CN220372615U - Real equipment of instructing of robot mechanical assembly - Google Patents

Abstract

The application provides a real equipment of instructing of robot mechanical assembly relates to real education equipment technical field. The device comprises a workbench, a robot, a working unit, a feeding unit and a quick-change clamp unit. The operation unit comprises a gear box, the gear box comprises a main box body and a cover plate, the main box body and the cover plate jointly form an installation cavity for accommodating a gear set, the gear set comprises at least two gears meshed with each other, the lower end of a rotating shaft of the gear is inserted into a seat hole of the main box body and is rotationally connected with the main box body, and the cover plate is fixedly connected with the main box body through a fastening screw. The feeding unit comprises a screw machine and a second supporting frame. The quick-change clamp unit comprises a first grabbing component, a second grabbing component and a third grabbing component. The first grabbing component is used for grabbing the gear, the third grabbing component is used for picking up the cover plate, and the second grabbing component can pick up the fastening screw from the feeding unit and lock the fastening screw. The equipment training program is rich, can meet the requirement of practical training of mechanical assembly, and improves the teaching effect.

Description

Real equipment of instructing of robot mechanical assembly

Technical Field

The utility model relates to the technical field of practical training education equipment, in particular to practical training equipment for robot mechanical assembly.

Background

In the context of the intelligent manufacturing industry, robots are becoming a focus of attention as a new technology emerging in the field of modern automation. As robotic applications deepen, the demands of robotic operation programmers in the manufacturing industry are increasing.

In robotic applications, mechanical assembly is an important part. During operation, the robot needs to perform operations such as moving alignment, rotating assembly and screw locking according to assembly requirements.

However, the practical training equipment for mechanical assembly at present is often single in function, less in training items, and cannot comprehensively train related operations of a robot, so that the teaching effect is affected.

Disclosure of Invention

The practical training equipment training items of robot mechanical assembly are abundant, the practical training requirements of mechanical assembly can be met, and the teaching effect is improved.

The technical scheme adopted for solving the technical problems is as follows:

the robot mechanical assembly training device comprises a workbench, wherein a robot, an operation unit, a feeding unit and a quick-change clamp unit are arranged on the workbench;

the operation unit comprises a gear box and a first supporting frame for supporting the gear box;

the gear box comprises a main box body and a cover plate, wherein the main box body and the cover plate jointly form a mounting cavity for accommodating a gear set, the gear set comprises at least two gears meshed with each other, the lower end of a rotating shaft of each gear is inserted into a seat hole of the main box body and is rotationally connected with the main box body, and the cover plate is fixedly connected with the main box body through a fastening screw;

the feeding unit comprises a screw machine for providing fastening screws and a second supporting frame for supporting the screw machine;

the quick-change clamp unit comprises a first grabbing component, a second grabbing component, a third grabbing component and a third supporting frame;

the first grabbing component is used for grabbing the gear, and the robot can install the gear through the first grabbing component;

the third grabbing component is used for picking up the cover plate, and the robot can place the cover plate on the main box body through the third grabbing component;

the robot can pick up the fastening screw from the feeding unit through the second grabbing component and lock the fastening screw so as to realize the fixed connection between the cover plate and the main box body.

Further, the lower end of the rotating shaft is rotatably connected with the main box body through a bearing.

Further, the main box on be provided with the flange board, just the lower tip of main box outstanding in the below of flange board, be provided with in the first backup pad of first support frame and be used for holding the first mounting hole of main box lower tip, flange board pass through bolt and first backup pad fixed connection.

Further, second mounting holes which are in one-to-one correspondence with the gears of the gear set are formed in the first supporting plate of the first supporting frame and located outside the gear box.

Further, the first grabbing component comprises a first mounting plate, a first quick-change auxiliary disc is arranged on the upper side of the first mounting plate, a clamping jaw cylinder is arranged on the lower side of the first mounting plate, and clamping jaws are respectively arranged on two clamping plates of the clamping jaw cylinder.

Further, a first clamping groove and a second clamping groove which are arc-shaped structures are formed in the inner side face of the clamping jaw, and the axis of the first clamping groove is perpendicular to the axis of the second clamping groove.

Further, the first grabbing component further comprises a force sensor arranged between the first mounting plate and the clamping jaw cylinder.

Further, the second grabbing component comprises a connecting seat, a second quick-change auxiliary disc is arranged at the upper end of the connecting seat, and an electric screwdriver is arranged at the lower end of the connecting seat.

Further, a spring, a jacking sleeve and a magnetic ring are sequentially sleeved on the screwdriver head of the electric screwdriver, and the jacking sleeve is tightly jacked on the magnetic ring under the elastic acting force of the spring.

Further, the third grabbing component comprises a mounting seat, a third quick-change auxiliary disc is arranged at the upper end of the mounting seat, and a vacuum chuck is arranged at the lower end of the mounting seat.

The beneficial effects of the utility model are as follows:

the embodiment of the application provides a real standard equipment of robot mechanical assembly has the real standard function of removal alignment, rotatory assembly and screw locking, and training project is abundant, can cover the operation project that involves in the mechanical assembly process basically, can satisfy the real standard demand of mechanical assembly, is favorable to improving the actual operation ability of student, improves the effect of teaching.

Drawings

FIG. 1 is a schematic perspective view of a training device for robot mechanical assembly according to an embodiment of the present disclosure;

FIG. 2 is an enlarged schematic view of the portion A in FIG. 1;

FIG. 3 is an enlarged schematic view of the portion B of FIG. 1;

FIG. 4 is an exploded view of a work cell;

FIG. 5 is a schematic view of the mounting structure of the gearbox;

FIG. 6 is an exploded view of the gearbox;

FIG. 7 is a diagram illustrating a working process of a robot mechanical assembly training apparatus according to an embodiment of the present disclosure;

FIG. 8 is a second working process diagram of a robot mechanical assembly training apparatus according to an embodiment of the present disclosure;

FIG. 9 is a third working process diagram of a robot mechanical assembly training apparatus according to an embodiment of the present disclosure;

FIG. 10 is a schematic perspective view of a first gripping member;

FIG. 11 is an exploded view of the first grasping element;

FIG. 12 is an enlarged schematic view of the portion C of FIG. 11;

fig. 13 is a schematic perspective view of a second gripping member;

FIG. 14 is an exploded view of the second gripping member;

fig. 15 is a schematic perspective view of a third gripping member.

In the figure: 1. a work table;

2. a robot; 21. quickly replacing a main disc;

3. a working unit; 31. a gear box; 311. a main case; 3111. a threaded hole; 3112. a first groove; 3113. a second groove; 3114. a flange plate; 312. a cover plate; 3121. a through hole; 3122. a second avoidance hole; 3131. a first gear; 3132. a second gear; 3133. a third gear; 314. a bearing; 321. a first support plate; 3211. a first mounting hole; 3212. a second mounting hole; 322. a first upright; 323. a first base plate;

4. a feeding unit; 41. a screw machine; 421. a second support plate; 422. a second upright; 423. a second base plate;

5. a quick-change clamp unit; 51. a first grasping member; 511. a first mounting plate; 5111. a first upper mounting plate; 5112. a first lower mounting plate; 512. a first quick change auxiliary disc; 513. a clamping jaw cylinder; 514. a clamping jaw; 5141. a first clamping groove; 5142. a second clamping groove; 515. a three-dimensional force sensor; 516. a second mounting plate; 5161. a second upper mounting plate; 5162. a second lower mounting plate; 52. a second grasping member; 521. the second quick-change auxiliary disc; 522. an electric screwdriver; 5221. a head is batched; 523. a connecting plate; 524. a connecting shaft; 525. a seat plate; 526. a magnetic ring; 527. a spring; 528. a top cover; 53. a third grasping member; 531. the third quick-change auxiliary disc; 532. a vacuum chuck; 5331. a connecting column; 5332. a first fixing plate; 5333. a second fixing plate; 541. a third support plate; 5411. a mounting notch; 5412. a positioning pin; 542. a third upright; 543. and a third bottom plate.

Detailed Description

In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings in the embodiments of the present application, and the described embodiments are only some embodiments, but not all embodiments of the present application. All other embodiments obtained without inventive effort by a person skilled in the art on the basis of the embodiments of the present application shall fall within the scope of protection of the present application.

As shown in fig. 1, the practical training device for robot mechanical assembly comprises a workbench 1, wherein a robot 2, a working unit 3, a feeding unit 4 and a quick-change clamp unit 5 are arranged on the workbench 1.

As shown in fig. 4, the working unit 3 includes a gear box 31 and a first supporting frame for supporting the gear box 31, and the gear box 31 is fixedly connected with the first supporting frame in a detachable manner.

The first support frame includes a first support plate 321, and a first upright 322 for supporting the first support plate 321 is disposed on a lower side surface of the first support plate 321. Illustratively, two first upright posts 322 are disposed on the first support plate 321, and the upper ends of the first upright posts 322 are fixedly connected with the first support plate 321 through bolts. A first bottom plate 323 is disposed below the first upright 322, and the lower ends of the two first uprights 322 are respectively fixedly connected with the first bottom plate 323 through bolts. The first bottom plate 323 is fixedly disposed on the workbench 1 through bolts.

As shown in fig. 5 and 6, the gear box 31 includes a main box 311 and a cover plate 312, and the main box 311 and the cover plate 312 together form a mounting cavity for accommodating a gear set. The gear set comprises at least two gears meshed with each other, and the lower end of the rotating shaft of the gears is inserted into the seat hole of the main box 311 and is rotationally connected with the main box 311. The cover plate 312 is fixedly connected with the main box body 311 through fastening screws, through holes 3121 for accommodating the fastening screws are formed in the cover plate 312, and threaded holes 3111 matched with the fastening screws are formed in the main box body 311.

As a specific embodiment, the gear set in this embodiment includes three gears, and for convenience of description, the three gears are defined as a first gear 3131, a second gear 3132, and a third gear 3133, respectively, and the second gear 3132 and the third gear 3133 are meshed with the first gear 3131, respectively. The first gear 3131, the second gear 3132, and the third gear 3133 are illustratively arranged in a straight line.

Further, the lower end of the rotating shaft of the second gear 3132 passes through the main housing 311 and extends to the lower side of the main housing 311, and a first avoiding hole for accommodating the lower end of the rotating shaft of the second gear 3132 is formed in the main housing 311.

Further, the upper ends of the rotating shafts of the gears extend to the upper side of the cover plate 312 through the cover plate 312, and the cover plate 312 is provided with a second avoiding hole 3122 for accommodating the upper end of the rotating shafts. When the rotation shaft of the gear is inserted into the corresponding second avoidance hole 3122, the through hole 3121 on the cover plate 312 and the screw hole 3111 on the main housing 311 are in a one-to-one aligned state.

As a specific embodiment, the main housing 311 in this embodiment has a cylindrical structure, a first groove 3112 is disposed on an upper side surface of the main housing 311, and the gear set is located in the first groove 3112.

Further, the lower end of the rotating shaft is rotatably connected with the main box 311 through a bearing 314. The outer ring of the bearing 314 is fixedly arranged in the seat hole in an interference fit manner, and the lower end of the rotating shaft is in clearance fit with the inner ring of the bearing 314. Therefore, when the gear is assembled through the robot 2, the robot 2 can easily insert the rotating shaft of the gear into the inner ring of the bearing 314, and also can easily pull out the rotating shaft of the gear from the inner ring of the bearing 314, so that the operation is convenient.

Further, a second groove 3113 for receiving the cover 312 is provided on the upper side of the main case 311, and the shape of the second groove 3113 is identical to the shape of the cover 312. The first groove 3112 is disposed on a bottom surface of the second groove 3113.

The screw hole 3111 is provided on the bottom surface of the second recess 3113. Illustratively, three threaded holes 3111 are disposed on the bottom surface of the second recess 3113 on both sides of the first recess 3112 in a straight line.

As a specific embodiment, as shown in fig. 4, 5 and 6, a flange plate 3114 is disposed on the outer cylindrical surface of the main housing 311, and the flange plate 3114 is fixedly connected to the first support plate 321 of the first support frame by bolts.

Illustratively, the lower side of the flange plate 3114 is located above the lower side of the main housing 311, that is, the lower end of the main housing 311 protrudes below the flange plate 3114, and the first support plate 321 is provided with a first mounting hole 3211 for receiving the lower end of the main housing 311. Preferably, the shape of the first mounting hole 3211 matches the shape of the lower end of the main casing 311.

Illustratively, two of the first posts 322 are positioned on opposite sides of the first mounting hole 3211.

As shown in fig. 4, the first support plate 321 is provided with second mounting holes 3212 corresponding to the gears of the gear set one by one on the outside of the gear box 31, and the lower end of the rotating shaft of the gear can be inserted into the corresponding second mounting holes 3212, so that the gear to be mounted is placed on the first support plate 321. As a specific embodiment, three second mounting holes 3212 are provided on the first supporting plate 321 in this embodiment, and the three second mounting holes 3212 are arranged in a straight line and are located at one side of the gear box 31.

As shown in fig. 3, the feeding unit 4 includes a screw machine 41 for providing fastening screws and a second supporting frame for supporting the screw machine 41.

The screw machine 41 is in the prior art, and can be directly obtained by an outsourcing manner, and the specific structure of the screw machine 41 will not be described in detail herein. Illustratively, the screw machine 41 is a FA-2 intelligent fully automatic screw machine 41.

The second supporting frame includes a second supporting plate 421, and a second upright 422 for supporting the second supporting plate 421 is disposed on a lower side of the second supporting plate 421. Illustratively, four first posts 322 are disposed on the second support plate 421, and the four first posts 322 are disposed at four corners of the second support plate 421, respectively. The upper end of the second upright 422 is fixedly connected with the second support plate 421 through a bolt. The second bottom plate 423 is disposed below the second upright 422, and the lower ends of the four second uprights 422 are fixedly connected with the second bottom plate 423 through bolts respectively. The second bottom plate 423 is fixedly disposed on the workbench 1 through bolts.

As shown in fig. 1, the quick-change fixture unit 5 includes a first gripping member 51, a second gripping member 52, a third gripping member 53, and a third supporting frame, where the first gripping member 51, the second gripping member 52, and the third gripping member 53 can be placed on the third supporting frame. Wherein the first grabbing component 51 is used for grabbing the gear, the second grabbing component 52 is used for picking up the fastening screw, and the third grabbing component 53 is used for picking up the cover plate 312.

As shown in fig. 10 and 11, the first grabbing component 51 includes a first mounting plate 511, a first quick-change auxiliary plate 512 that is matched with the quick-change main plate 21 disposed on the working end of the robot 2 is fixedly disposed on an upper side surface of the first mounting plate 511 in a detachable manner, a clamping jaw cylinder 513 is disposed on a lower side of the first mounting plate 511, clamping jaws 514 are fixedly disposed on two clamping plates of the clamping jaw cylinder 513 in a detachable manner, a first clamping groove 5141 with an arc-shaped structure is disposed on an inner side surface (an opposite side of the two clamping jaws 514 is used as an inner side) of the clamping jaws 514, and the first clamping groove 5141 extends in a vertical direction.

Like this, when needs snatch the gear, through control clamping jaw cylinder 513 make two clamping jaws 514 clip the upper end of the pivot of gear can, be the laminating of arc structure's first clamping groove 5141 and the lateral surface of pivot to increase the area of contact between clamping jaw 514 and the pivot, guarantee that clamping jaw 514 can reliably press from both sides tight gear, avoid the in-process of installation, the gear takes place the problem that position offset or dropped.

Further, as shown in fig. 12, a second clamping groove 5142 having an arc structure is provided on an inner side surface (an opposite side of the two clamping jaws 514 is taken as an inner side) of the clamping jaw 514, and the second clamping groove 5142 extends in a horizontal direction. I.e. the axis of the first clamping groove 5141 is perpendicular to the axis of the second clamping groove 5142.

The reason for this design is that the second clamping groove 5142 can adapt to the rotating shafts with different diameters on one hand, and on the other hand, the difficulty and the motion control complexity during training can be improved, and the training effect is improved.

As a specific embodiment, the diameter of the first clamping groove 5141 is matched with the diameters of the rotating shafts of the second gear 3132 and the third gear 3133, and the diameter of the second clamping groove 5142 is matched with the diameter of the rotating shaft of the first gear 3131.

Further, as shown in fig. 10 and 11, the first gripping member 51 further includes a force sensor disposed between the first mounting plate 511 and the jaw cylinder 513, and the force sensor can feed back the stress condition of the jaw 514 in real time.

The reason for providing the force sensor is that when the operator fails to mount the gear to the preset position due to improper operation or an operation error, the operator may not be aware that the operator has an error in operation or cannot mount the gear properly due to the existence of a blind area of observation or carelessness in observation. If the force sensor is not installed, the operator can continue to operate, and the continued operation can possibly lead to damage to the equipment. By providing a force sensor and implementing detection of the force applied to the jaws 514, it can be determined whether there is a problem with the operation by the detected force, i.e. if the gear is not in place but the force detected by the force sensor has exceeded a preset safety value during assembly, this indicates that there is a problem with the assembly being rejected. Therefore, the equipment can be effectively protected from being damaged due to misoperation.

Further, the force sensor adopts a three-dimensional force sensor 515, namely, the three-dimensional force sensor 515 can detect the acting force in three directions X, Y, Z.

As a specific implementation manner, a second mounting plate 516 is disposed between the force sensor and the clamping jaw cylinder 513 in this embodiment, the upper end of the force sensor is fixedly connected with the first mounting plate 511, the lower end of the force sensor is fixedly connected with the second mounting plate 516, and the clamping jaw cylinder 513 is disposed on the lower side surface of the second mounting plate 516.

As a specific embodiment, the first mounting plate 511 in this embodiment includes a first upper mounting plate 5111 and a first lower mounting plate 5112, the first upper mounting plate 5111 is fixedly connected to the first quick-change auxiliary plate 512 through bolts, the first lower mounting plate 5112 is fixedly connected to the force sensor through bolts, and the first upper mounting plate 5111 and the first lower mounting plate 5112 are fixedly connected to form a whole through bolts. The second mounting plate 516 includes a second upper mounting plate 5161 and a second lower mounting plate 5162, the second upper mounting plate 5161 is fixedly connected with the force sensor through a bolt, the second lower mounting plate 5162 is fixedly connected with the clamping jaw cylinder 513 through a bolt, and the second upper mounting plate 5161 and the second lower mounting plate 5162 are fixedly connected into a whole through a bolt.

As shown in fig. 13 and 14, the second gripping member 52 includes a connection base, the upper end of which is provided with a second quick-change auxiliary plate 521 that mates with the quick-change main plate 21 provided at the working end of the robot 2, and the lower end of which is provided with an electric screwdriver 522. Illustratively, the axis of the motorized screw driver 522 is perpendicular to the axis of the second quick-change sub-disc 521.

As a specific embodiment, the connection base described in this embodiment includes, in order from top to bottom, a connection plate 523, a connection shaft 524, and a seat plate 525. The connecting plate 523 is fixedly connected with the second quick-change auxiliary plate 521 through bolts. The connecting shaft 524 includes a shaft body, and an upper end plate and a lower end plate are fixedly arranged at the upper end and the lower end of the shaft body respectively in a welding manner, and the upper end plate is fixedly connected with the connecting plate 523 through bolts. The seat plate 525 includes a horizontal portion and a vertical portion, and the horizontal portion and the vertical portion together form an L-shaped structure. The electric screwdriver 522 is disposed on a vertical portion of the seat plate 525, and a lower end plate of the connecting shaft 524 is fixedly connected with a horizontal portion of the seat plate 525 through bolts.

Further, the hanging end of the screwdriver head 5221 of the electric screwdriver 522 is provided with a magnetic ring 526, the magnetic ring 526 can be fixedly arranged at the end of the screwdriver head 5221 in a clamping manner, the magnetic ring 526 acts on the fastening screw by the strong magnetism of the magnetic ring 526 to reliably adsorb the fastening screw, and meanwhile, the end of the screwdriver head 5221 is inserted into a slot of the fastening screw to drive the fastening screw to rotate. Because the magnetic ring 526 is in the prior art, the magnetic ring 526 can be directly obtained by an outsourcing manner, and the specific structure of the magnetic ring 526 and the connection structure between the magnetic ring 526 and the batch head 5221 are not described in detail. The screwdriver head 5221 is provided with a spring 527 and a top sleeve 528 which are sequentially sleeved between the magnetic ring 526 and the main body of the electric screwdriver 522 along the direction close to the magnetic ring 526, one end of the spring 527 is abutted against the main body of the electric screwdriver 522, the other end of the spring 527 is abutted against the top sleeve 528, and the top sleeve 528 is abutted against the magnetic ring 526 under the elastic acting force of the spring 527.

As a specific embodiment, in this embodiment, the top sleeve 528 has a cylindrical structure with an open end and a closed end, and the open end of the top sleeve 528 faces the magnetic ring 526, and the end of the magnetic ring 526 facing the top sleeve 528 is inserted into the top sleeve 528. The closed end of the top sleeve 528 is provided with a guiding hole matched with the batch head 5221, and the top sleeve 528 can slide along the axial direction of the batch head 5221 under the guiding action of the guiding hole. The shape of the guide hole is matched with the cross-sectional shape of the head 5221.

The reason for this is that although the magnet ring 526 can be locked to the end of the head 5221, the magnet ring 526 locked to the head 5221 is generally not completely fixed, and the magnet ring 526 can shake with respect to the head 5221. By arranging the spring 527 and the top sleeve 528, the magnetic ring 526 and the batch head 5221 can be relatively fixed, and the magnetic ring 526 and the batch head 5221 can be kept in a reliable coaxial state, so that the fastening screw can be in a coaxial state with the batch head 5221 when the fastening screw is picked up, and the installation is convenient.

Illustratively, the top cover 528 is made of a plastic material.

As shown in fig. 15, the third grabbing component 53 includes a mounting base, a third quick-change auxiliary disc 531 matched with the quick-change main disc 21 disposed at the working end of the robot 2 is disposed at the upper end of the mounting base, and a vacuum chuck 532 is disposed at the lower end of the mounting base. Because the cover plate 312 is relatively large, two vacuum chucks 532 are provided at the lower end of the mounting base to ensure grasping reliability.

As a specific implementation manner, the mounting base in this embodiment includes a connection post 5331, a first fixing plate 5332 is detachably fixed at an upper end of the connection post 5331, and the first fixing plate 5332 is fixedly connected with the third quick-change auxiliary disc 531 through a bolt. The lower end of the connecting column 5331 is fixedly provided with a second fixing plate 5333 in a detachable manner, and two vacuum chucks 532 are arranged on one side of the second fixing plate 5333, which is positioned on the connecting column 5331.

As shown in fig. 1 and 2, the third support frame includes a third support plate 541, and a third upright 542 for supporting the third support plate 541 is provided on a lower side surface of the third support plate 541. Illustratively, two third columns 542 are disposed on the lower side of the third support plate 541, and the two third columns 542 are located at both ends of the third support plate 541, respectively. The lower end of the third upright 542 is provided with a third bottom plate 543, and the third bottom plate 543 is fixedly connected with the workbench 1 through bolts.

A plurality of mounting notches 5411 are provided on the third support plate 541, and positioning pins 5412 are provided on two sides of each mounting notch 5411. The first mounting plate 511, the connecting base and the first fixing plate 5332 are provided with positioning holes matched with the positioning pins 5412. Wherein the positioning holes on the connecting seat comprise a lower positioning hole on the upper end plate and an upper positioning hole on the connecting plate 523, and the upper positioning hole and the lower positioning hole form a positioning hole matched with the positioning pin 5412 together. In operation, the first, second and third gripping members 51, 52 and 53 are placed into the corresponding mounting notches 5411, respectively, and the positioning pins 5412 are inserted into the positioning holes.

When assembling, the robot 2 first picks up the first gripping member 51 and drives the first gripping member 51 to move above the second gear 3132. The first grasping member 51 then grasps the second gear 3132, and installs the second gear 3132 into the main casing 311. Then the robot 2 moves the first grasping member 51 to above the third gear 3133, and grasps the third gear 3133 to mount the third gear 3133 into the main casing 311. Then, the robot 2 drives the first grabbing component 51 to move above the first gear 3131, grabs the first gear 3131 to install the first gear 3131 in the main box 311, and when the first gear 3131 is installed, the robot 2 drives the first gear 3131 to reciprocally rotate within a certain angle range and pushes the first gear 3131 downwards. This is because the mounting states of the second gear 3132 and the third gear 3133 are random, so if the first gear 3131 is pushed directly downward, there may be a case where the teeth of the first gear 3131 interfere with the teeth of the second gear 3132 or the third gear 3133 on both sides, the circumferential relative positional relationship of the first gear 3131 and the second gear 3132 and the third gear 3133 can be changed by rotating the first gear 3131 until the teeth of the first gear 3131 and the teeth of the second gear 3132 and the third gear 3133 are in a state of being spaced apart, and thus pushing the first gear 3131 downward again, the first gear 3131 can be smoothly meshed with the second gear 3132 and the third gear 3133. The robot 2 then replaces the jig with the third gripping part 53, and grips the cover plate 312 by the third gripping part 53, placing the cover plate 312 on the main casing 311. The robot 2 then replaces the gripper with the second gripping member 52. The robot 2 drives the electric screw driver 522 to move, picks up the fastening screw from the screw machine 41 by the electric screw driver 522, moves to the operation unit 3, inserts the fastening screw into the through hole 3121 of the cover plate 312, and then the electric screw driver 522 operates to screw the fastening screw into the screw hole 3111 of the main casing 311. The operation is repeated until all the screw holes 3111 are screwed with fastening screws, thereby achieving the fixed connection between the cover plate 312 and the main casing 311.

On the basis of the embodiments provided by the application, other embodiments obtained by combining, splitting, recombining and other means of the embodiments of the application do not exceed the protection scope of the application.

The foregoing detailed description of the embodiments of the present application has been provided for the purpose of illustrating the purposes, technical solutions and advantages of the embodiments of the present application, and is not intended to limit the scope of the embodiments of the present application, i.e., any modifications, equivalent substitutions, improvements, etc. made on the basis of the embodiments of the present application should be included in the scope of the embodiments of the present application.

Claims (10)

1. The utility model provides a real standard equipment of robot mechanical assembly which characterized in that: the automatic feeding device comprises a workbench (1), wherein a robot (2), a working unit (3), a feeding unit (4) and a quick-change clamp unit (5) are arranged on the workbench (1);

the operation unit (3) comprises a gear box (31) and a first supporting frame for supporting the gear box (31);

the gear box (31) comprises a main box body (311) and a cover plate (312), wherein the main box body (311) and the cover plate (312) form a mounting cavity for accommodating a gear set, the gear set comprises at least two gears meshed with each other, the lower end of a rotating shaft of each gear is inserted into a seat hole of the main box body (311) and is in rotary connection with the main box body (311), and the cover plate (312) is fixedly connected with the main box body (311) through a fastening screw;

the feeding unit (4) comprises a screw machine (41) for providing fastening screws and a second supporting frame for supporting the screw machine (41);

the quick-change clamp unit (5) comprises a first grabbing component (51), a second grabbing component (52), a third grabbing component (53) and a third supporting frame;

the first grabbing component (51) is used for grabbing the gear, and the robot (2) can install the gear through the first grabbing component (51);

the third grabbing component (53) is used for picking up the cover plate (312), and the robot (2) can place the cover plate (312) on the main box body (311) through the third grabbing component (53);

the robot (2) can pick up the fastening screw from the feeding unit (4) through the second grabbing component (52) and lock the fastening screw so as to realize the fixed connection between the cover plate (312) and the main box body (311).

2. The robotic machinery assembly training apparatus of claim 1, wherein: the lower end of the rotating shaft is rotationally connected with the main box body (311) through a bearing (314).

3. The robotic machinery assembly training apparatus of claim 1, wherein: the novel multifunctional box is characterized in that a flange plate (3114) is arranged on the main box body (311), the lower end portion of the main box body (311) protrudes below the flange plate (3114), a first supporting plate (321) of the first supporting frame is provided with a first mounting hole (3211) for accommodating the lower end portion of the main box body (311), and the flange plate (3114) is fixedly connected with the first supporting plate (321) through bolts.

4. The robotic machinery assembly training apparatus of claim 1, wherein: second mounting holes (3212) which are in one-to-one correspondence with gears of the gear set are formed in the first supporting plate (321) of the first supporting frame and located outside the gear box (31).

5. The robotic machinery assembly training apparatus of claim 1, wherein: the first grabbing component (51) comprises a first mounting plate (511), a first quick-change auxiliary plate (512) is arranged on the upper side of the first mounting plate (511), a clamping jaw air cylinder (513) is arranged on the lower side of the first mounting plate (511), and clamping jaws (514) are respectively arranged on two clamping plates of the clamping jaw air cylinder (513).

6. The robotic machinery assembly training apparatus of claim 5, wherein: the clamping jaw (514) is provided with a first clamping groove (5141) and a second clamping groove (5142) which are of arc-shaped structures on the inner side face, and the axis of the first clamping groove (5141) is perpendicular to the axis of the second clamping groove (5142).

7. The robotic machinery assembly training apparatus of claim 5, wherein: the first grabbing component (51) further comprises a force sensor arranged between the first mounting plate (511) and the clamping jaw air cylinder (513).

8. The robotic machinery assembly training apparatus of claim 1, wherein: the second grabbing component (52) comprises a connecting seat, a second quick-change auxiliary disc (521) is arranged at the upper end of the connecting seat, and an electric screwdriver (522) is arranged at the lower end of the connecting seat.

9. The robotic machinery assembly training apparatus of claim 8, wherein: the screwdriver head (5221) of the electric screwdriver (522) is sequentially sleeved with a spring (527), a top sleeve (528) and a magnetic ring (526), and the top sleeve (528) is tightly propped against the magnetic ring (526) under the elastic acting force of the spring (527).

10. The robotic machinery assembly training apparatus of claim 1, wherein: the third grabbing component (53) comprises a mounting seat, a third quick-change auxiliary disc (531) is arranged at the upper end of the mounting seat, and a vacuum chuck (532) is arranged at the lower end of the mounting seat.