CN218255157U

CN218255157U - Industrial manufacturing workshop assembly manipulator

Info

Publication number: CN218255157U
Application number: CN202221090535.9U
Authority: CN
Inventors: 李志杰; 于华军; 冯留; 毛绪超
Original assignee: Shandong Huayue Technology And Culture Industry Co ltd
Current assignee: Shandong Huayue Technology And Culture Industry Co ltd
Priority date: 2022-05-08
Filing date: 2022-05-08
Publication date: 2023-01-10
Anticipated expiration: 2032-05-08

Abstract

The utility model discloses an assembly manipulator for an industrial manufacturing workshop, which comprises an installation platform, wherein an installation disc is arranged at the top of the installation platform, a stable moving mechanism is arranged at the bottom of the installation disc, an adjusting clamping mechanism is arranged at the top of the installation disc, and a detection component is arranged in the adjusting clamping mechanism; the utility model provides an among the technical scheme, through setting up detection assembly, when the holder when carrying out the centre gripping to the work piece through the pressure sensor who sets up when the contact touches pressure sensor, it has been located the installation intracavity portion to show the supporting pad, the clamping force to the work piece is enough, pressure sensor control electric putter stop motion this moment, make the holder can carry out the centre gripping to the work piece with accurate dynamics, prevent that the clamping force of holder is too big or undersize, make the staff need not carry out manual regulation can greatly increased work efficiency and production quality.

Description

Industrial manufacturing workshop assembly manipulator

Technical Field

The utility model relates to an industrial manufacturing technical field specifically is an industrial manufacturing workshop assembly manipulator.

Background

Industrial manufacturing is referred to as manufacturing industry for short. In China, the manufacturing of processing industry refers to the industry of converting manufacturing resources (materials, energy, equipment, tools, capital, technology, information, manpower and the like) into industrial products and living consumer goods which can be used and utilized by people through the manufacturing process according to market requirements, and comprises 30 industries after deducting mining industry and public industry. As the pillar industry of national economy of China, the manufacturing industry is the leading department of economic growth and the foundation of economic transformation of China; as an important support for economic and social development, the manufacturing industry is the main channel of urban employment and the centralized embodiment of international competitiveness in China, and an assembly manipulator is required to be used in the production of an industrial support workshop.

The prior art has the following defects or problems:

the control clamping force that can't be fine when carrying out the centre gripping to the assembly work piece of present assembly manipulator leads to the dynamics of using when the work piece of the different specifications of centre gripping the same basically, can lead to droing because of the centre gripping is not tight when the less work piece of centre gripping, can be because of the too big damage work piece of centre gripping dynamics when the great work piece of centre gripping, influence production efficiency, and influence production quality.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to prior art's weak point, provide an industrial manufacturing workshop assembly machinery hand to solve the problem that proposes in the background art.

In order to achieve the above object, the utility model provides a following technical scheme:

an assembly manipulator for an industrial manufacturing workshop comprises an installation table, wherein an installation disc is arranged at the top of the installation table, a stable moving mechanism is arranged at the bottom of the installation disc, an adjusting and clamping mechanism is arranged at the top of the installation disc, and a detection assembly is arranged inside the adjusting and clamping mechanism; it includes rotating base, first servo motor, first linking arm, second servo motor, second linking arm, rotates piece, connecting piece and third servo motor to adjust fixture, rotating base fixed connection be in the mounting disc top, first servo motor fixed connection be in rotating base one side, first linking arm fixed connection be in first servo motor output, the second linking arm passes through second servo motor swing joint be in first linking arm one side, it passes through to rotate the piece third servo motor swing joint be in second linking arm one end, connecting piece fixed connection be in rotate the piece lateral wall.

Optionally, the adjusting and clamping mechanism further comprises a fixing part, an electric push rod, a gear, a connecting rod, a clamping part and a supporting rod, the fixing part is fixedly connected to one end of the connecting part, the gear is rotatably connected to the inside of the fixing part, the electric push rod is fixedly installed inside the connecting part, one end of the electric push rod is fixedly connected with a rack, the rack is matched with the gear, one end of the connecting rod is fixedly connected to the inside of the gear, the other end of the connecting rod is movably connected to the inside of the clamping part, the supporting rod is movably connected to the inside of the fixing part and the inside of the clamping part, and the clamping part is movably connected to one side of the fixing part through the connecting rod and the supporting rod.

Optionally, the detection assembly includes a first telescopic link, a spring, a second telescopic link, a supporting pad, a pressure sensor and a contact element, an installation cavity has been seted up inside the holder, first telescopic link fixed connection is in installation cavity inner wall, second telescopic link swing joint is inside the first telescopic link, spring fixed connection be in second telescopic link one end with between the first telescopic link inner wall, the supporting pad fixed connection be in second telescopic link one end, the supporting pad is located holder one side, pressure sensor fixed connection is at installation cavity inner wall, contact element fixed connection is in supporting pad one side, pressure sensor with electric putter is linked together.

Optionally, the supporting pad is arc-shaped, and the supporting pad is made of hard rubber.

Optionally, the stable moving mechanism includes a threaded rod, a driving motor, a positioning rod, a limiting shaft and a gear shaft, a positioning groove is formed in the mounting table, the positioning rod is fixedly connected to the bottom of the mounting disc and located in the positioning groove, the driving motor is fixedly connected to one side of the mounting table, the threaded rod is fixedly connected to the output end of the driving motor, and the threaded rod is rotatably connected to the inside of the mounting table; the threaded rod with the mounting disc phase-match, spacing axle fixed connection be in the locating lever lateral wall, the gear shaft rotates to be connected spacing axle lateral wall, the tooth's socket has been seted up to the constant head tank inside, the gear shaft with the tooth's socket meshes mutually.

Optionally, the mounting plate is slidably connected to the top of the mounting table through the threaded rod and the positioning rod.

Compared with the prior art, the utility model provides an industrial manufacturing workshop assembly machinery hand possesses following beneficial effect:

1. the utility model discloses a set up the detection subassembly, when the holder when carrying out the centre gripping to the work piece through the pressure sensor who sets up when the contact touches pressure sensor, indicate that the supporting pad has been located the installation cavity inside, the clamping-force to the work piece is enough, pressure sensor control electric putter stop operation this moment, make the holder can carry out the centre gripping to the work piece with accurate dynamics, prevent that the clamping-force of holder is too big or undersize, make the staff need not carry out manual regulation can greatly increase work efficiency and production quality;

2. the utility model discloses a set up the locating lever and fix a position the mounting disc, through set up the gear shaft when the mounting disc removes at spacing axle lateral wall the gear shaft can be along with the gear of constant head tank bottom stabilizes the rotation, makes the removal of mounting disc more stable, more stable when making the manipulator remove.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a left side view of the structure of the present invention;

FIG. 2 is an enlarged view of the point A in FIG. 1 according to the present invention;

FIG. 3 is a right side view of the structure of the present invention;

FIG. 4 is a top view of the mounting table of the present invention;

fig. 5 is a side sectional view of the mounting table of the present invention.

In the figure: 1. an installation table; 2. mounting a disc; 3. rotating the base; 4. a first servo motor; 5. a first connecting arm; 6. a second servo motor; 7. a second connecting arm; 8. a rotating member; 9. a connecting member; 10. a fixing member; 11. an electric push rod; 12. a gear; 13. a connecting rod; 14. a clamping member; 15. a support bar; 16. a first telescopic rod; 17. a spring; 18. a second telescopic rod; 19. a support pad; 20. a pressure sensor; 21. a contact member; 22. a mounting cavity; 23. a third servo motor; 24. a threaded rod; 25. a drive motor; 26. positioning a rod; 27. a limiting shaft; 28. a gear shaft; 29. a tooth socket.

Detailed Description

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

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be further noted that, unless otherwise specified or limited, the terms "disposed," "installed," "connected" and "connected" should be understood broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, or connected through an intermediate medium, and can communicate between the inside of two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Referring to fig. 1-5, in the present embodiment: an assembly manipulator for an industrial manufacturing workshop comprises an installation platform 1, wherein an installation disc 2 is arranged at the top of the installation platform 1, a stable moving mechanism is arranged at the bottom of the installation disc 2, an adjusting and clamping mechanism is arranged at the top of the installation disc 2, and a detection assembly is arranged inside the adjusting and clamping mechanism; the adjusting and clamping mechanism comprises a rotating base 3, a first servo motor 4, a first connecting arm 5, a second servo motor 6, a second connecting arm 7, a rotating piece 8, a connecting piece 9 and a third servo motor 23, wherein the rotating base 3 is fixedly connected to the top of the mounting disc 2, the first servo motor 4 is fixedly connected to one side of the rotating base 3, the first connecting arm 5 is fixedly connected to the output end of the first servo motor 4, the second connecting arm 7 is movably connected to one side of the first connecting arm 5 through the second servo motor 6, the rotating piece 8 is movably connected to one end of the second connecting arm 7 through the third servo motor 23, and the connecting piece 9 is fixedly connected to the side wall of the rotating piece 8; through setting up three servo motor, can adjust the position of first linking arm 5, second linking arm 7 and rotation piece 8 with three servo motor cooperation operation to this makes the arm remove.

The adjusting and clamping mechanism further comprises a fixing piece 10, an electric push rod 11, a gear 12, a connecting rod 13, a clamping piece 14 and a supporting rod 15, the fixing piece 10 is fixedly connected to one end of the connecting piece 9, the gear 12 is rotatably connected to the inside of the fixing piece 10, the electric push rod 11 is fixedly installed inside the connecting piece 9, one end of the electric push rod 11 is fixedly connected with a rack, the rack is matched with the gear 12, one end of the connecting rod 13 is fixedly connected to the inside of the gear 12, the other end of the connecting rod 13 is movably connected to the inside of the clamping piece 14, the supporting rod 15 is movably connected between the inside of the fixing piece 10 and the inside of the clamping piece 14, and the clamping piece 14 is movably connected to one side of the fixing piece 10 through the connecting rod 13 and the supporting rod 15; by arranging the rack at one end of the electric push rod 11, the gear 12 can be driven to rotate when the electric push rod 11 stretches, so that the clamping piece 14 can clamp.

The detection assembly comprises a first telescopic rod 16, a spring 17, a second telescopic rod 18, a supporting pad 19, a pressure sensor 20 and a contact element 21, an installation cavity 22 is formed in the clamping piece 14, the first telescopic rod 16 is fixedly connected to the inner wall of the installation cavity 22, the second telescopic rod 18 is movably connected to the inside of the first telescopic rod 16, the spring 17 is fixedly connected between one end of the second telescopic rod 18 and the inner wall of the first telescopic rod 16, the supporting pad 19 is fixedly connected to one end of the second telescopic rod 18, the supporting pad 19 is located on one side of the clamping piece 14, the pressure sensor 20 is fixedly connected to the inner wall of the installation cavity 22, the contact element 21 is fixedly connected to one side of the supporting pad 19, and the pressure sensor 20 is communicated with the electric push rod 11; through setting up pressure sensor 20 when contact 21 touches pressure sensor 20, it shows that supporting pad 19 has been located the installation cavity 22 inside, and the clamping dynamics to the work piece has been enough, and pressure sensor 20 control electric putter 11 stop the operation this moment, makes holder 14 can carry out the centre gripping to the work piece with accurate dynamics.

The supporting pad 19 is arc-shaped, and the supporting pad 19 is made of hard rubber; the support pad 19 can be prevented from damaging the workpiece by providing the support pad 19 with hard rubber.

The stable moving mechanism comprises a threaded rod 24, a driving motor 25, a positioning rod 26, a limiting shaft 27 and a gear shaft 28, a positioning groove is formed in the mounting table 1, the positioning rod 26 is fixedly connected to the bottom of the mounting disc 2, the positioning rod 26 is located in the positioning groove, the driving motor 25 is fixedly connected to one side of the mounting table 1, the threaded rod 24 is fixedly connected to the output end of the driving motor 25, and the threaded rod 24 is rotatably connected to the inside of the mounting table 1; the threaded rod 24 is matched with the mounting disc 2, the limiting shaft 27 is fixedly connected to the side wall of the positioning rod 26, the gear shaft 28 is rotatably connected to the side wall of the limiting shaft 27, the tooth grooves 29 are formed in the positioning grooves, and the gear shaft 28 is meshed with the tooth grooves 29; the gear shaft 28 is arranged on the side wall of the limiting shaft 27, when the mounting disc 2 moves, the gear shaft 28 can stably rotate along with the tooth grooves 29 at the bottoms of the positioning grooves, and therefore the mounting disc 2 can move more stably.

The mounting plate 2 is connected to the top of the mounting table 1 in a sliding manner through a threaded rod 24 and a positioning rod 26; through setting up threaded rod 24, can drive mounting disc 2 when threaded rod 24 rotates and remove, can control the moving direction of mounting disc 2 through the direction of rotation of control threaded rod 24.

The utility model discloses a theory of operation and use flow: when the clamping device moves to a workpiece, a rack is arranged at one end of the electric push rod 11, the gear 12 can be driven to rotate when the electric push rod 11 stretches out and draws back, so that the clamping piece 14 is clamped, the pressure sensor 20 is arranged to control the electric push rod 11 to stop running, and the clamping piece 14 can clamp the workpiece accurately by using the clamping force of the clamping piece 14 to clamp the workpiece, wherein the mounting disc 2 can be driven to move, the moving direction of the mounting disc 2 can be controlled by controlling the rotating direction of the threaded rod 24, the moving position of the mounting disc 2 is ensured by the positioning rod 26, the gear shaft 28 can stably rotate along with a tooth groove 29 at the bottom of the positioning groove when the mounting disc 2 moves by arranging the gear shaft 28 on the side wall of the limiting shaft 27, so that the mounting disc 2 can more stably move, the positions of the first connecting arm 5, the second connecting arm 7 and the rotating piece 8 can be adjusted by the cooperation of the three servo motors, when the clamping piece 14 touches the pressure sensor 20, the supporting pad 19 is positioned in the mounting cavity 22.

The above only is the preferred embodiment of the present invention, not so limiting the patent scope of the present invention, all under the concept of the present invention, the equivalent structure transformation made by the contents of the specification and the drawings is utilized, or the direct/indirect application is included in other related technical fields in the patent protection scope of the present invention.

Claims

1. The utility model provides an industrial manufacturing workshop assembly machinery hand which characterized in that: the device comprises an installation table (1), wherein an installation disc (2) is arranged at the top of the installation table (1), a stable moving mechanism is arranged at the bottom of the installation disc (2), an adjusting and clamping mechanism is arranged at the top of the installation disc (2), and a detection assembly is arranged in the adjusting and clamping mechanism;

adjust fixture includes rotating base (3), first servo motor (4), first linking arm (5), second servo motor (6), second linking arm (7), rotates piece (8), connecting piece (9) and third servo motor (23), rotating base (3) fixed connection be in mounting disc (2) top, first servo motor (4) fixed connection be in rotating base (3) one side, first linking arm (5) fixed connection be in first servo motor (4) output, second linking arm (7) pass through second servo motor (6) swing joint be in first linking arm (5) one side, it passes through to rotate piece (8) third servo motor (23) swing joint be in second linking arm (7) one end, connecting piece (9) fixed connection be in rotate piece (8) lateral wall.

2. The industrial manufacturing plant assembly robot of claim 1, wherein: adjust fixture still includes mounting (10), electric putter (11), gear (12), connecting rod (13), holder (14) and bracing piece (15), mounting (10) fixed connection be in connecting piece (9) one end, gear (12) rotate to be connected inside mounting (10), electric putter (11) fixed mounting be in inside connecting piece (9), electric putter (11) one end fixedly connected with rack, the rack with gear (12) phase-match, connecting rod (13) one end fixed connection be in inside gear (12), connecting rod (13) other end swing joint be in inside holder (14), bracing piece (15) swing joint be in mounting (10) inside with between holder (14) inside, holder (14) pass through connecting rod (13) and bracing piece (15) swing joint be in mounting (10) one side.

3. The industrial manufacturing shop assembly robot of claim 2, wherein: the detection assembly comprises a first telescopic rod (16), a spring (17), a second telescopic rod (18), a supporting pad (19), a pressure sensor (20) and a contact element (21), an installation cavity (22) is formed inside the clamping piece (14), the first telescopic rod (16) is fixedly connected to the inner wall of the installation cavity (22), the second telescopic rod (18) is movably connected to the inner wall of the first telescopic rod (16), the spring (17) is fixedly connected to the inner wall of the second telescopic rod (18), one end of the first telescopic rod (16) is connected to the inner wall of the second telescopic rod (18), the supporting pad (19) is fixedly connected to one end of the second telescopic rod (18), the supporting pad (19) is located on one side of the clamping piece (14), the pressure sensor (20) is fixedly connected to the inner wall of the installation cavity (22), the contact element (21) is fixedly connected to one side of the supporting pad (19), and the pressure sensor (20) is communicated with the electric push rod (11).

4. The industrial manufacturing plant assembly robot of claim 3, wherein: the supporting pad (19) is arc-shaped, and the supporting pad (19) is made of hard rubber.

5. The industrial manufacturing plant assembly robot of claim 1, wherein: the stable moving mechanism comprises a threaded rod (24), a driving motor (25), a positioning rod (26), a limiting shaft (27) and a gear shaft (28), a positioning groove is formed in the mounting table (1), the positioning rod (26) is fixedly connected to the bottom of the mounting disc (2), the positioning rod (26) is located in the positioning groove, the driving motor (25) is fixedly connected to one side of the mounting table (1), the threaded rod (24) is fixedly connected to the output end of the driving motor (25), and the threaded rod (24) is rotatably connected to the inside of the mounting table (1); threaded rod (24) with mounting disc (2) phase-match, spacing axle (27) fixed connection be in locating lever (26) lateral wall, gear shaft (28) rotate to be connected spacing axle (27) lateral wall, tooth's socket (29) have been seted up to constant head tank inside, gear shaft (28) with tooth's socket (29) mesh mutually.

6. The industrial manufacturing plant assembly robot of claim 5, wherein: the mounting plate (2) is connected to the top of the mounting table (1) in a sliding mode through the threaded rod (24) and the positioning rod (26).