 corresponding to the clamping-detecting end 137. The grip-in-place sensor 136 and the grip detection end 137 are used to detect whether the gripping mechanism 130 is in place.

Further, the clamping mechanism 130 may further include an L-shaped fixing base, a vertical end of the L-shaped fixing base may be fixedly connected to the fixed beam 110, and a horizontal end of the L-shaped fixing base may be vertically installed with a clamping in-place sensor 136.

Moreover, the clamping detection end 137 may be Z-shaped corresponding to the L-shaped fixing base, one end of the clamping detection end may be parallel to the transverse end of the L-shaped fixing base, the other end may be fixed at the bottom of the transverse connection portion of the clamping connection member 133, and the clamping in-place sensor 136 may be a photoelectric sensor.

Further, the clamping pin 135 may include a tapered head portion, a cylindrical pin rod, a pin rod connecting portion, and a pin rod protruding portion, which are connected in sequence, wherein the tapered head portion and the cylindrical pin rod may be disposed on a side of the clamping plate 134 facing the center of the fixed beam 110, the pin rod connecting portion may be fixedly connected with the clamping plate 134, and the pin rod protruding portion may be disposed on a side of the clamping plate 134 away from the center of the fixed beam 110.

And, a pair of pin grooves can be arranged on the cylindrical pin rod, and the pair of pin grooves can be symmetrically arranged on the upper side and the lower side of the cylindrical pin rod.

Further, the clamp pin 135 may be provided at an end of the clamp plate 134 remote from the bottom of the clamp link 133, and the clamp pin 135 may include a pair of clamp pins, which may be provided side by side in a horizontal direction.

Further, as shown in fig. 7, the clamping mechanism 130 may further include a clamping protective cover 138, the clamping protective cover 138 may correspondingly wrap the clamping hydraulic rod 132 and is connected to the fixed cross member 110, and the clamping protective cover 138 may be configured to cover and protect the clamping hydraulic rod 132.

Further, the clamping cylinder 131 may be a rodless cylinder.

Further, the clamping mechanisms 130 may be symmetrically disposed at both ends of the fixed beam 110 of the robot arm 100, so that the robot arm 100 clamps the workpiece by the clamping mechanisms 130.

In the embodiment of the present application, as shown in fig. 5, 8 and 9, the guiding mechanism 140 may include a guiding link 141 and a guiding column 142.

Wherein, the guide link 141 may be disposed downward perpendicular to the fixed beam 110 of the robot arm 100;

wherein, the guiding column 142 can be vertically connected with the bottom of the guiding connecting piece 141 and extends forwards relative to the fixed beam 110, i.e. extends towards the left side along the X-axis direction;

the guide column 142 may include a guide clamp block 1421, a guide fixing column 1422, a guide bolt 1423, a guide stop 1424, and a guide in-place sensor 1425, wherein the guide clamp block 1421 may be disposed at the bottom of the guide connecting member 141 for clamping the guide fixing column 1422; the guiding fixing column 1422 can be disposed along a direction perpendicular to the guiding connecting member 141, and one end of the guiding fixing column is connected to the guiding clamping block 1421, and the other end of the guiding fixing column is connected to the guiding bolt 1423; the guide bolt 1423 may be disposed coaxially with the guide fixing column 1422, i.e., along the X-axis direction; the guide block 1424 may be sleeved on the guide pin 1423, and the guide block 1424 is provided with at least one guide detection hole; the guide-in-place sensor 1425 may be disposed in one of the guide detection holes, which may be used to detect whether the guide mechanism 140 is guided into place.

Further, as shown in fig. 9, the guide clamp block 1421 may be provided with a through clamp hole along the extending direction of the guide column 142, that is, a through clamp hole along the X-axis direction. The clamping hole can be used to fix the guiding fixing column 1422, so that when the guiding fixing column 1422 moves along the clamping hole, the distance from the guiding bolt 1423 at the other end of the guiding fixing column 1422 to the bottom of the guiding connecting piece 141 is adjusted, so as to realize the adaptation to workpieces with different sizes.

Further, the guide clamp block 1421 may include: the opposite surfaces of the first guide clamping block and the second guide clamping block can be provided with symmetrical semicircular grooves so as to surround a clamping hole.

Further, one end of the guiding bolt 1423 may be a conical protrusion, and the other end may be provided with a fixing insertion hole extending inward, and the inner diameter of the fixing insertion hole may be the same as the diameter of the guiding fixing column 1422, and the fixing insertion hole may be used for inserting and fixing the guiding fixing column 1422.

Further, as shown in fig. 9, the guide block 1424 may be disposed on a side wall of the guide pin 1423 in a circular shape, the guide block 1424 may be disposed concentrically with the guide pin 1423, and the guide block 1424 may be integrally connected with the guide pin 1423.

Further, as shown in fig. 9, the guide stop 1424 may further be provided with a counter bore corresponding to the guide detection hole, and the counter bore may be disposed on a detection side of the guide stop 1424 for detection, so that the guide in-place sensor 1425 sinks into the detection side without protruding, and the detection side may be a side of the guide stop 1424 away from the guide connection member 141.

Further, the guide-to-position sensor 1425 may be a photosensor.

Further, the guide mechanisms 140 may be symmetrically disposed at both ends of the fixed beam 110 of the robot arm 100, so that the robot arm 100 may be aligned with the workpiece to be handled through the guide mechanisms 140.

In the embodiment of the present application, as shown in fig. 5, the robot arm 100 may further include a main control box 160 and a robot arm rest 170, the main control box 160 may be disposed at the rear side of the center of the fixed beam 110, and the robot arm rest 170 may be disposed corresponding to the main control box 160 and may be disposed around the periphery of the main control box 160;

the main control box 160 can be provided with a clamping button, an unlocking button, a wire body release button, a fault alarm lamp, a wire body start-stop button, a left and right rudder selecting button and a descending button, wherein the clamping button can be used for controlling the supporting mechanism 120 to support a workpiece and controlling the clamping mechanism 130 to clamp the workpiece; the workpiece is the workpiece to be carried in the assembly line.

Further, the robot arm 100 may further include a side control handle 180, and the side control handle 180 may be disposed at a left side end of the fixed beam 110 in the Y-axis direction;

moreover, a side control box 181 and an air inlet compensation knob 182 can be arranged on the side control handle 180;

the side control box 181 may be provided with a positioning knob for selecting a left or right rack, and a release button for controlling the resetting of the supporting mechanism 120 and the holding mechanism 130 to lower the workpiece into the rack, which is a rack disposed in the stacking line for stacking the workpiece;

the intake air compensation knob 182 may be used to increase the intake air amount of the lift cylinder 220, control the lift cylinder 220 to accelerate when it ascends, and control the lift cylinder 220 to accelerate when it descends.

The side control handle 180 may be a rectangular ring handle, the side control box 181 is fixed to the inner side of the rectangle, the air intake compensation knob 182 is installed at a vertical section of the rectangle to be connected with the ring handle, and a user may hold the air intake compensation knob 182 to adjust when pushing or pulling the ring handle. The inlet compensation knob 182 may be disposed on the right side of the lateral control handle 180 in the X-axis direction.

In an embodiment of the present application, please refer to fig. 1 to 11 in combination, the present application further provides a rail positioning system, which may include: a pair of Y-axis guide rails 500, a pair of X-axis guide rails 400, a travel carriage 300, an X-axis positioning cylinder 310, at least one X-axis positioning block 410, a Y-axis positioning cylinder 510, a Y-axis positioning block (not shown).

Wherein, the pair of X-axis guide rails 400 can be suspended below the pair of Y-axis guide rails 500;

wherein, the travel trolley 300 can be suspended below the pair of X-axis guide rails 400;

the X-axis positioning cylinder 310 can be arranged on one side of the traveling trolley 300 in the X-axis direction, and the X-axis positioning cylinder 310 can be arranged upwards along the Z-axis direction;

wherein, at least one X-axis positioning block 410 may be disposed at a preset position of the pair of X-axis guide rails 400 corresponding to the X-axis positioning cylinder 310, and the at least one X-axis positioning block 410 may be used to position the stroke trolley 300 at the X-axis position;

wherein, the Y-axis positioning cylinder 510 may be disposed at a preset position of the pair of Y-axis guide rails 500 and may be disposed at a side facing the stroke trolley 300, and the Y-axis positioning cylinder 510 may be disposed downward along the Z-axis direction;

the Y-axis positioning block may be disposed on the pair of X-axis guide rails 400 corresponding to the Y-axis positioning cylinder 510, and is used to position the stroke carriage 300 on the Y-axis.

Further, as shown in fig. 10, the track positioning system may further include an X-axis positioning roller 320, and the X-axis positioning roller 320 may include a roller seat and a roller, the roller seat may be connected to the push rod of the X-axis positioning cylinder 310, and the roller may be mounted on the roller seat to move along with the push rod of the X-axis positioning cylinder 310. And when the travel trolley 300 moves to the position of the X-axis positioning block 410, the X-axis positioning cylinder 310 jacks up the X-axis positioning roller 320, and clamps the X-axis positioning roller into the X-axis positioning block 410, so as to position the travel trolley 300 on the X-axis guide rail 400.

Further, the roller seat may include: the roller seat plate and the pair of tapered clamping plates can be vertically arranged on the roller seat plate along the Z-axis direction, the tops of the pair of tapered clamping plates are narrower than the bottoms connected with the roller seat plate, the roller is clamped between the narrower tops of the pair of tapered clamping plates, and the roller can be exposed out of at least 5/6 roller surfaces, and taking the top included angle of the pair of tapered clamping plates as an example of 60 degrees, the cross section of the roller in the Z-axis direction is exposed out of at least 300 degrees.

Further, the rail positioning system may further include a Y-axis positioning roller, which may be connected to the push rod of the Y-axis positioning cylinder 510 to move along with the push rod of the Y-axis positioning cylinder 510, as well as the X-axis positioning roller. When the X-axis guide rail 400 moves to the position of the Y-axis positioning cylinder 510, the Y-axis positioning cylinder 510 jacks up the Y-axis positioning roller, so as to position the travel trolley 300 on the Y-axis guide rail 500.

Further, as shown in fig. 10, the at least one X-axis positioning block 410 may be provided with an inverted V-shaped roller groove, and the edges of both ends of the inverted V-shaped roller groove are provided with arc chamfers to facilitate the rolling-in and rolling-out of the X-axis positioning roller 320.

Further, as shown in fig. 10 and 11, the rail positioning system may further include an X-axis positioning sensor 330 and a Y-axis positioning sensor 520, the X-axis positioning sensor 330 may be disposed on the travel carriage 300 corresponding to the X-axis positioning cylinder 310, and the X-axis positioning sensor 330 may be disposed on the left side of the X-axis positioning cylinder 310 along the X-axis direction; the Y-axis position sensor 520 may be disposed on the pair of Y-axis guide rails 500 corresponding to the Y-axis position cylinder 510, and the Y-axis position sensor 520 is disposed at the right side of the Y-axis position cylinder 510 in the Y-axis direction.

Further, the X-axis and Y-axis positioning sensors 330 and 520 may be photo sensors.

Further, the rail positioning system may further include a Y-axis rolling pulley and an X-axis rolling pulley, wherein the Y-axis rolling pulley may be disposed between the pair of Y-axis guide rails 500 and the pair of X-axis guide rails 400 for moving the pair of X-axis guide rails 400 in the Y-axis direction along the pair of Y-axis guide rails 500; the X-axis rolling pulley may be disposed between the pair of X-axis guide rails 400 and the stroke carriage 300 for moving the stroke carriage 300 in the X-axis direction along the pair of X-axis guide rails 400.

Further, the pair of Y-axis guide rails 500 and the pair of X-axis guide rails 400 may be aluminum alloy sections, and the aluminum alloy sections are provided with a plurality of mounting grooves and sliding grooves for correspondingly mounting and connecting the stroke trolley 300, the X-axis positioning cylinder 310, at least one X-axis positioning block 410, the Y-axis positioning cylinder 510, the Y-axis positioning block, the X-axis positioning sensor 330, the Y-axis positioning sensor 520, the Y-axis rolling pulley, the X-axis rolling pulley, and the like.

Further, as shown in fig. 1, the guide rail positioning system may further include a pair of Y-axis connecting rails disposed at both ends of the pair of X-axis guide rails 400, which may connect and fix the pair of X-axis guide rails 400 into a rectangular frame having H-shaped both ends. And the four vertical included angles of the pair of Y-axis connecting rails connected with the pair of X-axis guide rails can be fixedly connected through the L-shaped angle codes.

In an embodiment of the present application, please refer to fig. 1 to 11 in combination, the present application further provides an auxiliary turnover system for a vehicle cabin module, which may include: the robot comprises a mechanical arm 100, a lifting host machine 200, a travel trolley 300, a pair of X-axis guide rails 400 and a pair of Y-axis guide rails 500.

Wherein, the pair of Y-axis guide rails 500 can be arranged along the Y-axis direction, and a working space is arranged between the pair of Y-axis guide rails 500;

wherein, the pair of X-axis guide rails 400 can be arranged along the X-axis direction and can be suspended below the pair of Y-axis guide rails 500;

wherein, the travel cart 300 can be suspended under the pair of X-axis guide rails 400, and can be used for moving along the pair of X-axis guide rails 400 in the X-axis direction and moving along the pair of Y-axis guide rails 500 in the Y-axis direction;

wherein, the top of the lifting host 200 can be connected with the travel trolley 300 and can be connected with the center of the travel trolley 300 along the Z-axis direction, and the lifting host 200 can be used for moving along the Z-axis direction;

the robot 100 may be disposed along the Y-axis direction and may be connected to the bottom of the lift main body 200, and the robot 100 is configured to transport a workpiece, move along the stroke cart 300 in the X-axis and Y-axis directions, and move along the Z-axis direction along with the lift main body 200.

Further, as shown in fig. 2, the lifting main machine 200 may include an angle compensation mechanism 210, a lifting cylinder 220, and a lifting hydraulic rod 230;

wherein, the lifting cylinder 220 and the lifting hydraulic rod 230 can be vertically connected above the angle compensation mechanism 210 side by side, and the top of the lifting cylinder 220 can be vertically connected to the center of the travel trolley 300;

the angle compensation mechanism 210 may be connected to the robot arm 100, and may be configured to rotate the robot arm 100 in an XY-axis plane to compensate the angle of the robot arm 100;

the lifting cylinder 220 may be used to lift and lower the angle compensation mechanism 210 and the robot arm 100 connected to the angle compensation mechanism 210.

Further, the lifting cylinder 220 may be a pneumatic balance cylinder, which may be used to balance the position of the robot arm 100 in the Z-axis direction according to the weight of the robot arm 100 and the transported workpiece, so as to reduce the manual force applied when transporting the workpiece.

Further, as shown in fig. 2, the robot arm 100 may include a robot arm body, a main control box 160, a robot arm handle 170, and a side control handle 180, where the main control box 160 may be disposed at a lateral rear side of a center of the robot arm body, the robot arm handle 170 is disposed around a periphery of the main control box 160, the side control handle 180 may be disposed at a left side end of the robot arm body along a Y-axis direction, and may be specifically adjusted according to an actual work site, or may be disposed at a right side of the robot arm body.

The main control box 160 can be used to control the robot body to carry workpieces, and the robot arm handle 170 and the side control handle 180 can be used to push the robot body to move in the X-axis, Y-axis, and Z-axis.

Further, as shown in fig. 2, the side control handle 180 may include an air intake compensation knob 182, and the air intake compensation knob 182 may be used to increase the air intake amount of the pneumatic balance cylinder, control the pneumatic balance cylinder to accelerate to rise when rising, and control the pneumatic balance cylinder to accelerate to fall when falling.

Further, the auxiliary turnover system for the automobile cockpit module may further include a Y-axis rolling pulley and an X-axis rolling pulley, the Y-axis rolling pulley may be disposed between the pair of Y-axis guide rails 500 and the pair of X-axis guide rails 400 for the pair of X-axis guide rails 400 to move in the Y-axis direction along the pair of Y-axis guide rails 500; the X-axis rolling pulley may be disposed between the pair of X-axis guide rails 400 and the stroke carriage 300 for movement of the stroke carriage 300 along the pair of X-axis guide rails 400 in the X-axis direction.

Further, as shown in fig. 11, the auxiliary turnover system for the automobile cockpit module may further include a Y-axis limit switch 530 and an X-axis limit sensor.

Wherein, the Y-axis limit switch 530 may be disposed at the left ends of the pair of Y-axis guide rails 500 along the Y-axis direction, and at a side facing the stroke cart 300;

wherein, the X-axis limit sensor can be arranged at the right side ends of the pair of X-axis guide rails 400 along the X-axis direction;

the Y-axis limit switch 530 and the X-axis limit sensor can be used for limiting the moving stroke of the stroke trolley 300 on the Y axis and the X axis respectively;

also, the Y-axis limit switch 530 may be a travel switch with a cross bar, and the X-axis limit sensor may be a photo sensor.

Further, as shown in fig. 11, the auxiliary turnover system for the vehicle cabin module may include a pair of Y-axis limit switches 530, the pair of Y-axis limit switches 530 are disposed side by side at left ends of the pair of Y-axis guide rails 500, and a failure of one of the pair of Y-axis limit switches 530 may be prevented by disposing two Y-axis limit switches 530 side by side, thereby avoiding a loss.

Further, as shown in fig. 11, the vehicle cockpit module auxiliary turnaround system may further include an X-axis buffer device (not shown) and a Y-axis buffer device 540, which may be disposed at the bottom of the left side ends of the pair of X-axis guide rails 400 in the X-axis direction; the Y-axis buffer 540 may be disposed at the bottom of the right-side ends of the pair of Y-axis guide rails 500 in the Y-axis direction; also, the X-axis and Y-axis dampers 540 may be hydraulic dampers.

Further, as shown in fig. 1, the module-assisted turnaround system for an automobile cockpit may further include a turnaround truss 600 and a laser distance measuring device (not shown), wherein the turnaround truss 600 may be used to fix the pair of Y-axis guide rails 500, and the laser distance measuring device may be disposed at a right end of the turnaround truss 600 in the Y-axis direction and may be used to detect whether the workpiece is conveyed in place.

It should be understood that the right side end of the revolving truss 600 along the Y-axis direction is connected to the stacking line, and the distance measured by the laser distance measuring device is the distance when the robot arm 100 carries the workpiece to the position right above the material rack in the stacking line, so as to determine whether the workpiece is in place.

The left side end of the turnover truss 600 along the X-axis direction can correspond to an assembly line body for assembling a workpiece, so that the robot arm 100 can convey the workpiece along the X-axis direction.

Compared with the prior art, the method can achieve at least the following beneficial effects:

in the embodiment of the application, by arranging the Y-axis guide rail 500, the X-axis guide rail 400, the stroke trolley 300, the lifting host 200, and the mechanical arm 100, which are sequentially connected, the angle compensation mechanism 210, the lifting cylinder 220, and the lifting hydraulic rod 230 are arranged in the lifting host 200, the mechanical arm 100 is provided with the fixed cross beam 110, the supporting mechanisms 120 symmetrically arranged at two ends of the fixed cross beam 110, the clamping mechanism 130, the guiding mechanism 140, and the unlocking mechanism 150, and the workpiece is aligned by the guiding mechanism 140, supported by the supporting mechanism 120, clamped by the clamping mechanism 130, unlocked by the unlocking mechanism 150, and lifted and lowered by the lifting cylinder 220 in the Z-axis direction, and then moved in the X-axis guide rail 400 and the Y-axis guide rail 500 by the stroke trolley 300, the efficient turnover of the workpiece is realized, and the rejection caused by improper manual operation can be greatly avoided. And before the workpiece is conveyed, the angular position relation between the mechanical arm and the workpiece can be compensated through the angle compensation mechanism 210, so that the mechanical arm is aligned with the workpiece, and the conveying of the mechanical arm is facilitated.

The above description is only exemplary of the present application and is not intended to limit the scope of the present application, which is defined by the appended claims.

Claims (10)

1. The utility model provides a arm angle compensation mechanism for connect the arm, its characterized in that includes:

an angle compensation seat;

the rotating shaft with the seat comprises a shaft rod and a seat plate, the shaft rod is perpendicular to the center of the seat plate and is arranged in a T shape, and the seat plate is fixed on the lower surface of the angle compensation seat;

the flange bearing sleeve comprises a flange end and a bearing end, and the bearing end is connected with the shaft lever of the rotating shaft with the seat and used for rotating around the axis of the shaft lever; the flange end is used for being connected with the mechanical arm;

the rotating chuck is sleeved at the bearing end of the flange bearing sleeve and is used for rotating along with the flange bearing sleeve;

and the rotating fixture block and the rotating shaft with the seat are fixed on the lower surface of the angle compensation seat in parallel, and a clamping groove is formed in the rotating fixture block corresponding to the rotating chuck so as to limit the rotation of the rotating chuck.

2. The mechanical arm angle compensation mechanism as claimed in claim 1, wherein the shaft rod of the rotation shaft with seat comprises a first rotation shaft, a second rotation shaft and a third rotation shaft connected in sequence, the first rotation shaft is disposed at the connection position with the seat plate, and the third rotation shaft is disposed at a position far away from the seat plate;

and the diameters of the first rotating shaft, the second rotating shaft and the third rotating shaft are sequentially decreased progressively.

3. The mechanical arm angle compensation mechanism of claim 2, further comprising: a first tapered roller bearing and a second tapered roller bearing;

the first tapered roller bearing is arranged at a first rotating shaft of the rotating shaft with the seat, the second tapered roller bearing is arranged at a second rotating shaft of the rotating shaft with the seat, and the taper angles of the first tapered roller bearing and the second tapered roller bearing are arranged oppositely.

4. The robot arm angle compensation mechanism of claim 3, further comprising: a pair of retaining nuts;

the pair of stopping nuts are arranged at the third rotating shaft of the rotating shaft with the seat in the same direction and used for preventing the flange bearing sleeve from being separated from the rotating shaft with the seat.

5. The mechanical arm angle compensation mechanism of claim 4, further comprising: an isolation gasket;

the isolation gasket is arranged between the pair of retaining nuts and the second tapered roller bearing and used for isolating the pair of retaining nuts and the second tapered roller bearing.

6. The angle compensating mechanism of a robot arm according to claim 5, wherein the third shaft of the rotation shaft with the holder is provided with a coupling groove, the angle compensating mechanism further comprising: a coupling key;

the coupling key is mounted on the coupling groove and is used for coupling the third rotating shaft and the pair of retaining nuts.

7. The mechanical arm angle compensation mechanism of claim 1, wherein the rotating chuck comprises a rotating surface and a fixed surface;

the rotating surface is perpendicular to the side wall of the bearing end of the flange bearing sleeve and is used for being matched with the clamping groove of the rotating clamping block so as to limit the rotation of the rotating clamping disc;

the fixed surface is coaxially arranged with the bearing end of the flange bearing sleeve and is used for fixing the rotating chuck on the bearing end of the flange bearing sleeve.

8. The mechanical arm angle compensation mechanism of claim 1, wherein the rotation surface of the rotating chuck is provided with a plurality of rotation holes uniformly distributed.

9. An epicyclic arrangement comprising a mechanical arm angle compensation mechanism according to any of claims 1 to 8, further comprising: a lifting host and a mechanical arm;

the lifting main machine is connected with the upper surface of the angle compensation seat, so that the mechanical arm angle compensation mechanism can lift along with the lifting main machine;

the mechanical arm is connected with the flange end of the flange bearing sleeve, so that the mechanical arm rotates along with the mechanical arm angle compensation mechanism.

10. The epicyclic apparatus of claim 9, further comprising: an upper fixing plate and a lower fixing plate;

the upper fixing plate is fixedly connected with a flange end of the flange bearing sleeve, the mechanical arm is clamped and fixed between the upper fixing plate and the lower fixing plate, and the lower fixing plate is connected with the upper fixing plate through bolts.

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