CN216991988U

CN216991988U - Auxiliary positioning device for robot assembly

Info

Publication number: CN216991988U
Application number: CN202122374852.5U
Authority: CN
Inventors: 卜祥
Original assignee: Nanjing Rongsheng Technology Co ltd
Current assignee: Nanjing Rongsheng Technology Co ltd
Priority date: 2021-09-29
Filing date: 2021-09-29
Publication date: 2022-07-19
Anticipated expiration: 2031-09-29

Abstract

The utility model discloses an auxiliary positioning device for robot assembly, relates to the technical field of robot assembly, and aims to solve the problems that the existing assembly robot mainly depends on a unit motion sensor to measure the distance between the robot and a workpiece, so that simple positioning is realized, and the accuracy in the subsequent assembly process is insufficient. The one end of robot assembly arm is provided with the deflection groove, the internally mounted in deflection groove has the loose axle, the lower extreme of loose axle is provided with the chuck mount pad, all install the cylinder around the loose axle, and the one end of cylinder runs through and extends to the inside of loose axle, install flexible main shaft on the output of cylinder, the expansion plate is installed to the one end of flexible main shaft, install a laser displacement sensor on the outer wall of expansion plate.

Description

Auxiliary positioning device for robot assembly

Technical Field

The utility model relates to the technical field of robot assembly, in particular to an auxiliary positioning device for robot assembly.

Background

The assembly robot is the core equipment of a flexible automatic assembly system and consists of a robot manipulator, a controller, an end effector and a sensing system. The structure types of the manipulator comprise a horizontal joint type, a rectangular coordinate type, a multi-joint type, a cylindrical coordinate type and the like; the controller generally adopts a multi-CPU or multi-stage computer system to realize motion control and motion programming; the end effector is designed into various paws, wrists and the like for adapting to different assembling objects; the sensing system is used to obtain information about the interaction between the assembly robot and the environment and the assembly object.

However, the existing assembly robot mainly depends on a unit moving sensor to measure the distance between the robot and a workpiece, so that simple positioning is realized, and the problem of insufficient precision in the subsequent assembly process is easily caused; we therefore propose an auxiliary positioning device for robot assembly in order to solve the problems set out above.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an auxiliary positioning device for robot assembly, which aims to solve the problems that the existing assembly robot provided by the background technology mainly depends on a unit motion sensor to measure the distance between the robot and a workpiece, so that simple positioning is realized, and the accuracy of the subsequent assembly process is easy to cause insufficiency.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides an auxiliary positioning device is used in assembly of robot, includes robot assembly arm, the one end of robot assembly arm is provided with the deflection groove, the internally mounted in deflection groove has the loose axle, the lower extreme of loose axle is provided with the chuck mount pad, all install the cylinder around the loose axle, and the one end of cylinder runs through and extends to the inside of loose axle, install flexible main shaft on the output of cylinder, the expansion plate is installed to the one end of flexible main shaft, install first laser displacement sensor on the outer wall of expansion plate.

Preferably, an air inlet is formed in the outer wall of the rear end of the air cylinder, and an air guide port is formed in the outer wall of the movable shaft.

Preferably, the both sides of cylinder rear end outer wall all are provided with the mounting panel, the mounting panel passes through screw and loose axle inner wall threaded connection.

Preferably, guide posts are arranged above and below the telescopic main shaft and are in sliding connection with the inner cavity of the cylinder.

Preferably, a second laser displacement sensor is mounted below the front end of the movable shaft.

Preferably, a camera module is mounted below the rear end of the movable shaft.

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

1. the utility model obviously improves the assembly precision by installing four groups of cylinders around the movable shaft of the robot assembly arm and arranging the displacement sensors at the output ends of the cylinders, when in assembly, gas can be pumped into the gas guide port through the gas pump, the four groups of cylinders around the movable shaft are driven to stretch by the gas guide pipe and the speed regulating valve, the distance between the four laser displacement sensors is adjusted to correspond to the size of an assembly table surface, whether deviation occurs in the operation process is judged by measuring the distance between each operation stage and the table surface, and the multipoint synergism is realized, while in the process of clamping the assembly part by the chuck, the distance between the assembly part and the chuck can be detected by the laser displacement sensor below the front end of the movable shaft, and the chuck terminal can more accurately clamp the assembly part after receiving distance feedback, thereby solving the problem that the existing assembly robot mainly depends on a unit displacement sensor to measure the distance between the assembly part and realize simple positioning, the problem of insufficient precision in the subsequent assembly process is easily caused.

2. By installing the camera module on the movable shaft, the whole assembly process can be recorded by the camera module on the movable shaft, image information in the assembly process can be collected in real time, and the assembly effect can be visually checked.

Drawings

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

FIG. 2 is a schematic view of the back structure of the movable shaft of the present invention;

FIG. 3 is a schematic view of the internal structure of the movable shaft according to the present invention;

in the figure: 1. a robot assembly arm; 2. a deflection groove; 3. a movable shaft; 4. a chuck mounting base; 5. an air guide port; 6. a cylinder; 7. a retractable plate; 8. a first laser displacement sensor; 9. a second laser displacement sensor; 10. a telescopic main shaft; 11. a guide post; 12. a camera module; 13. mounting a plate; 14. a screw; 15. an air inlet.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-3, an embodiment of the present invention is shown: an auxiliary positioning device for robot assembly comprises a robot assembly arm 1, wherein one end of the robot assembly arm 1 is provided with a deflection groove 2, a movable shaft 3 is arranged in the deflection groove 2, the deflection groove 2 can reserve a space for the rotation of the movable shaft 3, the lower end of the movable shaft 3 is provided with a chuck mounting seat 4, the chuck mounting seat 4 is used for being connected with an assembly chuck with a corresponding specification, so that assembled parts can be conveniently clamped during assembly, air cylinders 6 are arranged around the movable shaft 3, and the one end of cylinder 6 runs through and extends to the inside of loose axle 3, installs flexible main shaft 10 on the output end of cylinder 6, and expansion plate 7 is installed to the one end of flexible main shaft 10, installs first laser displacement sensor 8 on the outer wall of expansion plate 7, and first laser displacement sensor 8 can rely on and detect the distance between the face in the assembling process, realizes better location effect.

Further, an air inlet 15 is formed in the outer wall of the rear end of the air cylinder 6, air guide ports 5 are formed in the outer wall of the movable shaft 3, the air inlets 15 of the four groups of air cylinders 6 are communicated with one another, speed regulating valves are mounted at the ends of the air inlets 15, when the air pump is used, the air pump is connected with the air guide ports 5, air is pumped into the four groups of air cylinders 6 to drive the four groups of air cylinders to stretch, the speed regulating valves at the air inlet positions of the four groups of air cylinders 6 can ensure that the time when air flow reaches the four groups of air cylinders 6 is approximately consistent, the air cylinders 6 can stretch synchronously, and the distance between the four first laser displacement sensors 8 can be conveniently adjusted according to requirements.

Further, the both sides of 6 rear end outer walls of cylinder all are provided with mounting panel 13, and mounting panel 13 passes through

screw

14 and 3 inner wall threaded connection of loose axle, and mounting panel 13 adopts screw 14 fixed, and the dismouting is swift, and the convenience is changed the maintenance to cylinder 6.

Further, guide posts 11 are mounted above and below the telescopic main shaft 10, the guide posts 11 are slidably connected with the inner cavity of the cylinder 6, and the guide posts 11 can play a guiding role when the telescopic main shaft 10 is telescopic, so that the telescopic main shaft 10 is prevented from being deviated.

Further, a second laser displacement sensor 9 is installed below the front end of the movable shaft 3, and the second laser displacement sensor 9 is used for detecting the distance between the chuck installation seat 4 and a workpiece, so that the chuck on the installation seat can better clamp an assembly part.

Further, a camera module 12 is installed below the rear end of the movable shaft 3, and the camera module 12 can acquire image information in the assembling process in real time, so that the assembling effect can be visually checked, and the rate of finished products in assembling can be ensured.

The working principle is as follows: when the assembly part clamping device is used, the robot assembly arm 1 is connected with one end of a multi-shaft mechanical arm, an assembly chuck with a corresponding specification is installed on a chuck installation seat 4 of the movable shaft 3, in the process that the multi-shaft mechanical arm drives the robot assembly arm 1 to move, air can be pumped into an air guide port 5 through an air pump, four groups of air cylinders 6 around the movable shaft 3 are driven to stretch and retract through the air guide pipe and a speed regulating valve, the distance between four first laser displacement sensors 8 is adjusted to correspond to the size of an assembly table board, whether the operation process deviates or not is judged by measuring the distance between each operation stage and the table board, when the assembly part is clamped, the distance between the assembly part and the chuck can be detected through a second laser displacement sensor 9 below the front end of the movable shaft 3, after the chuck terminal receives distance feedback, clamping can be more accurate, and the camera module 12 below the rear end of the movable shaft 3 in the whole assembly process is recorded, the image information in the assembling process can be collected in real time, and the assembling effect can be visually checked.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides an auxiliary positioning device is used in robot assembly, includes robot assembly arm (1), its characterized in that: the one end of robot assembly arm (1) is provided with deflection groove (2), the internally mounted of deflection groove (2) has loose axle (3), the lower extreme of loose axle (3) is provided with chuck mount pad (4), all install cylinder (6) around loose axle (3), and the one end of cylinder (6) runs through and extends to the inside of loose axle (3), install flexible main shaft (10) on the output of cylinder (6), expansion plate (7) are installed to the one end of flexible main shaft (10), install first laser displacement sensor (8) on the outer wall of expansion plate (7).

2. The auxiliary positioning device for robot assembly according to claim 1, wherein: an air inlet (15) is formed in the outer wall of the rear end of the air cylinder (6), and an air guide port (5) is formed in the outer wall of the movable shaft (3).

3. The auxiliary positioning device for robot assembly according to claim 1, wherein: the mounting plate (13) are arranged on two sides of the outer wall of the rear end of the air cylinder (6), and the mounting plate (13) is in threaded connection with the inner wall of the movable shaft (3) through screws (14).

4. The auxiliary positioning device for robot assembly according to claim 1, wherein: guide posts (11) are arranged above and below the telescopic main shaft (10), and the guide posts (11) are connected with the inner cavity of the cylinder (6) in a sliding manner.

5. The auxiliary positioning device for robot assembly according to claim 1, wherein: and a second laser displacement sensor (9) is arranged below the front end of the movable shaft (3).

6. The auxiliary positioning device for robot assembly according to claim 1, wherein: and a camera module (12) is arranged below the rear end of the movable shaft (3).